CN107381050B - Glass crawl position corrects system and method - Google Patents

Abstract

The invention relates to a glass grabbing position correction system and a method thereof, which are used for realizing the position correction of glass grabbed by a mechanical arm in a glass stacking system. The glass stacking system includes a PLC control center and a center line connected with the PLC control. The manipulator, the manipulator includes a flange plate and a grasping part connected with it, and the grasping part is used for grasping glass, and the flange plate is used for the control according to the PLC control center, The grasping part is adjusted, and the calibration system also includes a calibration device, the calibration device is connected with the PLC control center, and the calibration system obtains the captured grasping parts through the calibration device. The calibration parameters of the glass are obtained, and the PLC control center performs position calibration on the grabbed glass according to the calibration parameters obtained by the calibration device.

Description

Glass grabbing position correction system and method

technical field

The invention relates to a glass stacking system technology, in particular to a correction method for grasping glass by a manipulator in a glass stacking system, in particular to a glass grasping position correction system and a method thereof.

Background technique

With the continuous progress of science and technology, glass production enterprises have higher and higher requirements for increasing production capacity. It is hoped that through the continuous improvement of technology, the performance of the stacking production line will be improved, thereby improving the production efficiency and reducing the insertion injury rate during glass stacking. . However, the posture of the glass grabbed from the roller table by the manipulator is not exactly the same every time, so the PLC control center is required to correct the position of the stacked glass.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a glass grasping position correction system and method for overcoming the technical shortcomings such as irregular glass stacking and easy insertion of glass due to different postures of robots grasping glass in glass production lines.

The glass grabbing position correction system and its method are as follows:

The glass grabbing position correction system is used to realize the position correction of the glass grabbed by the mechanical arm in the glass stacking system. The glass stacking system includes a PLC control center and a manipulator connected with the PLC control center line. The manipulator includes a method The flange plate and the grasping part connected with it, and the grasping part is used to grasp the glass, and the flange plate is used to control the grasping part according to the control of the PLC control center. The main feature is that the calibration system also includes a calibration device, the calibration device is connected with the PLC control center, and the calibration system obtains the grabbed glass through the calibration device. According to the calibration parameters obtained by the calibration device, the PLC control center performs position calibration on the grabbed glass.

Preferably, the calibration device includes an edge measuring cylinder, a magnetic scale installed on the edge measuring cylinder, and a photoelectric sensor group installed on the magnetic scale, wherein,

The photoelectric sensor group is used to detect the edge of the glass, and when the edge of the glass is detected, a trigger signal is reported to the PLC control center;

The edge measuring cylinder is used to drag the photoelectric sensor group to detect the glass edge until all the photoelectric sensors included in the photoelectric sensor group detect the glass edge;

The magnetic scale is used to measure the stroke of the edge measuring cylinder by means of pulse counting, and the magnetic scale is connected to the PLC control center through a high-speed pulse counter, and is controlled by the PLC. When the center receives the trigger signal reported by the photoelectric sensor group, the high-speed pulse counter reports the number of pulses of the current measured magnetic scale for the PLC control center to obtain the current value of the edge measuring cylinder. journey.

More preferably, the number of the magnetic grating ruler is the same as that of the edge measuring cylinder, and the photoelectric sensor group includes at least three photoelectric sensors.

More preferably, the number of the edge-measuring cylinders is two, including a first edge-measuring cylinder and a second edge-measuring cylinder arranged perpendicular to each other, and the two edge-measuring cylinders are both arranged parallel to the horizontal plane, and the The first edge measuring cylinder is used to detect the first glass edge of the glass to be grasped, the second edge measuring cylinder is used to detect the second glass edge of the grasped glass, and the first glass edge is vertical on said second glass edge;

The number of the magnetic scales is two, all of which are arranged parallel to the horizontal plane, and the first magnetic scale is perpendicular to the first edge-measuring cylinder and is installed on the first edge-measuring cylinder, and the second magnetic scale is perpendicular to the first edge-measuring cylinder. It is perpendicular to the second edge-measuring cylinder, and is installed on the second edge-measuring cylinder;

The photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor and the second photoelectric sensor are installed on the first magnetic scale with a preset distance, and the third photoelectric sensor is installed on the second magnetic scale.

Particularly preferably, the preset distance between the first photoelectric sensor and the second photoelectric sensor is 0.5 to 0.7 m.

Based on the method for realizing glass position correction in the above-mentioned glass grasping position correction system, the main feature is that the correction method includes the following steps:

(1) The calibration system is powered on, the manipulator in the glass stacking system grabs the glass, the calibration device is activated, and the calibration system obtains and calibrates the currently grasped glass through the calibration device. Correction parameters required for the glass;

(2) The correction system performs position correction on the grabbed glass according to the correction parameters obtained in step (1).

Preferably, in the described step (1), the step of obtaining the correction parameters by the correction device is:

(1.1) The edge measuring cylinder drags the photoelectric sensor group to detect the glass edge, until the three photoelectric sensors in the photoelectric sensor group detect the glass edge, and report the trigger signal to the PLC control center;

(1.2) According to the trigger signal, the PLC control center releases a message to the magnetic scale in real time, and obtains the current pulse measurement number of the magnetic scale, so as to obtain the detection of the glass by the edge measuring cylinder when the first photoelectric sensor detects the glass. The first stroke S1 of the edge detection cylinder, the second stroke S2 of the edge detection cylinder when the second photoelectric sensor detects the glass edge, and the third stroke of the edge detection cylinder when the third photoelectric sensor detects the glass edge S3;

(1.3) The PLC control center obtains, according to the first stroke S1 and the second stroke S2, the passage of the first edge measuring cylinder in the time period when the first photoelectric sensor and the second photoelectric sensor detect the glass edge successively The stroke distance D;

(1.4) The PLC control center establishes a Cartesian coordinate system with the center of the flange as the origin, and obtains the first stroke S1, the second stroke S2, the third stroke S3 and the stroke distance D according to the first stroke S1, the second stroke S2, the third stroke S3 and the stroke distance D. The first straight line L1 that the first glass edge passes through in the rectangular coordinate system, and the second straight line L2 that the second glass edge passes through in the rectangular coordinate system, the PLC control center is also based on the first straight line. The equation where the line L1 is located and the second straight line L2 obtain the first intersection H(x _H , y _H ) of the first straight line L1 and the second straight line L2, where the first intersection H(x _H , y _H ) is calculated The process of taking is:

Wherein, the (x ₁ , y ₁ ) and (x ₂ , y ₂ ) are the coordinate values of any two points on the first straight line L1, respectively, and the (x ₃ , y ₃ ) is the the coordinate value of any point on the second straight line L2;

(1.5) The PLC control center obtains the first angle β corresponding to the first slope K1 of the first straight line L1 and the connection line between the intersection point H (x _H , y _H ) and the origin of the rectangular coordinate system The second angle θ corresponding to the second slope K2 of , and the methods for obtaining the first angle β and the second angle θ are:

(1.6) The PLC control center obtains the minimum rotation angle θ' according to the first angle β and the second angle θ, and the method for obtaining θ' is:

(1.7) The PLC control center obtains the second intersection J(x _J , where the first straight line L1 where the rotated first glass edge is located and the second straight line L2 where the second glass edge is located is located by the minimum rotation angle θ', y _J ),

The PLC control center described in (1.8) obtains the correction distance that the flange should implement in the X-axis direction according to the first intersection _H ( _xH , yH) and the second intersection _J (xJ, _yJ ) and should be The correction distance implemented in the Y-axis direction, wherein the correction distance that the flange should implement in the X-axis direction and the correction distance that should be implemented in the Y-axis direction are:

X=x _J −x _H ;

Y=y _J -y _H ;

Among them, X is the correction distance that the flange should implement in the X-axis direction, and Y is the correction distance that the flange should implement in the Y-axis direction.

Preferably, in the step (2), the correction system performs position correction on the grabbed glass according to the correction parameters obtained in the step (1), specifically:

The calibration system controls the rotation of the flange according to the calibration distance that should be implemented in the X-axis direction and the calibration distance that should be implemented in the Y-axis direction of the flange obtained in step (1). The rotation of the glass grasped on the grasping part realizes the position correction of the grasped glass.

The glass grasping position correction system and method of the present invention utilizes the center of the flange of the manipulator to construct a rectangular coordinate system, converts the glass edge data detected by the photoelectric sensor into the rectangular coordinates in the rectangular coordinate system, and uses Cartesian coordinates are more convenient to calculate, and the correction parameters of the glass to be grasped in the glass stacking system can be easily obtained, so that the manipulator can stably, accurately and safely correct the glass grasped in different poses; and in the present invention The new glass grabbing position correction system is easy to install, low in cost and strong in practicability, which can greatly improve the neatness of stacking glass in glass industrialization and reduce the problem of glass insertion damage during glass stacking. This technology should be vigorously promoted.

Description of drawings

Fig. 1 is the structural schematic diagram of the glass grasping position correction system of the present invention;

Reference number:

1 Flange

2 The first photoelectric sensor

3 The second photoelectric sensor;

4 Magnetic scale

5 Side measuring cylinder

6 Third photoelectric sensor

Detailed ways

In order to be able to describe the technical solutions of the present invention more clearly, the invention will be described in further detail below with reference to the accompanying drawings, and this manufacturing technology will be clear to those skilled in the art.

The glass grabbing position correction system is used to realize the position correction of the glass grabbed by the mechanical arm in the glass stacking system. The glass stacking system includes a PLC control center and a manipulator connected with the PLC control center line. The manipulator includes a method The flange plate 1 and the grasping part connected with it, and the grasping part is used for grasping the glass, and the flange plate 1 is used to control the grasping part according to the control of the PLC control center. The calibration system also includes a calibration device, the calibration device is connected with the PLC control center, and the calibration system obtains the calibration parameters of the grabbed glass through the calibration device , the PLC control center performs position correction on the grabbed glass according to the correction parameters obtained by the correction device.

In a preferred embodiment, the calibration device includes an edge measuring cylinder 5 , a magnetic scale 4 installed on the edge measuring cylinder 5 and a photoelectric sensor installed on the magnetic scale 4 group, wherein the photoelectric sensor group is used to detect the edge of the glass, and report a trigger signal to the PLC control center when the edge of the glass is detected; the edge measuring cylinder 5 is used to drag the photoelectric sensor The glass edge detection is carried out in the group until all the photoelectric sensors included in the photoelectric sensor group detect the glass edge; the magnetic scale 4 is used to measure the stroke of the edge measuring cylinder 5 by means of pulse counting, And the magnetic scale 4 is connected to the PLC control center through a high-speed pulse counter, when the PLC control center receives the trigger signal reported by the photoelectric sensor group, the high-speed pulse counter Report the current measured pulse number of the magnetic scale 4 for the PLC control center to obtain the current stroke of the edge measuring cylinder 5 .

In a more preferred embodiment, the number of the magnetic scale 4 and the edge measuring cylinder 5 is the same, and the photoelectric sensor group includes at least three photoelectric sensors.

In a better embodiment, the number of the edge-measuring cylinders 5 is two, including a first edge-measuring cylinder 5 and a second edge-measuring cylinder 5 arranged perpendicular to each other, and both edge-measuring cylinders 5 are Set parallel to the horizontal plane, and the first edge-measuring cylinder 5 is used to detect the first glass edge of the glass to be grasped, and the second edge-measuring cylinder 5 is used to detect the second edge of the grasped glass. The glass edge, and the first glass edge is perpendicular to the second glass edge; the number of the magnetic scale 4 is two, which are arranged parallel to the horizontal plane, and the first magnetic scale 4 is perpendicular to the The first edge-measuring cylinder 5 is installed on the first edge-measuring cylinder 5, the second magnetic scale 4 is perpendicular to the second edge-measuring cylinder 5, and is installed on the second edge-measuring cylinder 5; the The photoelectric sensor group includes three photoelectric sensors, wherein the first photoelectric sensor 2 and the second photoelectric sensor 3 are installed on the first magnetic scale 4 at a preset distance, and the third photoelectric sensor 6 is installed on the second magnetic scale 4 superior.

In a particularly preferred embodiment, the preset distance between the first photoelectric sensor 2 and the second photoelectric sensor 3 is 0.5 to 0.7 m.

Based on the method for realizing glass position correction in the above-mentioned glass grasping position correction system, the main feature is that the correction method includes the following steps:

(1) The calibration system is powered on, the manipulator in the glass stacking system grabs the glass, the calibration device is activated, and the calibration system obtains and calibrates the currently grasped glass through the calibration device. Correction parameters required for the glass;

(2) The correction system performs position correction on the grabbed glass according to the correction parameters obtained in step (1).

In a preferred embodiment, in the step (1), the step of obtaining the correction parameters by the correction device is:

(1.1) The edge measuring cylinder 5 drags the photoelectric sensor group to detect the glass edge, until the three photoelectric sensors in the photoelectric sensor group detect the glass edge, and report the trigger signal to the PLC control center;

(1.2) According to the trigger signal, the PLC control center releases a message to the magnetic scale 4 in real time to obtain the current pulse measurement number of the magnetic scale 4, so as to obtain the position of the edge measuring cylinder 5 in the first photoelectric sensor 2. The first stroke S1 when the edge of the glass is detected, the second stroke S2 of the edge-measuring cylinder 5 when the second photoelectric sensor 3 detects the glass edge, and the edge-measuring cylinder 5 when the third photoelectric sensor 6 detects the glass The third stroke S3 passed by the edge;

(1.3) According to the first stroke S1 and the second stroke S2, the PLC control center obtains the time period during which the first edge measuring cylinder 5 detects the glass edge successively by the first photoelectric sensor 2 and the second photoelectric sensor 3 The travel distance D passed in the

(1.4) The PLC control center takes the center of the flange 1 as the origin to establish a Cartesian coordinate system, and according to the first stroke S1, the second stroke S2, the third stroke S3 and the stroke distance D, Obtain the first straight line L1 that the first glass edge passes through in the rectangular coordinate system, and the second straight line L2 that the second glass edge passes through in the rectangular coordinate system, and the PLC control center is also based on the first straight line L2. The equation where the straight line L1 is located and the second straight line L2 obtain the first intersection H(x _H , y _H ) of the first straight line L1 and the second straight line L2, wherein the first intersection H(x _H , y _H ) is The obtaining process is:

Wherein, the (x ₁ , y ₁ ) and (x ₂ , y ₂ ) are the coordinate values of any two points on the first straight line L1, respectively, and the (x ₃ , y ₃ ) is the the coordinate value of any point on the second straight line L2;

(1.5) The PLC control center obtains the first angle β corresponding to the first slope K1 of the first straight line L1 and the connection line between the intersection point H (x _H , y _H ) and the origin of the rectangular coordinate system The second angle θ corresponding to the second slope K2 of , and the methods for obtaining the first angle β and the second angle θ are:

(1.6) The PLC control center obtains the minimum rotation angle θ' according to the first angle β and the second angle θ, and the method for obtaining θ' is:

(1.7) The PLC control center obtains the second intersection J(x _J , where the first straight line L1 where the rotated first glass edge is located and the second straight line L2 where the second glass edge is located is located by the minimum rotation angle θ', y _J ),

(1.8) According to the first intersection point H(x _H , y _H ) and the second intersection point J (x _J , y _J ), the PLC control center obtains the correction distance that the flange plate 1 should implement in the X-axis direction and should The correction distance implemented in the Y-axis direction, wherein the correction distance that the flange 1 should implement in the X-axis direction and the correction distance that should be implemented in the Y-axis direction are respectively:

X=x _J −x _H ;

Y=y _J -y _H ;

Wherein X is the correction distance that the flange 1 should implement in the X-axis direction, and Y is the correction distance that the flange 1 should implement in the Y-axis direction.

In a particularly preferred embodiment, in the step (2), the correction system performs position correction on the grabbed glass according to the correction parameters obtained in the step (1), specifically:

The calibration system controls the rotation of the flange 1 according to the calibration distance that the flange 1 should implement in the X-axis direction and the calibration distance that should be implemented in the Y-axis direction obtained in step (1). , controlling the rotation of the glass grasped on the grasping part, so as to realize the position correction of the grasped glass.

Referring to FIG. 1 , in a specific embodiment, the specific distance between each photoelectric sensor in the photoelectric sensor group and the center of the flange 1 can be adjusted according to the actual situation, and the photoelectric sensor is connected to the control cabinet of the manipulator (ie, the PLC control center). When the photoelectric sensor detects the edge of the glass, the photoelectric sensor sends a trigger signal to the control cabinet.

In the specific implementation process, the size of the glass to be grasped is generally known. When the edge of the glass is photoelectrically measured and a trigger signal is sent to the control cabinet, the control cabinet is connected to the magnetic sensor through the high-speed counter input port. The scale 4 sends the current pulse measurement number to the control cabinet.

The first photoelectric sensor 2, the second photoelectric sensor 3 and the third photoelectric sensor 6 are all placed on the magnetic scale 4, and the first photoelectric sensor 2 and the second photoelectric sensor 3 are 0.5 to 0.7 m, and the photoelectric sensor signal passes through the control cabinet The I/O input end is connected with the control cabinet, the magnetic scale 4 is connected to the control cabinet through the input end of the high-speed pulse counter, when the two edge measuring cylinders 5 start to move, the magnetic scale 4 4. Start to record the distance traveled by the cylinder 5. When the photoelectric sensor detects the glass edge, the action is triggered, and the PLC reads the total number of pulses issued by the magnetic scale 4 measured by the high-speed counter. It can be measured that the first edge measuring cylinder 5 is in the first photoelectric sensor 2 and the second photoelectric sensor 3 successively detect the travel distance D within the time period of the glass edge. It is known that the first photoelectric sensor 2, the second photoelectric sensor 3 and the third photoelectric sensor 6 reach the flange when the cylinder 5 does not move. The distance from the center of the disk 1 is determined, and the rectangular coordinate system OXY is established with the center of the flange 1 as the origin, and any two points A(x ₁ , y ₁ ), B(x ₂ , y ₂ ) on the straight line where the edge of the first glass is located are obtained. , and the coordinate value of any point C(x ₃ , y ₃ ) on the straight line where the second glass edge is located, and obtain the first intersection H(x _H , y _H ) of the first glass edge and the second glass edge.

The process of obtaining each coordinate value of the first intersection point H(x _H , y _H ) is as follows:

Rotate with the flange O as the center, and rotate the grabbed glass at the minimum rotation angle until the line where the edge of the first glass is located is perpendicular to the X axis in the coordinate system, and the first intersection H (x _H , y _H ) and the flange The angle θ corresponding to the slope of the connecting line of the disk midline is:

The method for calculating the angle β corresponding to the slope of the straight line where the first glass edge of the glass is located is:

The robotic arm needs to rotate by an angle θ' in the direction of the later triggering of the first photoelectric sensor and the second photoelectric sensor, so as to realize the position correction of the grabbed glass. The calculation method of θ' is as follows:

The robot position translation distance of flange 1 relative to the X axis: (x _J -x _H , y _J -y _H ). The control cabinet controls the rotation angle θ' of the manipulator through the modbus communication protocol, and after the translation distance (x _J -x _H , y _J -y _H ) is generated in the Cartesian coordinate system, the orderliness of the stacking glass is ensured. The grasping angle and moving position are all provided by the control cabinet.

The glass grasping position correction system and method of the present invention, because it uses the center of the flange 1 of the manipulator to construct a rectangular coordinate system, and converts the glass edge data detected by the photoelectric sensor into the rectangular coordinates in the rectangular coordinate system, Using Cartesian coordinates to perform more convenient operations, the correction parameters of the glass to be grasped in the glass stacking system can be easily obtained, so that the manipulator can stably, accurately and safely correct the glass grasped in different poses; and the invention The glass grabbing position correction system in China is easy to install, low in cost and strong in practicability, which can greatly improve the neatness of stacking glass in glass industrialization and reduce the problem of glass insertion during glass stacking. This technology should be vigorously promoted.

In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be evident that various modifications and changes can still be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.

Claims (4)

1. a kind of glass crawl position corrects system, for realizing the position school for the glass that mechanical arm in glass stacking system grabs Just, which includes PLC control centre and the manipulator that is connected with the PLC control centre, the machinery handbag Ring flange and connected crawl section are included, and the crawl section is used for basis for grabbing glass, the ring flange The control of the PLC control centre, is adjusted the crawl section, which is characterized in that further includes school in correction system Equipment, the means for correcting are connected with the PLC control centre, and the correction system passes through the correction Device obtains the correction parameter of the glass being crawled, the school that the PLC control centre obtains according to the means for correcting Positive parameter carries out position correction to the glass being crawled；

The means for correcting includes the magnetic railings ruler surveyed when cylinder, being mounted on the survey on cylinder and is mounted on described Photoelectric sensor group on magnetic railings ruler, wherein

The photoelectric sensor group is to detect glass edge, and when detecting glass edge into the described PLC control Trigger signal is reported in the heart；

The survey side cylinder carries out glass edge detection to drag the photoelectric sensor group, until the photoelectric transfer All photoelectric sensors for including in sensor group all detect glass edge；

The magnetic railings ruler is used to measure the stroke of the survey side cylinder, and the magnetic railings ruler by way of step-by-step counting It is connected to the PLC control centre by a high-speed counter, the light is received in the PLC control centre When the trigger signal that electric transducer group reports, the pulse of the magnetic railings ruler of current metering is reported by the high-speed counter Number obtains the stroke of presently described survey side cylinder for the PLC control centre；

The magnetic railings ruler is consistent with the number of side cylinder is surveyed, and three photoelectric sensings are included at least in the photoelectric sensor group Device；

The number of the survey side cylinder is two, and first including being arranged in a mutually vertical manner surveys the cylinder when cylinder and second are surveyed, And two survey side cylinders are parallel to horizontal plane and are configured, and the first survey side cylinder is for detecting the glass being crawled The first glass edge, the described second survey side cylinder is used to detect the second glass edge of the glass being crawled, and described First glass edge is perpendicular to second glass edge；

The number of the 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 is mounted on described first and surveys on the cylinder of side, and the second magnetic railings ruler surveys side cylinder perpendicular to second, is mounted on described the Two survey on the cylinder of side；

The 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 third photoelectric sensor is mounted on the second magnetic railings ruler；

The glass crawl position correction system carries out realizing glass position correct operation, wherein the realization glass position Correct operation is set to carry out the following processing:

(1) the correction system electrification described in, the manipulator in the glass stacking system grab glass, the means for correcting Starting, correction parameter needed for the correction system obtains the glass that correction is currently crawled by the means for correcting；

Wherein, it is described the glass that correction is currently crawled is obtained by the means for correcting needed for correction parameter include with Lower operation:

(1.1) the side cylinder dragging photoelectric sensor group of surveying described in detects glass edge, until the photoelectric sensor group In three photoelectric sensors all detect glass edge, the PLC control centre of Xiang Suoshu reports trigger signal；

(1.2) the PLC control centre described in gives out information to the magnetic railings ruler in real time according to the trigger signal, obtains The current PRF stoichiometric number of magnetic railings ruler is passed through to obtain and survey side cylinder when the first photoelectric sensor detects glass edge First stroke S1, survey in second stroke S2 that cylinder is passed through when the second photoelectric sensor detects glass edge and when surveying The third trip S3 that cylinder is passed through when third photoelectric sensor detects glass edge；

(1.3) the PLC control centre described in obtains the first survey side cylinder and exists according to the first stroke S1 and second stroke S2 First photoelectric sensor and the second photoelectric sensor successively detect the period interior stroke space D passed through of glass edge；

(1.4) the PLC control centre described in establishes rectangular coordinate system by origin of the center of the ring flange, and according to described First stroke S1, second stroke S2, third trip S3 and stroke space D, obtain the first glass edge in the rectangular coordinate system The second straight line L2 that the first straight line L1 and the second glass edge of middle process pass through in the rectangular coordinate system, the PLC control Center processed obtains the first straight line L1 and second directly also according to equation and second straight line L2 where the first straight line L1 The first intersection point H (x of line L2_H,y_H), wherein the first intersection point H (x_H,y_H) finding process are as follows:

Wherein, (the x₁,y₁) and (x₂,y₂) be respectively any two points on the first straight line L1 coordinate value, it is described (x₃,y₃) be the second straight line L2 on any point coordinate value；

(1.5) PLC control centre described in obtain first angle β corresponding to the first slope K1 of the first straight line L1 with And intersection point H (x_H,y_H) second angle θ corresponding to the second slope K 2 with the line of the origin of the rectangular coordinate system, and first jiao The acquiring method of degree β and second angle θ is respectively as follows:

(1.6) PLC control centre described according to the first angle β and second angle θ obtain minimum rotation angle, θ ', The acquiring method of middle θ ' are as follows:

(1.7) the PLC control centre described in is as first where minimum rotation angle, θ ' postrotational first glass edge of acquisition The second intersection point J (x of straight line L1 and the second straight line L2 where the second glass edge_J, y_J),

(1.8) the PLC control centre described in is according to the first intersection point H (x_H,y_H) and the second intersection point J (x_J, y_J) 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 as follows:

X=x_J-x_H；

Y=y_J-y_H；

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；

(2) the correction system described in carries out position correction to the glass being crawled according to the correction parameter obtained in step (1).

2. glass crawl position according to claim 1 corrects system, which is characterized in that first photoelectric sensor And the second pre-determined distance between photoelectric sensor is 0.5 to 0.7m.

3. a kind of based on realization glass position school in correction system in glass crawl position described in any one of claims 1 or 2 Positive method, which is characterized in that the bearing calibration the following steps are included:

(1) the correction system electrification described in, the manipulator in the glass stacking system grab glass, the means for correcting Starting, correction parameter needed for the correction system obtains the glass that correction is currently crawled by the means for correcting, Wherein, correction parameter needed for the glass being currently crawled by the means for correcting acquisition correction includes following step It is rapid:

(1.1) the side cylinder dragging photoelectric sensor group of surveying described in detects glass edge, until the photoelectric sensor group In three photoelectric sensors all detect glass edge, the PLC control centre of Xiang Suoshu reports trigger signal；

(1.2) the PLC control centre described in gives out information to the magnetic railings ruler in real time according to the trigger signal, obtains The current PRF stoichiometric number of magnetic railings ruler is passed through to obtain and survey side cylinder when the first photoelectric sensor detects glass edge First stroke S1, survey in second stroke S2 that cylinder is passed through when the second photoelectric sensor detects glass edge and when surveying The third trip S3 that cylinder is passed through when third photoelectric sensor detects glass edge；

(1.3) the PLC control centre described in obtains the first survey side cylinder and exists according to the first stroke S1 and second stroke S2 First photoelectric sensor and the second photoelectric sensor successively detect the period interior stroke space D passed through of glass edge；

(1.4) the PLC control centre described in establishes rectangular coordinate system by origin of the center of the ring flange, and according to described First stroke S1, second stroke S2, third trip S3 and stroke space D, obtain the first glass edge in the rectangular coordinate system The second straight line L2 that the first straight line L1 and the second glass edge of middle process pass through in the rectangular coordinate system, the PLC control Center processed obtains the first straight line L1 and second directly also according to equation and second straight line L2 where the first straight line L1 The first intersection point H (x of line L2_H,y_H), wherein the first intersection point H (x_H,y_H) finding process are as follows:

Wherein, (the x₁,y₁) and (x₂,y₂) be respectively any two points on the first straight line L1 coordinate value, it is described (x₃,y₃) be the second straight line L2 on any point coordinate value；

(1.5) PLC control centre described in obtain first angle β corresponding to the first slope K1 of the first straight line L1 with And intersection point H (x_H,y_H) second angle θ corresponding to the second slope K 2 with the line of the origin of the rectangular coordinate system, and first jiao The acquiring method of degree β and second angle θ is respectively as follows:

(1.6) PLC control centre described according to the first angle β and second angle θ obtain minimum rotation angle, θ ', The acquiring method of middle θ ' are as follows:

(1.7) the PLC control centre described in is as first where minimum rotation angle, θ ' postrotational first glass edge of acquisition The second intersection point J (x of straight line L1 and the second straight line L2 where the second glass edge_J, y_J),

(1.8) the PLC control centre described in is according to the first intersection point H (x_H,y_H) and the second intersection point J (x_J, y_J) 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 as follows:

X=x_J-x_H；

Y=y_J-y_H；

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；

(2) the correction system described in carries out position correction to the glass being crawled according to the correction parameter obtained in step (1).

4. the method according to claim 3 based on realization glass position correction in glass crawl position correction system, It is characterized in that, the step (2) lieutenant colonel's positive system carries out the glass being crawled according to the correction parameter obtained in step (1) Position correction specifically:

The correction distance and answer that the 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 is controlled and grabbed on the crawl section by controlling the rotation of the ring flange Glass rotation, realize position correction to the glass being crawled.