CN107381050A - Glass crawl position corrects system and method - Google Patents
Glass crawl position corrects system and method Download PDFInfo
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- CN107381050A CN107381050A CN201710690238.5A CN201710690238A CN107381050A CN 107381050 A CN107381050 A CN 107381050A CN 201710690238 A CN201710690238 A CN 201710690238A CN 107381050 A CN107381050 A CN 107381050A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
Abstract
The present invention relates to a kind of glass crawl position to correct system and method,For realizing the position correction of the glass that mechanical arm captures in glass stacking system,The glass stacking system includes PLC control centres and the manipulator being connected with PLC control center lines,The manipulator includes ring flange and connected crawl section,And described crawl section is used to capture glass,Described ring flange is used for the control according to described PLC control centres,Described crawl section is adjusted,And also include means for correcting in correction system,Described means for correcting is connected with described PLC control centres,And described correction system obtains the correction parameter for the glass being crawled by described means for correcting,The correction parameter that described PLC control centres obtain according to described means for correcting,Position correction is carried out to the glass being crawled.
Description
Technical field
The present invention relates to glass stacking system technology, more particularly to manipulator captures the correction of glass in glass stacking system
A kind of method, and in particular to glass crawl position corrects system and method.
Background technology
With the continuous progress of science and technology, glass production enterprise produces capacity requirements more and more higher for improving, it is desirable to
By the continuous improvement of technology, the performance of stacking producing line is improved, and then improves production efficiency, reduces slotting wound during glass stacking
Rate.But the posture that manipulator obtains the glass captured from roller-way is every time incomplete same, it is therefore desirable to PLC control centres
By carrying out position correction to stacking glass.
The content of the invention
The invention aims to overcome the posture of glass production line robot crawl glass different, glass stacking is caused
When there is irregular, glass and easily insert the technical disadvantages such as wound, there is provided a kind of glass crawl position corrects system and method.
Glass crawl position correction system and method are specific as follows：
The glass crawl position corrects system, for realizing the position school of the glass that mechanical arm captures in glass stacking system
Just, the glass stacking system includes PLC control centres and the manipulator being connected with PLC control center lines, the mechanical handbag
Ring flange and connected crawl section are included, and described crawl section is used to capture glass, described ring flange is used for basis
The control of described PLC control centres, is adjusted to described crawl section, and it is mainly characterized by, and also includes in correction system
Means for correcting, described means for correcting are connected with described PLC control centres, and described correction system passes through described school
Equipment obtains the correction parameter for the glass being crawled, and described PLC control centres obtain according to described means for correcting
Correction parameter, position correction is carried out to the glass being crawled.
It is preferred that described means for correcting include surveying while cylinder, installed in described survey while cylinder on magnetic railings ruler and
Photoelectric sensor group on described magnetic railings ruler, wherein,
Described photoelectric sensor group is controlled to detect glass edge when detecting glass edge to described PLC
Center processed reports trigger signal；
Described survey side cylinder carries out glass edge detection to drag described photoelectric sensor group, until described light
All photoelectric sensors included in electric transducer group all detect glass edge；
Described magnetic railings ruler is used for the stroke that described survey side cylinder is measured by way of step-by-step counting, and described magnetic
Grid chi is connected to described PLC control centres by a high-speed counter, is received in described PLC control centres described
Photoelectric sensor group report trigger signal when, the magnetic railings ruler of current metering is reported by described high-speed counter
Pulse number, the stroke of presently described survey side cylinder is obtained for described PLC control centres.
More preferably, described magnetic railings ruler is consistent with the number for surveying side cylinder, is comprised at least in described photoelectric sensor group
Three photoelectric sensors.
More preferably, the number of described survey side cylinder is two, including first be arranged in a mutually vertical manner surveys side cylinder and the
Two survey side cylinder, and two survey side cylinders are parallel to horizontal plane and are configured, and the described first survey side cylinder is used to detect
First glass edge of the glass being crawled, the described second survey side cylinder are used for the second glass edge for detecting the glass being crawled
Edge, and the first described glass edge is perpendicular to the second described glass edge；
The number of described magnetic railings ruler is two, is configured each parallel to horizontal plane, and the first magnetic railings ruler is perpendicular to the
One surveys side cylinder, is surveyed installed in described first on the cylinder of side, and the second magnetic railings ruler surveys side cylinder perpendicular to second, installed in described
Second survey side cylinder on；
Described photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor and the second photoelectric sensing
Device is installed on the first magnetic railings ruler with a pre-determined distance, and the 3rd photoelectric sensor is arranged on the second magnetic railings ruler.
It is particularly preferred that the pre-determined distance between described the first photoelectric sensor and the second photoelectric sensor is 0.5 to 0.7m.
Based on the method that glass position correction is realized in above-mentioned glass crawl position correction system, it is mainly characterized by, institute
The bearing calibration stated comprises the following steps：
(1) the correction system electrification described in, the manipulator crawl glass in described glass stacking system, described correction
Device starts, and described correction system is obtained the correction corrected needed for the glass being currently crawled by described means for correcting and joined
Number；
(2) the correction system described in carries out position school according to the correction parameter obtained in step (1) to the glass being crawled
Just.
It is preferred that the step of obtaining correction parameter by means for correcting in described step (1) is：
(1.1) the described photoelectric sensor group detection glass edge of side cylinder dragging is surveyed described in, until the photoelectric sensing
Three photoelectric sensors in device group all detect glass edge, and trigger signal is reported to described PLC control centres；
(1.2) PLC control centres described in give out information to described magnetic railings ruler according to described trigger signal in real time,
The current PRF stoichiometric number of magnetic railings ruler is obtained, side cylinder is surveyed in the first photoelectric sensor when of detecting glass edge institute so as to obtain
The first stroke S1 for passing through, survey the second stroke S2 for being passed through when the second photoelectric sensor detects glass edge of side cylinder and
Survey the third trip S3 that side cylinder is passed through when the 3rd photoelectric sensor detects glass edge；
(1.3) the PLC control centres described in obtain first and survey side gas according to described the first stroke S1 and the second stroke S2
Cylinder is successively detected in the first photoelectric sensor and the second photoelectric sensor between the stroke passed through in the period of glass edge
Away from D；
(1.4) PLC control centres described in establish rectangular coordinate system using the center of described ring flange as origin, and according to
Described the first stroke S1, the second stroke S2, third trip S3 and stroke space D, obtain the first glass edge and sat at the right angle
The first straight line L1 that passes through in mark system, and the second straight line L2 that the second glass edge passes through in the rectangular coordinate system, it is described
PLC control centres obtain described first straight line L1 and the always according to equation where described first straight line L1 and second straight line L2
Two straight line L2 the first intersection point H (xH,yH), wherein the first intersection point H (xH,yH) process of asking for be：
Wherein, described (x1,y1) and (x2,y2) be respectively any two points on described first straight line L1 coordinate value, institute
(the x stated3,y3) for the coordinate value at any point on described second straight line L2；
(1.5) the PLC control centres described in obtain first jiao corresponding to described first straight line L1 first slope K1
Spend β and intersection point H (xH,yH) second angle θ corresponding to the second slope K 2 of the line of the origin of the rectangular coordinate system, and
First angle β and second angle θ acquiring method is respectively：
(1.6) the PLC control centres described in obtain the minimum anglec of rotation according to described first angle β and second angle θ
θ ', wherein θ ' acquiring method is：
(1.7) the PLC control centres described in are as where minimum anglec of rotation θ ' obtains postrotational first glass edge
First straight line L1 and the second straight line L2 where the second glass edge the second intersection point J (xJ, yJ),
(1.8) the PLC control centres described in are according to the first intersection point H (xH,yH) and the second intersection point J (xJ, yJ) obtain ring flange
The correction distance that should implement in the X-axis direction and the correction distance that should implement in the Y-axis direction, wherein, ring flange should
The correction distance implemented in the X-axis direction and the correction distance that should implement in the Y-axis direction are respectively：
X=xJ-xH；
Y=yJ-yH；
Wherein X is the correction distance that ring flange should be implemented in the X-axis direction, and Y is that ring flange should be real in the Y-axis direction
The correction distance applied.
It is particularly preferred that described step (2) lieutenant colonel's positive system according to the correction parameter obtained in step (1) to the glass that is crawled
Glass carries out position correction：
The correction distance that described correction system should be implemented in the X-axis direction according to the ring flange obtained in step (1)
With the correction distance that should implement in the Y-axis direction, by controlling the rotation of described ring flange, control on described crawl section
The rotation of the glass of crawl, realize the position correction of the glass to being crawled.
The glass crawl position correction system and method for the present invention, because it utilizes the center structure of the ring flange of manipulator
Rectangular coordinate system is built, the right angle that the glass edge data that photoelectric sensor detects are changed into the rectangular coordinate system is sat
Mark, more convenient computing is carried out using rectangular co-ordinate, can easily obtain the glass that is crawled in glass stacking system
Correction parameter, the glass stablize manipulator, be accurate, being captured under safety correction different positions and pose；And the glass in the present invention
Glass crawl position correction system is easy for installation, cost is cheap, practical, can greatly improve stacking glass in glass industry
Regularity, glass when reducing glass stacking, which is inserted, hinders problem, should widely popularize this technology.
Brief description of the drawings
Fig. 1 is that the glass crawl position of the present invention corrects the structural representation of system；
Reference：
1 ring flange
2 first photoelectric sensors
3 second photoelectric sensors；
4 magnetic railings rulers
5 survey side cylinder
6 the 3rd photoelectric sensors
Embodiment
In order to clearer description technical scheme, the invention is done further below in conjunction with accompanying drawing
Describe in detail, be clear for this manufacturing technology personage professional to this.
The glass crawl position corrects system, for realizing the position school of the glass that mechanical arm captures in glass stacking system
Just, the glass stacking system includes PLC control centres and the manipulator being connected with PLC control center lines, the mechanical handbag
Ring flange 1 and connected crawl section are included, and described crawl section is used to capture glass, described ring flange 1 is used for root
According to the control of described PLC control centres, described crawl section is adjusted, means for correcting, institute are also included in correction system
The means for correcting stated is connected with described PLC control centres, and described correction system is obtained by described means for correcting
Take the correction parameter for the glass being crawled, the correction parameter that described PLC control centres obtain according to described means for correcting is right
The glass being crawled carries out position correction.
A kind of preferably in embodiment, described means for correcting include surveying while cylinder 5, installed in described survey while gas
Magnetic railings ruler 4 on cylinder 5 and the photoelectric sensor group on described magnetic railings ruler 4, wherein, described photoelectric sensor group
To detect glass edge, and trigger signal is reported to described PLC control centres when detecting glass edge；Described survey
Side cylinder 5 carries out glass edge detection to drag described photoelectric sensor group, until being wrapped in described photoelectric sensor group
All photoelectric sensors contained all detect glass edge；Described magnetic railings ruler 4 is used for the First Astronautic Research Institute for Measurement and Test by way of step-by-step counting
The stroke for the survey side cylinder 5 stated, and described magnetic railings ruler 4 is connected to by a high-speed counter in described PLC controls
The heart, when described PLC control centres receive the trigger signal that described photoelectric sensor group reports, by described high rapid pulse
The pulse number that counter reports the magnetic railings ruler 4 of current metering is rushed, presently described survey is obtained for described PLC control centres
The stroke of side cylinder 5.
In a kind of more preferably embodiment, described magnetic railings ruler 4 photoelectricity consistent, described with the number for surveying side cylinder 5
Three photoelectric sensors are comprised at least in sensor group.
In a kind of more preferably embodiment, the number of described survey side cylinder 5 is two, including be arranged in a mutually vertical manner
First surveys the cylinder 5 when cylinder 5 and second is surveyed, and two survey side cylinders 5 are parallel to horizontal plane and are configured, and described the
One survey side cylinder 5 is used for the first glass edge for detecting the glass being crawled, and the described second survey side cylinder 5, which is used to detect, is grabbed
Second glass edge of the glass taken, and the first described glass edge is perpendicular to the second described glass edge；Described magnetic
The number of grid chi 4 is two, is configured each parallel to horizontal plane, and the first magnetic railings ruler 4 surveys side cylinder 5, peace perpendicular to first
Surveyed mounted in described first on side cylinder 5, the second magnetic railings ruler 4 surveys side cylinder 5 perpendicular to second, and side is surveyed installed in described second
On cylinder 5；Described photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor 2 and the second photoelectric transfer
Sensor 3 is installed on the first magnetic railings ruler 4 with a pre-determined distance, and the 3rd photoelectric sensor 6 is arranged on the second magnetic railings ruler 4.
It is pre- between described the first photoelectric sensor 2 and the second photoelectric sensor 3 in a kind of preferred embodiment
If distance is 0.5 to 0.7m.
Based on the method that glass position correction is realized in above-mentioned glass crawl position correction system, it is mainly characterized by, institute
The bearing calibration stated comprises the following steps：
(1) the correction system electrification described in, the manipulator crawl glass in described glass stacking system, described correction
Device starts, and described correction system is obtained the correction corrected needed for the glass being currently crawled by described means for correcting and joined
Number；
(2) the correction system described in carries out position school according to the correction parameter obtained in step (1) to the glass being crawled
Just.
A kind of preferably in embodiment, the step of correction parameter is obtained by means for correcting in described step (1)
For：
(1.1) the survey side cylinder 5 described in drags described photoelectric sensor group detection glass edge, until the photoelectric sensing
Three photoelectric sensors in device group all detect glass edge, and trigger signal is reported to described PLC control centres；
(1.2) PLC control centres described in give out information to described magnetic railings ruler 4 according to described trigger signal in real time,
The current PRF stoichiometric number of magnetic railings ruler 4 is obtained, glass edge is detected in the first photoelectric sensor 2 so as to obtain survey side cylinder 5
When passed through the first stroke S1, survey the second row that is passed through when the second photoelectric sensor 3 detects glass edge of side cylinder 5
The third trip S3 that journey S2 and survey side cylinder 5 are passed through when the 3rd photoelectric sensor 6 detects glass edge；
(1.3) the PLC control centres described in obtain first and survey side gas according to described the first stroke S1 and the second stroke S2
Cylinder 5 detects the stroke passed through in the period of glass edge in the first photoelectric sensor 2 and the priority of the second photoelectric sensor 3
Space D；
(1.4) the PLC control centres described in establish rectangular coordinate system, and root using the center of described ring flange 1 as origin
According to the first described stroke S1, the second stroke S2, third trip S3 and stroke space D, the first glass edge is obtained at the right angle
The first straight line L1 passed through in coordinate system, and the second straight line L2 that the second glass edge passes through in the rectangular coordinate system, it is described
PLC control centres always according to equation where described first straight line L1 and second straight line L2 obtain described first straight line L1 and
Second straight line L2 the first intersection point H (xH,yH), wherein the first intersection point H (xH,yH) process of asking for be：
Wherein, described (x1,y1) and (x2,y2) be respectively any two points on described first straight line L1 coordinate value, institute
(the x stated3,y3) for the coordinate value at any point on described second straight line L2；
(1.5) the PLC control centres described in obtain first jiao corresponding to described first straight line L1 first slope K1
Spend β and intersection point H (xH,yH) second angle θ corresponding to the second slope K 2 of the line of the origin of the rectangular coordinate system, and
First angle β and second angle θ acquiring method is respectively：
(1.6) the PLC control centres described in obtain the minimum anglec of rotation according to described first angle β and second angle θ
θ ', wherein θ ' acquiring method is：
(1.7) the PLC control centres described in are as where minimum anglec of rotation θ ' obtains postrotational first glass edge
First straight line L1 and the second straight line L2 where the second glass edge the second intersection point J (xJ, yJ),
(1.8) the PLC control centres described in are according to the first intersection point H (xH,yH) and the second intersection point J (xJ, yJ) obtain ring flange
1 correction distance that should implement in the X-axis direction and the correction distance that should implement in the Y-axis direction, wherein, ring flange 1 should
When the correction distance implemented in the X-axis direction and the correction distance that should implement in the Y-axis direction are respectively：
X=xJ-xH；
Y=yJ-yH；
Wherein X is the correction distance that ring flange 1 should be implemented in the X-axis direction, and Y is that ring flange 1 should be in the Y-axis direction
The correction distance of implementation.
In a kind of preferred embodiment, described step (2) lieutenant colonel's positive system is joined according to the correction obtained in step (1)
It is several position correction is carried out to the glass that is crawled to be specially：
The correction distance that described correction system should be implemented in the X-axis direction according to the ring flange 1 obtained in step (1)
With the correction distance that should implement in the Y-axis direction, by controlling the rotation of described ring flange 1, described crawl section is controlled
The rotation of the glass of upper crawl, realize the position correction of the glass to being crawled.
Referring to Fig. 1, in a kind of embodiment, each photoelectric sensor and ring flange 1 in photoelectric sensor group
The specific distance at center can adjust according to actual conditions, and photoelectric sensor accesses the switch board (i.e. PLC control centres) of manipulator.
When photoelectric sensor detects glass edge, described photoelectric sensor sends trigger signal, transfers to described switch board.
In specific implementation process, the size of the glass being crawled be usually it is known, when photoelectric measuring obtain glass edge, to
After described switch board sends trigger signal, described switch board by the magnetic railings ruler 4 that high-speed counter input port connects to
Described switch board sends current PRF stoichiometric number.
First photoelectric sensor 2, the second photoelectric sensor 3 and the 3rd photoelectric sensor 6 are placed on magnetic railings ruler 4, and the
One photoelectric sensor 2 and the second photoelectric sensor 3 are 0.5 to 0.7m, the I/O inputs that photo-sensor signal passes through switch board
It is connected with described switch board, described magnetic railings ruler 4 connects described switch board by the input of high-speed counter,
When two, which are surveyed side cylinder 5, starts action, magnetic railings ruler 4 starts to remember the distance that cylinder 5 is walked, when the glass of photoelectric sensor detection
Trigger action behind edge, the pulse sum that the magnetic railings ruler 4 that PLC reads high-speed counter metering is sent, can measure the first survey side
Cylinder 5 detects the row passed through in the period of glass edge in the first photoelectric sensor 2 and the priority of the second photoelectric sensor 3
Journey space D, it is known that the first photoelectric sensor 2, the second photoelectric sensor 3 and the 3rd photoelectric sensor 6 arrive method when cylinder 5 is failure to actuate
The distance at the blue center of disk 1 determines, establishes rectangular coordinate system OXY by origin of the center of ring flange 1, and obtain the first glass edge institute
Any two points A (the x on straight line1,y1),B(x2,y2), and any point C (x where the second glass edge on straight line3,y3)
Coordinate value, and obtain the first intersection point H (x of the first glass edge and the second glass edgeH,yH)。
The first described intersection point H (xH,yH) process of asking for of each coordinate value is：
Rotated centered on ring flange O, allow the glass being crawled to be rotated with the minimum anglec of rotation to the first glass edge institute
In X-axis of the straight line in coordinate system, the first intersection point H (xH,yH) corresponding with the slope of the line of ring flange center line angle, θ
For：
The acquiring method of angle beta corresponding to the slope of straight line where first glass edge of glass is：
Mechanical arm needs the side triggered more afterwards into two the first photoelectric sensor, the second photoelectric sensor photoelectric sensors
To anglec of rotation θ ', the position correction of the glass being crawled is realized.Wherein θ ' acquiring method is：
Ring flange 1 relative to X-axis robot location's translation distance：(xJ-xH,yJ-yH).Switch board is led to by modbus
Protocol integrated test system mechanical arm anglec of rotation θ ' is interrogated, translation distance (x is produced in rectangular coordinate systemJ-xH,yJ-yH) after, ensure stacking
The regularity of glass.Capture angle and shift position and calculate processing offer by switch board.
The glass crawl position correction system and method for the present invention, because it utilizes the center of the ring flange 1 of manipulator
Rectangular coordinate system is built, the right angle that the glass edge data that photoelectric sensor detects are changed into the rectangular coordinate system is sat
Mark, more convenient computing is carried out using rectangular co-ordinate, can easily obtain the glass that is crawled in glass stacking system
Correction parameter, the glass stablize manipulator, be accurate, being captured under safety correction different positions and pose；And the glass in the present invention
Glass crawl position correction system is easy for installation, cost is cheap, practical, can greatly improve stacking glass in glass industry
Regularity, glass when reducing glass stacking, which is inserted, hinders problem, should widely popularize this technology.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that it can still make
Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings are considered as illustrative
It is and nonrestrictive.
Claims (9)
1. a kind of glass crawl position corrects system, for realizing the position school of the glass that mechanical arm captures in glass stacking system
Just, the glass stacking system includes PLC control centres and the manipulator being connected with PLC control center lines, the mechanical handbag
Ring flange and connected crawl section are included, and described crawl section is used to capture glass, described ring flange is used for basis
The control of described PLC control centres, is adjusted to described crawl section, it is characterised in that also includes school in correction system
Equipment, described means for correcting are connected with described PLC control centres, and described correction system passes through described correction
Device obtains the correction parameter for the glass being crawled, school that described PLC control centres obtain according to described means for correcting
Positive parameter, position correction is carried out to the glass being crawled.
2. glass crawl position according to claim 1 corrects system, it is characterised in that described means for correcting includes surveying
While cylinder, installed in described survey while cylinder on magnetic railings ruler and the photoelectric sensor group on described magnetic railings ruler,
Wherein,
Described photoelectric sensor group is to detect glass edge, and when detecting glass edge into described PLC controls
Trigger signal is reported in the heart；
Described survey side cylinder carries out glass edge detection to drag described photoelectric sensor group, until described photoelectric transfer
All photoelectric sensors included in sensor group all detect glass edge；
Described magnetic railings ruler is used for the stroke that described survey side cylinder is measured by way of step-by-step counting, and described magnetic railings ruler
Described PLC control centres are connected to by a high-speed counter, described light is received in described PLC control centres
During the trigger signal that electric transducer group reports, the pulse of the magnetic railings ruler of current metering is reported by described high-speed counter
Number, the stroke of presently described survey side cylinder is obtained for described PLC control centres.
3. glass crawl position according to claim 2 corrects system, it is characterised in that described magnetic railings ruler is with surveying side gas
The number of cylinder is consistent, and three photoelectric sensors are comprised at least in described photoelectric sensor group.
4. glass crawl position according to claim 2 corrects system, it is characterised in that the number of described survey side cylinder
For two, including first be arranged in a mutually vertical manner surveys the cylinder when cylinder and second are surveyed, and two are surveyed side cylinder and are parallel to water
Plane is configured, and the described first survey side cylinder is used to detecting the first glass edge of glass being crawled, and described the
Two survey side cylinders are used for the second glass edge for detecting the glass being crawled, and the first described glass edge is perpendicular to described
Second glass edge；
The number of described magnetic railings ruler is two, is configured each parallel to horizontal plane, and the first magnetic railings ruler is surveyed perpendicular to first
Side cylinder, surveyed installed in described first on the cylinder of side, the second magnetic railings ruler surveys side cylinder perpendicular to second, installed in described the
Two survey on the cylinder of side；
Described photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor and the second photoelectric sensor with
One pre-determined distance is installed on the first magnetic railings ruler, and the 3rd photoelectric sensor is arranged on the second magnetic railings ruler.
5. glass crawl position according to claim 4 corrects system, it is characterised in that the first described photoelectric sensor
And the second pre-determined distance between photoelectric sensor is 0.5 to 0.7m.
6. realize glass position school in a kind of glass crawl position correction system based on any one of claim 1 to 5
Positive method, it is characterised in that described bearing calibration comprises the following steps：
(1) the correction system electrification described in, the manipulator crawl glass in described glass stacking system, described means for correcting
Start, described correction system obtains the correction parameter corrected needed for the glass being currently crawled by described means for correcting；
(2) the correction system described in carries out position correction according to the correction parameter obtained in step (1) to the glass being crawled.
7. the method for glass position correction is realized in the system according to claim 6 based on the correction of glass crawl position, its
Be characterised by, described means for correcting include surveying while cylinder, installed in described survey while cylinder on magnetic railings ruler and be arranged on
Photoelectric sensor group on described magnetic railings ruler, wherein,
Described photoelectric sensor group is to detect glass edge, and when detecting glass edge into described PLC controls
Trigger signal is reported in the heart；
Described survey side cylinder carries out glass edge detection to drag described photoelectric sensor group, until described photoelectric transfer
All photoelectric sensors included in sensor group all detect glass edge；
Described magnetic railings ruler is used for the stroke that described survey side cylinder is measured by way of step-by-step counting, and described magnetic railings ruler
Described PLC control centres are connected to by a high-speed counter, described light is received in described PLC control centres
During the trigger signal that electric transducer group reports, the pulse of the magnetic railings ruler of current metering is reported by described high-speed counter
Number, the stroke of presently described survey side cylinder is obtained for described PLC control centres；
Described magnetic railings ruler is consistent with the number for surveying side cylinder, and three photoelectric sensings are comprised at least in described photoelectric sensor group
Device.
8. the method for glass position correction is realized in the system according to claim 7 based on the correction of glass crawl position, its
It is characterised by, the number of described survey side cylinder is two, including first be arranged in a mutually vertical manner is surveyed when cylinder and second are surveyed
Cylinder, and two survey side cylinders are parallel to horizontal plane and are configured, and the described first survey side cylinder is crawled for detection
Glass the first glass edge, the described second survey side cylinder is used to detect the second glass edge of glass being crawled, and
The first described glass edge is perpendicular to the second described glass edge；
The number of described magnetic railings ruler is two, is configured each parallel to horizontal plane, and the first magnetic railings ruler is surveyed perpendicular to first
Side cylinder, surveyed installed in described first on the cylinder of side, the second magnetic railings ruler surveys side cylinder perpendicular to second, installed in described the
Two survey on the cylinder of side；
Described photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor and the second photoelectric sensor with
One pre-determined distance is installed on the first magnetic railings ruler, and the 3rd photoelectric sensor is arranged on the second magnetic railings ruler；
It is by the step of means for correcting acquisition correction parameter in described step (1)：
(1.1) the described photoelectric sensor group detection glass edge of side cylinder dragging is surveyed described in, until the photoelectric sensor group
In three photoelectric sensors all detect glass edge, report trigger signal to described PLC control centres；
(1.2) the PLC control centres described in give out information to described magnetic railings ruler, obtained according to described trigger signal in real time
The current PRF stoichiometric number of magnetic railings ruler, passed through so as to obtain survey side cylinder when the first photoelectric sensor detects glass edge
The first stroke S1, when surveying the second stroke S2 for being passed through in cylinder when the second photoelectric sensor detects glass edge and surveying
The third trip S3 that cylinder is passed through when the 3rd photoelectric sensor detects glass edge；
(1.3) the PLC control centres described in obtain the first survey side cylinder and existed according to described the first stroke S1 and the second stroke S2
First photoelectric sensor and the second photoelectric sensor successively detect the stroke space D passed through in the period of glass edge；
(1.4) the PLC control centres described in establish rectangular coordinate system by origin of the center of described ring flange, and according to described
The first stroke S1, the second stroke S2, third trip S3 and stroke space D, obtain the first glass edge in the rectangular coordinate system
The first straight line L1 of middle process, and second straight line L2, described the PLC control that the second glass edge passes through in the rectangular coordinate system
Center processed is straight always according to the described first straight line L1 and second of equation where described first straight line L1 and second straight line L2 acquisitions
Line L2 the first intersection point H (xH,yH), wherein the first intersection point H (xH,yH) process of asking for be：
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<mo>+</mo>
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</mrow>
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<mo>&rsqb;</mo>
</mrow>
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<mo>;</mo>
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2
<mrow>
<msub>
<mi>y</mi>
<mi>H</mi>
</msub>
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<mfrac>
<mrow>
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<mo>&times;</mo>
<mo>&lsqb;</mo>
<msub>
<mi>y</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mfrac>
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</msub>
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<mo>&rsqb;</mo>
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<mi>x</mi>
<mn>2</mn>
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</mrow>
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</mrow>
</mfrac>
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</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>&times;</mo>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
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<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
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</mrow>
<mrow>
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<msub>
<mi>x</mi>
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</msub>
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</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, described (x1,y1) and (x2,y2) be respectively any two points on described first straight line L1 coordinate value, it is described
(x3,y3) for the coordinate value at any point on described second straight line L2；
(1.5) PLC control centres described in obtain first angle β corresponding to described first straight line L1 first slope K1 with
And intersection point H (xH,yH) second angle θ corresponding to the second slope K 2 of the line of the origin of the rectangular coordinate system, and first jiao
Degree β and second angle θ acquiring method be respectively：
<mrow>
<mi>&theta;</mi>
<mo>=</mo>
<msup>
<mi>tan</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mrow>
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<msub>
<mi>y</mi>
<mi>H</mi>
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</mrow>
<mo>;</mo>
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<mi>&beta;</mi>
<mo>=</mo>
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</mrow>
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</msub>
<mo>)</mo>
</mrow>
</mfrac>
<mo>&rsqb;</mo>
<mo>;</mo>
</mrow>
(1.6) the PLC control centres described in obtain minimum anglec of rotation θ ' according to described first angle β and second angle θ, its
Middle θ ' acquiring method is：
<mrow>
<msup>
<mi>&theta;</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<msup>
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<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
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<mfrac>
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</msub>
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</mrow>
</mfrac>
<mo>&rsqb;</mo>
<mo>;</mo>
</mrow>
(1.7) the PLC control centres described in are as first where minimum anglec of rotation θ ' obtains postrotational first glass edge
Straight line L1 and the second straight line L2 where the second glass edge the second intersection point J (xJ, yJ),
<mrow>
<msub>
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</msub>
<mn>2</mn>
</msup>
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<mo>)</mo>
</mrow>
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<mi>c</mi>
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<mn>2</mn>
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<mi>H</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
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<mrow>
<mo>-</mo>
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</mrow>
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<mi>y</mi>
<mi>H</mi>
</msub>
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<mi>H</mi>
</msub>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msup>
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<mrow>
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<mn>1</mn>
</mrow>
</msup>
<mo>&lsqb;</mo>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mfrac>
<mo>&rsqb;</mo>
<mo>}</mo>
<mo>;</mo>
</mrow>
(1.8) the PLC control centres described in are according to the first intersection point H (xH,yH) and the second intersection point J (xJ, yJ) obtain ring flange should
The correction distance implemented in the X-axis direction and the correction distance that should implement in the Y-axis direction, wherein, ring flange should be in X-axis
The correction distance implemented on direction and the correction distance that should implement in the Y-axis direction are respectively：
X=xJ-xH；
Y=yJ-yH；
Wherein X is the correction distance that ring flange should be implemented in the X-axis direction, and Y is what ring flange should be implemented in the Y-axis direction
Correction distance.
9. the method for glass position correction is realized in the system according to claim 8 based on the correction of glass crawl position, its
It is characterised by, described step (2) lieutenant colonel's positive system is carried out according to the correction parameter obtained in step (1) to the glass being crawled
Position correction is specially：
The correction distance and answer that described correction system should be implemented in the X-axis direction according to the ring flange obtained in step (1)
When the correction distance implemented in the Y-axis direction, by controlling the rotation of described ring flange, control and captured on described crawl section
Glass rotation, realize the position correction of the glass to being crawled.
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| CN201710690238.5A CN107381050B (en) | 2017-08-14 | 2017-08-14 | Glass crawl position corrects system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109865953A (en) * | 2019-04-23 | 2019-06-11 | 安徽速达数控设备有限责任公司 | A kind of material position to be cut automatic correction device and its application method |
| CN114030894A (en) * | 2021-12-21 | 2022-02-11 | 苏州迈为科技股份有限公司 | Method and device for adjusting angle and position of glass |
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| CN101829902A (en) * | 2009-06-18 | 2010-09-15 | 中汽成都配件有限公司 | Axial self-centering end face milling and center hole drilling numerical control machine tool |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109865953A (en) * | 2019-04-23 | 2019-06-11 | 安徽速达数控设备有限责任公司 | A kind of material position to be cut automatic correction device and its application method |
| CN109865953B (en) * | 2019-04-23 | 2024-01-19 | 安徽速达数控设备有限责任公司 | Automatic correction device for position of material to be cut and use method thereof |
| CN114030894A (en) * | 2021-12-21 | 2022-02-11 | 苏州迈为科技股份有限公司 | Method and device for adjusting angle and position of glass |
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| CN107381050B (en) | 2019-07-30 |
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Denomination of invention: Glass grabbing position correcting system and method thereof Effective date of registration: 20200416 Granted publication date: 20190730 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Company Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
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Denomination of invention: Glass grasping position correction system and its method Effective date of registration: 20210923 Granted publication date: 20190730 Pledgee: Pacific Anxin Agricultural Insurance Co.,Ltd. Shanghai Minhang branch Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2021310000076 |
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