CN108002696B - Tracking control device and cooling control system - Google Patents
Tracking control device and cooling control system Download PDFInfo
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- CN108002696B CN108002696B CN201711445065.7A CN201711445065A CN108002696B CN 108002696 B CN108002696 B CN 108002696B CN 201711445065 A CN201711445065 A CN 201711445065A CN 108002696 B CN108002696 B CN 108002696B
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- 238000001816 cooling Methods 0.000 title claims abstract description 91
- 239000011521 glass Substances 0.000 claims abstract description 86
- 238000001514 detection method Methods 0.000 claims abstract description 72
- 238000004519 manufacturing process Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000005329 float glass Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
- C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
- C03B33/02—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor
- C03B33/023—Cutting or splitting sheet glass or ribbons; Apparatus or machines therefor the sheet or ribbon being in a horizontal position
- C03B33/037—Controlling or regulating
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
The invention discloses a tracking control device and a cooling control system. The cooling control system includes a cooling device and a tracking control device. The tracking control device comprises a glass position detection module, a speed detection module, a main control module and a cooling device adjustment module. The glass position detection module detects positions of two side edges of glass on a production line, generates a jump signal and sends the jump signal to the main control module. The speed detection module detects the moving speed of the glass, generates a moving speed signal and sends the moving speed signal to the main control module. The main control module calculates the time interval of the glass reaching the cooling device according to the moving speed signal, generates a position adjustment signal according to the jump signal, and outputs the position adjustment signal to the cooling device adjustment module after the time interval. The cooling device adjusting module moves according to the position adjusting signal so as to drive the cooling device to correspondingly move. The invention can automatically track the glass, realizes that the cooling device automatically swings along with the swing of the glass, and improves the automation level.
Description
Technical Field
The invention relates to the technical field of glass production, in particular to a tracking control device and a cooling control system.
Background
In the production process of float glass, in order to solve the situations of cutting edge burst, multiple unfilled corners and the like caused by temperature deviation during online cutting of glass, a cooling device is added before a cutting system, for example, the glass edge is cooled by using air cooling and water cooling technologies, so that the temperature of the glass edge is reduced to a temperature suitable for cutting. The existing cooling device needs to be manually operated to change the position, once the glass swings, the position must be manually and timely adjusted, otherwise, the water cooling and air cooling deviate from the position of the cutting line, and the smooth cutting effect is not achieved.
However, the positioning of the manual intervention mode is inaccurate, so that the glass cutting quality is low.
Disclosure of Invention
The embodiment of the invention provides a tracking control device and a cooling control system, which aim to solve the problem of low glass cutting quality caused by inaccurate positioning of a manual intervention mode in the prior art.
The first aspect of the embodiment of the invention provides a tracking control device which is applied to glass cutting and comprises a glass position detection module, a speed detection module, a main control module and a cooling device adjustment module.
The main control module is respectively connected with the glass position detection module, the speed detection module and the cooling device adjusting module.
The glass position detection module detects positions of two side edges of glass on a production line, generates a jump signal and sends the jump signal to the main control module.
The speed detection module detects the moving speed of the glass, generates a moving speed signal and sends the moving speed signal to the main control module.
The main control module calculates the time interval of the glass reaching the cooling device according to the moving speed signal, generates a position adjustment signal according to the jump signal, and outputs the position adjustment signal to the cooling device adjustment module after the time interval.
The cooling device adjusting module moves according to the position adjusting signal so as to drive the cooling device to correspondingly move.
In one embodiment, the glass position detection module includes a first motor unit and a photo detection unit.
The first motor unit is connected with the photoelectric detection unit, and the first motor unit and the photoelectric detection unit are respectively connected with the main control module.
And after the first motor unit receives the position detection signal sent by the main control module, the photoelectric detection unit is driven to move according to the track perpendicular to the glass moving direction according to the position detection signal, and a first motor speed signal is output to the main control module.
And when the photoelectric detection unit detects the side edge of the glass, a jump signal is sent to the main control module.
The main control module obtains position data of two sides of the glass according to the time interval of receiving the front jump signal, the back jump signal and the first motor speed signal, and generates a position adjustment signal according to the position data.
In one embodiment, the first motor unit includes a first motor, a first gear train, and a first tachometer encoder.
The first motor is connected with the first transmission mechanism and the first speed measuring encoder respectively, the first motor and the first speed measuring encoder are connected with the main control module respectively, and the first transmission mechanism is connected with the photoelectric detection unit.
The first motor receives the position detection signal and rotates according to the position detection signal.
The first transmission mechanism moves along with the first motor and drives the photoelectric detection unit to move along a track perpendicular to the moving direction of the glass.
The first tachometer encoder detects a rotational speed of the first motor and generates a first motor speed signal.
In one embodiment, the photo detection unit comprises a photo detection sensor.
In one embodiment, the speed detection module includes a second motor, a second gear train, and a second tachometer encoder.
The second motor is connected with a second transmission mechanism and a second speed measuring encoder respectively, the second transmission mechanism is arranged on the production line, and the second speed measuring encoder is connected with the main control module.
The second motor drives the second transmission mechanism to move, the second transmission mechanism drives the glass to move, the second speed measuring encoder detects the rotation speed of the second motor, and a movement speed signal is generated and sent to the main control module.
In one embodiment, the cooling device adjustment module includes a third motor, a third gear train, and a third tachometer encoder.
The third motor is connected with the third transmission mechanism and the third speed measuring encoder respectively, the third motor and the third speed measuring encoder are connected with the main control module respectively, and the third transmission mechanism is connected with the cooling device.
The third motor receives the position adjustment signal and rotates according to the position adjustment signal.
The third transmission mechanism moves along with the third motor and drives the cooling device to move.
The third speed measuring encoder detects the rotation speed of the third motor, generates a third motor speed signal and sends the third motor speed signal to the main control module.
In one embodiment, the third transmission mechanism comprises a roller screw coupled to the third motor and the cooling device, respectively.
In one embodiment, the main control module includes a position control unit for driving the motor.
A second aspect of an embodiment of the present invention provides a cooling control system applied to glass cutting, the cooling control system including a cooling device and a tracking control device as described above connected to the cooling device.
In one embodiment, the cooling device comprises an air-cooled module and/or a water-cooled module.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the automatic tracking device is suitable for the cooling process of the glass edge part during the online production of the float glass, can realize the automatic tracking of the glass, controls the cooling device to be always at the position of the cutting line, realizes the automatic swinging along with the swinging of the glass by the cooling device, does not need manual intervention, reduces the workload of operators, solves the problems of influencing cutting and the like due to inaccurate positioning caused by the fact that the personnel take care, improves the automation level and achieves the purpose of unattended operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a tracking control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tracking control device according to another embodiment of the present invention.
Detailed Description
In order to make the present solution better understood by those skilled in the art, the technical solution in the present solution embodiment will be clearly described below with reference to the accompanying drawings in the present solution embodiment, and it is obvious that the described embodiment is an embodiment of a part of the present solution, but not all embodiments. All other embodiments, based on the embodiments in this solution, which a person of ordinary skill in the art would obtain without inventive faculty, shall fall within the scope of protection of this solution.
The term "comprising" in the description of the present solution and the claims and in the above figures, as well as any other variants, means "including but not limited to", intended to cover a non-exclusive inclusion. Furthermore, the terms "first" and "second," etc. are used for distinguishing between different objects and not for describing a particular sequential order.
In the embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The implementation of the present invention is described in detail below with reference to the specific drawings.
Example 1:
fig. 1 shows a structure of a tracking control device 100 for glass cutting according to an embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown in detail as follows:
As shown in fig. 1, a tracking control device 100 provided by an embodiment of the present invention includes a glass position detecting module 110, a speed detecting module 120, a main control module 130, and a cooling device adjusting module 140.
The main control module 130 is connected to the glass position detection module 110, the speed detection module 120, and the cooling device adjustment module 140, respectively.
The glass position detection module 110 detects positions of two side edges of glass on a production line, generates a jump signal and sends the jump signal to the main control module 130.
The speed detection module 120 detects the moving speed of the glass, generates a moving speed signal, and transmits the moving speed signal to the main control module 130.
The main control module 130 calculates a time interval when the glass arrives at the cooling device 200 according to the moving speed signal, generates a position adjustment signal according to the jump signal, and outputs the position adjustment signal to the cooling device adjustment module 140 after the time interval.
The cooling device adjusting module 140 moves according to the position adjusting signal to drive the cooling device 200 to move accordingly.
In this embodiment, the main control module 130 calculates the time interval for the glass to reach the cooling device 200 according to the moving speed signal, including: the main control module 130 obtains the distance between the current position of the glass and the cooling device 200, and divides the distance by the moving speed included in the moving speed signal to obtain the time interval for the glass to reach the cooling device 200.
The main control module 130 calculates the positions of the two sides of the glass according to the time of receiving the jump signal, and further obtains a corresponding movement amount for adjusting the cooling device 200, and generates a position adjustment signal carrying the movement amount.
The main control module 130 outputs a position adjustment signal to the cooling device adjustment module 140 after a time interval, and can control the cooling device 200 to move correspondingly after the glass reaches the position of the cooling device 200, so that the situation that the cooling device 200 moves in advance or behind is avoided, and accurate tracking and follow-up of the cooling device 200 to the glass are realized.
In one embodiment, the cooling device adjustment module 140 is fixedly connected to the cooling device 200 to achieve the linkage.
In the embodiment of the invention, since the glass swings in the process of moving on the production line, the positions of the two sides of the glass are detected in real time by the glass position detection module 110, so that the glass can be automatically tracked, and the cooling device 200 is controlled to follow the swing of the glass to adjust the position in real time by the cooling device adjustment module 140, so that the cooling device 200 is always positioned on the cutting line.
As shown in fig. 2, in one embodiment of the present invention, the glass position detection module 110 of fig. 1 includes a first motor unit 111 and a photo detection unit 112.
The first motor unit 111 is connected with the photoelectric detection unit 112, and the first motor unit 111 and the photoelectric detection unit 112 are respectively connected with the main control module 130.
After receiving the position detection signal sent by the main control module, the first motor unit 111 drives the photoelectric detection unit 112 to move along a track perpendicular to the moving direction of the glass according to the position detection signal, and outputs a first motor speed signal to the main control module 130.
When the photoelectric detection unit 112 detects the side edge of the glass, a jump signal is sent to the master control module 130.
The main control module 130 obtains position data of two sides of the glass according to the time interval of receiving the front jump signal and the rear jump signal and the first motor speed signal, and generates a position adjustment signal according to the position data.
In this embodiment, the first motor unit 111 and the photodetection unit 112 are fixedly connected to realize simultaneous movement.
The photo-detecting unit 112 moves along a trajectory perpendicular to the moving direction of the glass, and when the photo-detecting unit 112 passes one side of the glass, the photo-detecting unit 112 outputs a jumping signal due to a difference in light shielding state. When the photo-detecting unit 112 passes the other side of the glass, a jump signal is outputted again. The front and rear jump signals are output in total during the movement of the photo detection unit 112.
The main control module 130 multiplies the time interval of receiving the front jump signal and the rear jump signal by the speed value contained in the first motor speed signal to obtain the position data of the two sides of the glass.
The embodiment determines the position of the glass through photoelectric detection, and the device has simple structure and is easy to realize.
As shown in fig. 2, in one embodiment of the present invention, the first motor unit 111 includes a first motor 1111, a first gear 1112, and a first tacho encoder 1113.
The first motor 1111 is connected to the first transmission mechanism 1112 and the first tacho encoder 1113, respectively, the first motor 1111 and the first tacho encoder 1113 are connected to the main control module 130, respectively, and the first transmission mechanism 1112 is connected to the photoelectric detection unit 112.
The first motor 1111 receives the position detection signal, and rotates according to the position detection signal.
The first driving mechanism 1112 moves along with the first motor and drives the photodetection unit 112 to move along a trajectory perpendicular to the glass moving direction.
The first tachometer encoder 1113 detects the rotational speed of the first motor 1111, and generates a first motor speed signal.
In this embodiment, the main control module 130 outputs a position detection signal to the first motor 1111 for driving the first motor 1111 to rotate.
The first motor 1111 drives the photoelectric detection unit 112 to move through the first transmission mechanism 1112.
The first tachometer encoder 1113 detects the rotational speed of the first motor 1111, and generates a first motor speed signal to the main control module 130.
In one embodiment, the main control module 130 outputs a first motor speed control signal to the first motor 1111 according to the first motor speed signal to adjust the rotational speed of the first motor 1111, thereby implementing closed loop control of the first motor 1111.
In one embodiment of the present invention, the photo-detection unit 112 includes a photo-detection sensor.
As shown in fig. 2, in one embodiment of the present invention, the speed detection module 120 of fig. 1 includes a second motor 121, a second transmission 122, and a second tachometer encoder 123.
The second motor 121 is connected with a second transmission mechanism 122 and a second speed measuring encoder 123 respectively, the second transmission mechanism 122 is arranged on the production line, and the second speed measuring encoder 123 is connected with the main control module 130.
The second motor 121 drives the second transmission mechanism 122 to move, the second transmission mechanism 122 drives the glass to move, the second speed measuring encoder 123 detects the rotation speed of the second motor 121, and a movement speed signal is generated and sent to the main control module 130.
In one embodiment, the second motor 121 is connected to the main control module 130, and the main control module 130 outputs a second motor control signal to the second motor 121.
In one embodiment, the main control module 130 outputs a second motor speed control signal to the second motor 121 according to the moving speed signal to adjust the rotation speed of the second motor 121, so as to realize closed-loop control of the second motor 121.
As shown in fig. 2, in one embodiment of the present invention, the cooling device adjustment module 140 of fig. 1 includes a third motor 141, a third gear 142, and a third tachometer encoder 143.
The third motor 141 is connected with the third transmission mechanism 142 and the third speed measuring encoder 143 respectively, the third motor 141 and the third speed measuring encoder 143 are connected with the main control module respectively, and the third transmission mechanism 142 is connected with the cooling device 200.
The third motor 141 receives the position adjustment signal and rotates according to the position adjustment signal.
The third transmission mechanism 142 moves along with the third motor 141 and drives the cooling device 200 to move.
The third tachometer encoder 143 detects the rotational speed of the third motor 141, generates a third motor speed signal, and transmits the third motor speed signal to the main control module 130.
In one embodiment, the main control module 130 outputs a third motor speed control signal to the third motor 141 according to the third motor speed signal to adjust the rotation speed of the third motor 141, so as to realize closed-loop control of the third motor 141.
In one embodiment of the present invention, the third driving mechanism 142 includes a roller screw coupled to the third motor 141 and the cooling device 200, respectively.
The roller screw is adopted in the implementation, and the transmission is realized by utilizing the principle of screw movement, so that the device is lighter and more attractive.
As shown in fig. 2, in one embodiment of the present invention, the main control module 130 of fig. 1 includes a position control unit 131 for driving a motor, and the position control unit 131 outputs a motor driving pulse.
In this embodiment, the main control module 130 is a Siemens S7-200 programmable controller. The model of the position control unit 131 is EM253.
In this embodiment, the motor drive pulses include a first motor drive pulse, a second motor drive pulse, and a third motor drive pulse.
The position control unit 131 outputs a first motor driving pulse to the first motor 1111 to drive the first motor 1111 to rotate.
The position control unit 131 outputs a second motor driving pulse to the second motor 121 to drive the second motor 121 to rotate.
The position control unit 131 outputs a third motor driving pulse to the third motor 141 to drive the third motor 141 to rotate.
The embodiment of the invention is suitable for the cooling process of the glass edge during the online production of float glass, can realize the automatic tracking of the glass, controls the cooling device to be always at the position of the cutting line, realizes the automatic swinging of the cooling device along with the swinging of the glass, does not need manual intervention, reduces the workload of operators, solves the problems of inaccurate positioning, cutting influence and the like caused by the imprecise supervision of the operators, improves the automation level and achieves the purpose of unattended operation.
Example 2:
The embodiment of the invention also provides a cooling control system applied to glass cutting, which comprises a cooling device 200 and the tracking control device 100 connected with the cooling device 200.
In one embodiment of the invention, the cooling device 200 includes an air-cooled module and/or a water-cooled module.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The tracking control device is characterized by being applied to glass cutting and comprising a glass position detection module, a speed detection module, a main control module and a cooling device adjustment module;
The main control module is respectively connected with the glass position detection module, the speed detection module and the cooling device adjustment module;
The glass position detection module detects positions of two side edges of glass on a production line, generates a jump signal and sends the jump signal to the main control module;
The speed detection module detects the moving speed of the glass, generates a moving speed signal and sends the moving speed signal to the main control module;
The main control module calculates the time interval of the glass reaching the cooling device according to the moving speed signal, generates a position adjustment signal according to the jump signal, and outputs the position adjustment signal to the cooling device adjustment module after the time interval; the main control module calculates the time interval of the glass reaching the cooling device according to the moving speed signal, and the main control module comprises the following components: the main control module obtains the distance between the current position of the glass and the cooling device, and divides the distance by the moving speed contained in the moving speed signal to obtain the time interval of the glass reaching the cooling device; the main control module calculates the positions of the two sides of the glass according to the time of receiving the jump signal, further obtains corresponding movement quantity for adjusting the cooling device, and generates a position adjustment signal carrying the movement quantity; the cooling device adjusting module is fixedly connected with the cooling device to realize linkage;
The cooling device adjusting module moves according to the position adjusting signal so as to drive the cooling device to correspondingly move;
The glass position detection module comprises a first motor unit and a photoelectric detection unit;
The first motor unit is connected with the photoelectric detection unit, and the first motor unit and the photoelectric detection unit are respectively connected with the main control module;
After the first motor unit receives the position detection signal sent by the main control module, the photoelectric detection unit is driven to move according to a track perpendicular to the glass moving direction according to the position detection signal, and a first motor speed signal is output to the main control module;
the photoelectric detection unit sends a jump signal to the main control module when detecting the side edge of the glass;
the main control module obtains position data of two sides of the glass according to the time interval of receiving the front jump signal, the rear jump signal and the first motor speed signal, and generates the position adjustment signal according to the position data; the first motor unit is fixedly connected with the photoelectric detection unit to realize simultaneous movement;
The photoelectric detection unit moves along a track perpendicular to the moving direction of the glass, and outputs a jump signal when the photoelectric detection unit passes one side edge of the glass; when the photoelectric detection unit passes through the other side edge of the glass, a jump signal is output again; in the moving process of the photoelectric detection unit, a total of front and rear jump signals are output; the main control module multiplies the time interval of receiving the front jump signal and the rear jump signal by the speed value contained in the speed signal of the first motor to obtain the position data of the two sides of the glass.
2. The tracking control device of claim 1, wherein the first motor unit comprises a first motor, a first transmission, and a first tacho encoder;
the first motor is respectively connected with the first transmission mechanism and the first speed measuring encoder, the first motor and the first speed measuring encoder are respectively connected with the main control module, and the first transmission mechanism is connected with the photoelectric detection unit;
The first motor receives the position detection signal and rotates according to the position detection signal;
The first transmission mechanism moves along with the first motor and drives the photoelectric detection unit to move along a track perpendicular to the glass moving direction;
the first speed measuring encoder detects the rotation speed of the first motor and generates the first motor speed signal.
3. The tracking control device according to claim 1, characterized in that the photodetecting unit includes a photodetecting sensor.
4. The tracking control device of claim 1, wherein the speed detection module comprises a second motor, a second transmission, and a second tachometer encoder;
The second motor is respectively connected with the second transmission mechanism and the second speed measuring encoder, the second transmission mechanism is arranged on the production line, and the second speed measuring encoder is connected with the main control module;
The second motor drives the second transmission mechanism to move, the second transmission mechanism drives the glass to move, the second speed measuring encoder detects the rotation speed of the second motor, and a movement speed signal is generated and sent to the main control module.
5. The tracking control device of claim 1, wherein the cooling device adjustment module comprises a third motor, a third transmission, and a third tachometer encoder;
The third motor is respectively connected with the third transmission mechanism and the third speed measuring encoder, the third motor and the third speed measuring encoder are respectively connected with the main control module, and the third transmission mechanism is connected with the cooling device;
The third motor receives the position adjustment signal and rotates according to the position adjustment signal;
the third transmission mechanism moves along with the third motor and drives the cooling device to move;
And the third speed measuring encoder detects the rotation speed of the third motor, generates a third motor speed signal and sends the third motor speed signal to the main control module.
6. The tracking control device according to claim 5, wherein the third transmission mechanism includes a roller screw connected to the third motor and the cooling device, respectively.
7. The tracking control device according to any one of claims 1 to 6, characterized in that the main control module comprises a position control unit for driving a motor.
8. A cooling control system, characterized in that it is applied to glass cutting, comprising a cooling device and a tracking control device according to any one of claims 1 to 7 connected to the cooling device.
9. The cooling control system of claim 8, wherein the cooling device comprises an air cooling module and/or a water cooling module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711445065.7A CN108002696B (en) | 2017-12-27 | 2017-12-27 | Tracking control device and cooling control system |
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| CN201711445065.7A CN108002696B (en) | 2017-12-27 | 2017-12-27 | Tracking control device and cooling control system |
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| CN108002696B true CN108002696B (en) | 2024-05-17 |
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| CN104181862A (en) * | 2014-08-20 | 2014-12-03 | 中意凯盛（蚌埠）玻璃冷端机械有限公司 | Glass deflection tracking system |
| CN105793204A (en) * | 2013-12-04 | 2016-07-20 | 旭硝子株式会社 | Method and device for producing glass plate |
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2017
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|---|---|---|---|---|
| US4021031A (en) * | 1975-12-08 | 1977-05-03 | Butler Automatic, Inc. | Web alignment system |
| JP2004279823A (en) * | 2003-03-17 | 2004-10-07 | Ricoh Co Ltd | Position error calculating apparatus, image forming device, control program and recording medium in image forming device |
| CN101048255A (en) * | 2004-10-25 | 2007-10-03 | 三星钻石工业股份有限公司 | Method and apparatus for forming cracks |
| CN105793204A (en) * | 2013-12-04 | 2016-07-20 | 旭硝子株式会社 | Method and device for producing glass plate |
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| CN108002696A (en) | 2018-05-08 |
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