CN205651352U - Automatic go up unloading glass machinery hand control system - Google Patents
Automatic go up unloading glass machinery hand control system Download PDFInfo
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- CN205651352U CN205651352U CN201620193063.8U CN201620193063U CN205651352U CN 205651352 U CN205651352 U CN 205651352U CN 201620193063 U CN201620193063 U CN 201620193063U CN 205651352 U CN205651352 U CN 205651352U
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- automatic loading
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- hand control
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Abstract
The utility model discloses an automatic go up unloading glass machinery hand control system, including the host computer, a plurality of respectively with upper computer connection's motion control ware, a plurality of and motion control ware correspond the servo motor who is used for the motion of robot arm body who is connected, install the vision sensor on every sucking disc frame, install rotary encoder and photoelectric switch on the conveyer belt, rotary encoder, photoelectric switch and upper computer connection, arbitrary vision sensor is connected with the motion control ware that corresponds. The utility model discloses realize that it places the conveyer belt to get the piece from the glass frame, gets the whole cyclic process full automatization of piece to the glass frame from the conveyer belt after processing is accomplished, the manipulator is the mutually independent module with work piece conveying system, and the constitution is a system but the exclusive use does, system's fluent movements, it is reliable and stable.
Description
Technical field
This utility model relates to glass post-processing automatic field, specifically a kind of automatic loading/unloading glass machinery hand control system.
Background technology
Glass machinery hands automatic loading and unloading system is an importance of mechanical hand application, its appearance and extensively application, can greatly liberate human resources, reduce labor intensity, it is achieved produce and the automatization of the course of processing, improve production efficiency.Along with the development of glass post-processing technology, utilizing mechanical hand to replace manually realizing automatic loading/unloading has become a kind of development trend.
On international glass machinery exhibition in recent years, the most commonly used automatic robot skipping-baiting apparatus of external many glass post-processing enterprises；Domestic glass post-processing enterprise also begins to pay close attention to and set about carrying out the research and development of correlation technique and device, and wherein, quick, the high accuracy of glass machinery hands automatic loading and unloading system and good adaptability become technological difficulties.Produce and development need, research and development glass machinery hands automatic loading and unloading system according to enterprise practical, improve domestic high-end manufacture equipment and there is important Research Significance and using value；Meanwhile, certain facilitation is played in the development to national economy.Therefore the Control System Design of glass machinery hands automatic loading/unloading and key technology research are particularly important.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of automatic loading/unloading glass machinery hand control system, and mechanical hand coordinates realization to control with the sensor on conveyer belt, it is ensured that glass loading and unloading quickly and accurate.
The technical solution of the utility model is:
Automatic loading/unloading glass machinery hand control system, wherein, described mechanical hand includes mechanical hand body and the suction cup carrier being installed on mechanical hand body, described automatic loading/unloading glass machinery hand control system includes host computer, multiple motion controllers being connected with host computer respectively, multiple servomotors of being used for drive mechanical hand body move of connecting corresponding with motion controller, are installed on the vision sensor in each suction cup carrier, the rotary encoder being installed on conveyer belt and photoswitch；Described rotary encoder, photoswitch are connected with host computer, and arbitrary vision sensor connects with corresponding motion controller.
Described multiple motion controllers sequentially communicate to connect.
Described automatic loading/unloading glass machinery hand control system also includes the Pneumatic control module for driving the suction disc vacuum pumping in suction cup carrier, and described Pneumatic control module includes the magnetic switch and electromagnetic valve that connect with corresponding motion controller and the cylinder being connected with electromagnetic valve.
Described automatic loading/unloading glass machinery hand control system also includes the VFC module for driving conveyer belt to run, and described VFC module includes the converter being connected with host computer and the threephase asynchronous machine being connected with converter.
Described motion controller is connected with servomotor by servo-driver；The driving power supply of described servo-driver uses three-phase alternating-current supply; include disconnecting switch XQ1, XQ2, XQ3, XQ4; Surge Protector KF; three-phase isolation transformer TX, servo filter LBQ1 being connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3；The outfan of described disconnecting switch XQ1 is connected with the input of three-phase isolation transformer TX; described servo filter LBQ1, LBQ2, LBQ3 outfan with three-phase isolation transformer TX respectively is connected, and described Surge Protector KF is connected on the line between the outfan of disconnecting switch XQ1 and the input of three-phase isolation transformer TX.
Described motion controller connects with the servo-driver of the X, Y, Z axis of corresponding mechanical hand body.
Connect on the terminal board of described motion controller and have Zero-point switch SG1, SG2 and SG3 of X-axis, Y-axis, the limit switch of Z axis and X-axis, Y-axis, Z axis.
Advantage of the present utility model:
Whole system is controlled and is monitored for relevant parameter by host computer of the present utility model, motion controller of the present utility model is as slave computer, receive the control instruction of host computer, carry out processing computing and sending pulse command running to corresponding servomotor, the operation of mechanical hand body uses Automated condtrol completely, without artificial loading and unloading, it is provided that work efficiency, meet the requirement of loading and unloading；The vision sensor that this utility model is installed in each suction cup carrier is during glass captures, the glass image that will capture, compare with the benchmark image of storage in its internal memory, analyze deviation value, motion controller controls mechanical hand body and automatically adjusts running orbit and end of run position, glass is placed on precalculated position, it is ensured that the position error of glass is in the positioning precision of 0.05 0.1mm；The photoswitch that this utility model is installed on conveyer belt is for detecting the physical location of glass, the rotary encoder being installed on conveyer belt drives the speed of service of the rotating speed indirect detection glass of motor by detection conveyer belt, then the speed of service and the actual position information of glass are transferred to corresponding motion controller by host computer, motion controller controls the speed of service of mechanical hand body, the suction cup carrier on mechanical hand body is made to touch glass a period of time with the speed identical with glass traveling, mention after glass is held by suction disc vacuum pumping simultaneously, it is achieved quickly capture.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present utility model.
Fig. 2 is the structure principle chart under this utility model cooperative work mode.
Fig. 3 is the circuit diagram of this utility model power supply.
Fig. 4 is the circuit diagram of this utility model motion controller and servo-driver.
Fig. 5 is the input and output point interface schema of this utility model motion controller.
Detailed description of the invention
See Fig. 1, automatic loading/unloading glass machinery hand control system, wherein, mechanical hand includes mechanical hand body and the suction cup carrier being installed on mechanical hand body, automatic loading/unloading glass machinery hand control system includes host computer 1, multiple motion controllers 2 being connected with host computer 1 respectively, multiple by servo-driver 3 servomotor 4 that be used for drive mechanical hand body move that connect corresponding with motion controller 2, the vision sensor 5 being installed in each suction cup carrier, the rotary encoder 6 being installed on conveyer belt and photoswitch 7, for driving the Pneumatic control module of the suction disc vacuum pumping in suction cup carrier and for the VFC module driving conveyer belt to run；Rotary encoder 6, photoswitch 7 are connected with host computer 1, arbitrary vision sensor 5 connects with corresponding motion controller 2, multiple motion controllers 2 sequentially communicate to connect, Pneumatic control module includes the magnetic switch 8 and electromagnetic valve 9 that connect with corresponding motion controller 2 and the cylinder 10 being connected with electromagnetic valve 9, and VFC module includes the converter 11 being connected with host computer 1 and the threephase asynchronous machine 12 being connected with converter 11.
Automatic loading/unloading glass machinery hand system can be operated under stand-alone mode and synchronous mode both of which, and the foundation of model selection is size and the weight of glass.During stand-alone mode, the motion controller 2 of each mechanical hand body, according to host computer 1 assignment task, controls corresponding mechanical hand body respectively, the most directly contacts, also do not have master-slave.When capturing glass, the photoswitch 7 being installed on conveyer belt is for detecting the physical location of glass, the rotary encoder 6 being installed on conveyer belt drives the speed of service of the rotating speed indirect detection glass of motor by detection conveyer belt, then the speed of service and the actual position information of glass are transferred to corresponding motion controller 2 by host computer 1, motion controller 2 controls the speed of service of mechanical hand body, the suction cup carrier on mechanical hand body is made to touch glass a period of time with the speed identical with glass traveling, mention after glass is held by suction disc vacuum pumping simultaneously, and the running orbit that sets according to motion controller 2 and speed by glass stacking on glass frame；Glass is likely to occur position deviation during capturing, the glass image captured is gathered by the vision sensor 5 in suction cup carrier, compare with the benchmark image of storage in motion controller 2 internal memory, analyze deviation value, motion controller 2 adjusts running orbit and end of run position automatically, glass is placed on precalculated position, makes the edge automatic aligning of glass.It addition, the loading and unloading position of next sheet glass also can be moved, thus eliminate the step unloading device of platform of blanking traditionally according to the thickness of each loading and unloading glass, enormously simplify device structure by mechanical hand body automatically forward or backward.See Fig. 2, when working in synchronous mode, host computer 1 selects the motion controller of a mechanical hand body therein, as master controller 21, additionally the motion controller of one or more mechanical hand is as from controller 22, master controller 21 calls main control module, control the motion of corresponding mechanical hand body, and and between controller 22, set up communication connection, the two is made to be operated under synchronous regime, call from control module from controller 22, receive the movable information that master controller 21 is sent, such as running orbit, aiming spot etc., according to the space coordinate conversion table pre-defined, it is converted into the movable information from controller 22, and by calculating other kinematic parameters, thus control the motion of corresponding mechanical hand body.Pass through above method, it is achieved the co-operating of multiple stage mechanical hand body.
See Fig. 3; the driving power supply of servo-driver uses three-phase alternating-current supply; include disconnecting switch XQ1, XQ2, XQ3, XQ4; Surge Protector KF; three-phase isolation transformer TX, servo filter LBQ1 being connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3；The outfan of disconnecting switch XQ1 is connected with the input of three-phase isolation transformer TX; servo filter LBQ1, LBQ2, LBQ3 outfan with three-phase isolation transformer TX respectively is connected, and Surge Protector KF is connected on the line between the outfan of disconnecting switch XQ1 and the input of three-phase isolation transformer TX.Disconnecting switch XQ1, XQ2, XQ3, XQ4 realize the protections such as the under-voltage short circuit to system, can conveniently realize the make-break operation of system power supply simultaneously；Surge Protector KF, when the transition produced in electrical network, can play transient state suppression protective effect to follow-up system hardware circuit；Three-phase isolation transformer TX output is powered for servo-driver, and servo filter LBQ1, LBQ2, LBQ3 provide the alternating voltage of safety for servo-driver；Servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A provide the energy for servomotor；The heat radiation that AC220V fan is control system provides and ensures.
See Fig. 4, motion controller connects with the servo-driver of the X, Y, Z axis of corresponding mechanical hand body, motion controller is connected with the pulse+direction port of X, Y, Z axis servo-driver respectively by AX1, AX2, AX3 port, and the control signal that X, Y, Z servo-driver sends by receiving motion controller realizes the motor control to servomotor；Motion controller is connected with the encoder port of X, Y, Z axis servo-driver respectively by MIS1, MIS2, MIS3 port, and X, Y, Z axis servo-driver transmission encoder feedback signal, to motion controller, understands the physical location of mechanical hand in real time.
See Fig. 5, the supported signal of GALIL movement sequence controller has I/O, HOME signal and LIMIT signal, the interface of these signals the most all concentrates on the PICM62-IN/OUT of terminal board, they are respectively arranged with 62 ports, these ports are responsible for outside the output of part universal input, are also responsible for spacing these transducing signals that inputs with initial point of positive negative sense and process function.In Fig. 5, travel switch KA1, KA2, KA3, KA4, KA5, KA6 are the limit switch of X-axis, Y-axis, Z axis, and proximity switch SG1, SG2, SG3 are the Zero-point switch of X-axis, Y-axis, Z axis.
Claims (7)
1. automatic loading/unloading glass machinery hand control system, described mechanical hand includes mechanical hand body and the suction cup carrier being installed on mechanical hand body, it is characterized in that: described automatic loading/unloading glass machinery hand control system includes host computer, multiple motion controllers being connected with host computer respectively, multiple servomotors of being used for drive mechanical hand body move of connecting corresponding with motion controller, it is installed on the vision sensor in each suction cup carrier, the rotary encoder being installed on conveyer belt and photoswitch；Described rotary encoder, photoswitch are connected with host computer, and arbitrary vision sensor connects with corresponding motion controller.
Automatic loading/unloading glass machinery hand control system the most according to claim 1, it is characterised in that: described multiple motion controllers sequentially communicate to connect.
Automatic loading/unloading glass machinery hand control system the most according to claim 1, it is characterized in that: described automatic loading/unloading glass machinery hand control system also includes the Pneumatic control module for driving the suction disc vacuum pumping in suction cup carrier, described Pneumatic control module includes the magnetic switch and electromagnetic valve that connect with corresponding motion controller and the cylinder being connected with electromagnetic valve.
Automatic loading/unloading glass machinery hand control system the most according to claim 1, it is characterized in that: described automatic loading/unloading glass machinery hand control system also includes the VFC module for driving conveyer belt to run, and described VFC module includes the converter being connected with host computer and the threephase asynchronous machine being connected with converter.
Automatic loading/unloading glass machinery hand control system the most according to claim 1, it is characterised in that: described motion controller is connected with servomotor by servo-driver；The driving power supply of described servo-driver uses three-phase alternating-current supply; include disconnecting switch XQ1, XQ2, XQ3, XQ4; Surge Protector KF; three-phase isolation transformer TX, servo filter LBQ1 being connected with servo-driver SGDV-200A01A, SGDV-5R5A01A, SGDV-2R8A01A, LBQ2, LBQ3；The outfan of described disconnecting switch XQ1 is connected with the input of three-phase isolation transformer TX; described servo filter LBQ1, LBQ2, LBQ3 outfan with three-phase isolation transformer TX respectively is connected, and described Surge Protector KF is connected on the line between the outfan of disconnecting switch XQ1 and the input of three-phase isolation transformer TX.
Automatic loading/unloading glass machinery hand control system the most according to claim 5, it is characterised in that: described motion controller connects with the servo-driver of the X, Y, Z axis of corresponding mechanical hand body.
7. according to the automatic loading/unloading glass machinery hand control system described in claim 5 or 6, it is characterised in that: connect on the terminal board of described motion controller and have Zero-point switch SG1, SG2 and SG3 of X-axis, Y-axis, the limit switch of Z axis and X-axis, Y-axis, Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620193063.8U CN205651352U (en) | 2016-03-11 | 2016-03-11 | Automatic go up unloading glass machinery hand control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620193063.8U CN205651352U (en) | 2016-03-11 | 2016-03-11 | Automatic go up unloading glass machinery hand control system |
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| CN205651352U true CN205651352U (en) | 2016-10-19 |
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| CN201620193063.8U Expired - Fee Related CN205651352U (en) | 2016-03-11 | 2016-03-11 | Automatic go up unloading glass machinery hand control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN109176509A (en) * | 2018-08-17 | 2019-01-11 | 张家港康得新光电材料有限公司 | A kind of virtual switch method, apparatus, server and storage medium |
-
2016
- 2016-03-11 CN CN201620193063.8U patent/CN205651352U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN109176509A (en) * | 2018-08-17 | 2019-01-11 | 张家港康得新光电材料有限公司 | A kind of virtual switch method, apparatus, server and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161019 Termination date: 20190311 |