CN107381050B - Glass crawl position corrects system and method - Google Patents
Glass crawl position corrects system and method Download PDFInfo
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- CN107381050B CN107381050B CN201710690238.5A CN201710690238A CN107381050B CN 107381050 B CN107381050 B CN 107381050B CN 201710690238 A CN201710690238 A CN 201710690238A CN 107381050 B CN107381050 B CN 107381050B
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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
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention relates to a kind of glass crawl positions to correct system and method, for realizing the position correction for the glass that mechanical arm in glass stacking system grabs, the glass stacking system includes PLC control centre and controls the manipulator that middle line is connected with the PLC, the manipulator includes ring flange and connected crawl section, and the crawl section is for grabbing glass, the ring flange is used for the control according to the PLC control centre, the crawl section is adjusted, it and in correction system further include means for correcting, the means for correcting is connected with the PLC control centre, and the correction system obtains the correction parameter for the glass being crawled by the means for correcting, the correction parameter that the PLC control centre obtains according to the means for correcting, the glass being crawled is carried out Position correction.
Description
Technical field
The present invention relates to the corrections of manipulator crawl glass in glass stacking system technology more particularly to glass stacking system
A kind of method, and in particular to glass crawl position correction system and method.
Background technique
With being constantly progressive for science and technology, glass production enterprise is higher and higher for improving production capacity requirements, 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 when glass stacking
Rate.However the posture that manipulator obtains the glass grabbed from roller-way is every time not exactly the same, it is therefore desirable to PLC control centre
By carrying out position correction to stacking glass.
Summary of the invention
The purpose of the invention is to overcome the posture of glass production line robot crawl glass different, glass stacking is caused
When there is irregular, glass and be easy to insert the technical disadvantages such as wound, a kind of glass crawl position correction system and method are provided.
It is specific as follows that the glass crawl position corrects system and method:
The 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 controls the manipulator that middle line is connected, the machinery handbag with the PLC
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, is mainly characterized by, and further includes in correction system
Means for correcting, the means for correcting are connected with the PLC control centre, and the correction system passes through the school
Equipment obtains the correction parameter of the glass being crawled, and the PLC control centre obtains according to the means for correcting
Correction parameter carries out position correction to the glass being crawled.
Preferably, the means for correcting include survey while cylinder, be mounted on described magnetic railings ruler when surveying on cylinder and
The photoelectric sensor group being mounted on the magnetic railings ruler, wherein
The photoelectric sensor group is controlled to detect glass edge, and when detecting glass edge to the PLC
Center processed reports trigger signal；
The survey side cylinder carries out glass edge detection to drag the photoelectric sensor group, until the light
All photoelectric sensors for including in electric transducer group all detect glass edge；
The magnetic railings ruler is used to measure the stroke of the survey side cylinder, and the magnetic by way of step-by-step counting
Grid ruler is connected to the PLC control centre by a high-speed counter, receives in the PLC control centre described
Photoelectric sensor group report trigger signal when, the magnetic railings ruler of current metering is reported by the high-speed counter
Pulse number obtains the stroke of presently described survey side cylinder for the PLC control centre.
More preferably, the magnetic railings ruler is consistent with the number of side cylinder is surveyed, and includes at least in the photoelectric sensor group
Three photoelectric sensors.
More preferably, the number of the described survey side cylinder is two, and first including being 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 first survey side cylinder is for detecting
First glass edge of the glass being crawled, the second survey side cylinder are used to detect the second glass edge of the glass being crawled
Edge, and 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 perpendicular to the
One surveys 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
Second survey side cylinder on；
The 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 third photoelectric sensor is mounted on the second magnetic railings ruler.
It is particularly preferred that the pre-determined distance between first photoelectric sensor and the second photoelectric sensor is 0.5 to 0.7m.
Based on the method for realizing glass position correction in above-mentioned glass crawl position correction system, it is mainly characterized by, institute
The bearing calibration stated the following steps are included:
(1) the correction system electrification described in, the manipulator in the glass stacking system grab glass, the correction
Device starting, correction needed for the correction system obtains the glass that correction is currently crawled by the means for correcting are joined
Number；
(2) the correction system described in carries out position school to the glass being crawled according to the correction parameter obtained in step (1)
Just.
Preferably, the step of obtaining correction parameter by means for correcting in the step (1) are as follows:
(1.1) the side cylinder dragging photoelectric sensor group of surveying described in detects glass edge, until the photoelectric sensing
Three photoelectric sensors in device group all detect glass edge, and 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,
The current PRF stoichiometric number of magnetic railings ruler is obtained, surveys side cylinder in the first photoelectric sensor when of detecting glass edge institute to obtain
The first stroke S1 of process, survey second stroke S2 that side cylinder is passed through when the second photoelectric sensor detects glass edge and
Survey the third trip S3 that side cylinder is passed through when third photoelectric sensor detects glass edge；
(1.3) the PLC control centre described in obtains first and surveys side gas according to the first stroke S1 and second stroke S2
Between the stroke that cylinder is passed through within the period that the first photoelectric sensor and the second photoelectric sensor successively detect glass edge
Away from D；
(1.4) PLC control centre described in establishes rectangular coordinate system using the center of the ring flange as origin, and according to
First stroke S1, second stroke S2, third trip S3 and the stroke space D obtains the first glass edge and sits at the right angle
The second straight line L2 that the first straight line L1 that passes through and the second glass edge pass through in the rectangular coordinate system in mark system, it is described
PLC control centre obtains the first straight line L1 and the also according to equation and second straight line L2 where the described first straight line L1
The first intersection point H (x of two straight line L2H,yH), wherein the first intersection point H (xH,yH) 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, institute
(the x stated3,y3) be the second straight line L2 on any point coordinate value；
(1.5) the PLC control centre described in obtains corresponding to the first slope K1 of the first straight line L1 first jiao
Spend β and intersection point H (xH,yH) second angle θ corresponding to the second slope K 2 with the line of the origin of the rectangular coordinate system, and
The acquiring method of first angle β and second angle θ are respectively as follows:
(1.6) the PLC control centre described in obtains minimum rotation angle according to the first angle β and second angle θ
θ ', the wherein acquiring method of θ ' are as follows:
(1.7) the PLC control centre described in is as where minimum rotation angle, θ ' postrotational first glass edge of acquisition
The second intersection point J (x of first straight line L1 and the second straight line L2 where the second glass edgeJ, yJ),
(1.8) the PLC control centre described in is 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 as follows:
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 step (2) lieutenant colonel's positive system is according to the correction parameter obtained in step (1) to the glass being crawled
Glass carries out position correction specifically:
The correction distance that the correction system should be implemented in the X-axis direction according to the ring flange obtained in step (1)
It is controlled on the crawl section with the correction distance that should implement in the Y-axis direction by controlling the rotation of the ring flange
The position correction to the glass being crawled is realized in the rotation of the glass of crawl.
Glass crawl position of the invention corrects system and method, since it utilizes the center structure of the ring flange of manipulator
Rectangular coordinate system is built, the glass edge data that photoelectric sensor detects are converted to the right angle in the rectangular coordinate system and are sat
Mark, more convenient operation is carried out using rectangular co-ordinate, can easily obtain the glass being crawled in glass stacking system
Correction parameter, the glass for stablizing manipulator, being grabbed under correction different positions and pose accurately, safe；And the glass in the present invention
Glass crawl position correction system is easy for installation, low in cost, practical, can greatly improve stacking glass in glass industry
Regularity, glass when reducing glass stacking, which is inserted, hurts problem, should widely popularize this technology.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that glass crawl position of the invention corrects system；
Appended drawing reference:
1 ring flange
2 first photoelectric sensors
3 second photoelectric sensors；
4 magnetic railings rulers
5 survey side cylinder
6 third photoelectric sensors
Specific embodiment
In order to clearer description technical solution of the present invention, the invention is done further below in conjunction with attached drawing
It is described in detail, this manufacturing technology is clear for the personage of this profession.
The 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 controls the manipulator that middle line is connected, the machinery handbag with the PLC
Ring flange 1 and connected crawl section are included, and the crawl section is used for root for grabbing glass, the ring flange 1
According to the control of the PLC control centre, the crawl section is adjusted, further includes means for correcting in correction system, institute
The means for correcting stated is connected with the PLC control centre, and the correction system is obtained by the means for correcting
The correction parameter for the glass being crawled is taken, the correction parameter that the PLC control centre obtains according to the means for correcting is right
The glass being crawled carries out position correction.
In a kind of preferable embodiment, the means for correcting includes surveying the gas when cylinder 5, being mounted on the survey
Magnetic railings ruler 4 on cylinder 5 and the photoelectric sensor group being mounted on the magnetic railings ruler 4, wherein the photoelectric sensor group
Trigger signal is reported to the PLC control centre to detect glass edge, and when detecting glass edge；The survey
Side cylinder 5 carries out glass edge detection to drag the photoelectric sensor group, until wrapping in the photoelectric sensor group
All photoelectric sensors contained all detect glass edge；The 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 the magnetic railings ruler 4 is connected in the PLC control by a high-speed counter
The heart, when the PLC control centre receives the trigger signal that the photoelectric sensor group reports, by the high rapid pulse
The pulse number that counter reports the magnetic railings ruler 4 of current metering is rushed, obtains presently described survey for the PLC control centre
The stroke of side cylinder 5.
In a kind of more preferably embodiment, the magnetic railings ruler 4 photoelectricity consistent, described with the number of side cylinder 5 is surveyed
Three photoelectric sensors are included at least in sensor group.
In a kind of more preferably embodiment, the number of the survey side cylinder 5 is two, including what is be arranged in a mutually vertical manner
First surveys the cylinder 5 when cylinder 5 is with the second survey, and two survey side cylinders 5 are parallel to horizontal plane and are configured, and described the
One survey side cylinder 5 is used to detect the first glass edge of the glass being crawled, and the second survey side cylinder 5 is grabbed for detecting
Second glass edge of the glass taken, and first glass edge is perpendicular to second glass edge；The magnetic
The number of grid ruler 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
It is surveyed on side cylinder 5 mounted in described first, the second magnetic railings ruler 4 surveys side cylinder 5 perpendicular to second, is mounted on described second and surveys side
On cylinder 5；The 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 third photoelectric sensor 6 is mounted on the second magnetic railings ruler 4.
It is pre- between 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 for realizing glass position correction in above-mentioned glass crawl position correction system, it is mainly characterized by, institute
The bearing calibration stated the following steps are included:
(1) the correction system electrification described in, the manipulator in the glass stacking system grab glass, the correction
Device starting, correction needed for the correction system obtains the glass that correction is currently crawled by the means for correcting are joined
Number；
(2) the correction system described in carries out position school to the glass being crawled according to the correction parameter obtained in step (1)
Just.
In a kind of preferable embodiment, in the step (1) by means for correcting obtain correction parameter the step of
Are as follows:
(1.1) the survey side cylinder 5 described in drags the photoelectric sensor group detection glass edge, until the photoelectric sensing
Three photoelectric sensors in device group all detect glass edge, and 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 4 in real time according to the trigger signal,
The current PRF stoichiometric number of magnetic railings ruler 4 is obtained, detects glass edge in the first photoelectric sensor 2 to obtain and survey side cylinder 5
When passed through 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 third photoelectric sensor 6 detects glass edge；
(1.3) the PLC control centre described in obtains first and surveys side gas according to the first stroke S1 and second stroke S2
The stroke that cylinder 5 is passed through within the period that the first photoelectric sensor 2 and the second photoelectric sensor 3 successively detect glass edge
Space D；
(1.4) the PLC control centre described in establishes rectangular coordinate system, and root as origin using the center of the ring flange 1
According to the first stroke S1, second stroke S2, third trip S3 and stroke space D, the first glass edge is obtained at the right angle
The second straight line L2 that the first straight line L1 and the second glass edge passed through in coordinate system passes through in the rectangular coordinate system, it is described
PLC control centre also according to equation and second straight line L2 where the described first straight line L1 obtain the first straight line L1 and
The first intersection point H (x of second straight line L2H,yH), wherein the first intersection point H (xH,yH) 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, institute
(the x stated3,y3) be the second straight line L2 on any point coordinate value；
(1.5) the PLC control centre described in obtains corresponding to the first slope K1 of the first straight line L1 first jiao
Spend β and intersection point H (xH,yH) second angle θ corresponding to the second slope K 2 with the line of the origin of the rectangular coordinate system, and
The acquiring method of first angle β and second angle θ are respectively as follows:
(1.6) the PLC control centre described in obtains minimum rotation angle according to the first angle β and second angle θ
θ ', the wherein acquiring method of θ ' are as follows:
(1.7) the PLC control centre described in is as where minimum rotation angle, θ ' postrotational first glass edge of acquisition
The second intersection point J (x of first straight line L1 and the second straight line L2 where the second glass edgeJ, yJ),
(1.8) the PLC control centre described in is 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 is answered
When the correction distance implemented in the X-axis direction and the correction distance that should implement in the Y-axis direction are respectively as follows:
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, the step (2) lieutenant colonel's positive system is joined according to the correction obtained in step (1)
It is several that position correction is carried out to the glass being crawled specifically:
The correction distance that the correction system should be implemented in the X-axis direction according to the ring flange 1 obtained in step (1)
The crawl section is controlled by controlling the rotation of the ring flange 1 with the correction distance that should implement in the Y-axis direction
The position correction to the glass being crawled is realized in the rotation of the glass of upper crawl.
Referring to Fig. 1, in a specific embodiment, each photoelectric sensor and ring flange 1 in photoelectric sensor group
The specific distance at center can adjust according to the actual situation, and photoelectric sensor accesses the control cabinet (i.e. PLC control centre) of manipulator.
When photoelectric sensor detects glass edge, the photoelectric sensor issues trigger signal, transfers to the control cabinet.
In the specific implementation process, the size for the glass being crawled be usually it is known, when photoelectric measuring obtain glass edge, to
After the control cabinet sends trigger signal, magnetic railings ruler 4 that the control cabinet is connected by high-speed counter input port to
The control cabinet sends current PRF stoichiometric number.
First photoelectric sensor 2, the second photoelectric sensor 3 and third 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, and photo-sensor signal passes through the I/O input terminal of control cabinet
It is connected with the control cabinet, the magnetic railings ruler 4 control cabinet described by the input terminal connection of high-speed counter,
When two survey side cylinders 5 start movement, 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 issues, can measure the first survey side
The row that cylinder 5 is passed through within the period that the first photoelectric sensor 2 and the second photoelectric sensor 3 successively detect glass edge
Journey space D, it is known that the first photoelectric sensor 2, the second photoelectric sensor 3 and third photoelectric sensor 6 arrive method when cylinder 5 is failure to actuate
The distance at blue 1 center of disk determines, establishes rectangular coordinate system OXY by origin of 1 center of ring flange, and obtain the first glass edge institute
Any two points A (x on straight line1,y1),B(x2,y2), and the second glass edge any point C (x on straight line3,y3)
Coordinate value, and obtain the first glass edge and the second glass edge the first intersection point H (xH,yH)。
The first intersection point H (xH,yH) each coordinate value finding process are as follows:
It is rotated centered on ring flange O, the glass being crawled is allowed to rotate with minimum rotation angle to the first glass edge institute
In straight line perpendicular to the X-axis in coordinate system, the first intersection point H (xH,yH) corresponding with the slope of the line of ring flange middle line angle, θ
Are as follows:
The acquiring method of angle beta corresponding to the slope of straight line where first glass edge of glass are as follows:
Mechanical arm needs the side triggered more afterwards into two the first photoelectric sensor, the second photoelectric sensor photoelectric sensors
To rotation angle, θ ', realize the position correction of the glass being crawled.The wherein acquiring method of θ ' are as follows:
Robot location translation distance of the ring flange 1 relative to X-axis: (xJ-xH,yJ-yH).Control cabinet is logical by modbus
News protocol integrated test system mechanical arm rotation angle, θ ', translation distance (x is generated in rectangular coordinate systemJ-xH,yJ-yH) after, guarantee stacking
The regularity of glass.Control cabinet calculation processing offer is passed through in crawl angle and shift position.
Glass crawl position of the invention corrects system and method, since it utilizes the center of the ring flange 1 of manipulator
Rectangular coordinate system is constructed, the glass edge data that photoelectric sensor detects are converted to the right angle in the rectangular coordinate system and are sat
Mark, more convenient operation is carried out using rectangular co-ordinate, can easily obtain the glass being crawled in glass stacking system
Correction parameter, the glass for stablizing manipulator, being grabbed under correction different positions and pose accurately, safe；And the glass in the present invention
Glass crawl position correction system is easy for installation, low in cost, practical, can greatly improve stacking glass in glass industry
Regularity, glass when reducing glass stacking, which is inserted, hurts 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 can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
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 L2H,yH), wherein the first intersection point H (xH,yH) 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 (xH,yH) 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 edgeJ, yJ),
(1.8) the PLC control centre described in is 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 as follows:
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；
(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 L2H,yH), wherein the first intersection point H (xH,yH) 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 (xH,yH) 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 edgeJ, yJ),
(1.8) the PLC control centre described in is 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 as follows:
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；
(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.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN114030894B (en) * | 2021-12-21 | 2023-05-26 | 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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| CN102491091B (en) * | 2011-12-12 | 2014-04-16 | 中国建材国际工程集团有限公司 | Method of manipulator stacking system for glass |
| CN106395383A (en) * | 2016-11-30 | 2017-02-15 | 中建材凯盛机器人（上海）有限公司 | Glass stacking device and control method thereof |
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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 |