CN206437621U - glass stacking device - Google Patents
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- CN206437621U CN206437621U CN201621299872.3U CN201621299872U CN206437621U CN 206437621 U CN206437621 U CN 206437621U CN 201621299872 U CN201621299872 U CN 201621299872U CN 206437621 U CN206437621 U CN 206437621U
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- cup carrier
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Abstract
The utility model is related to a kind of glass stacking device, including Stacking Robots and pallet, described Stacking Robots include mechanical arm, suction cup carrier and sensor, described mechanical arm is by a floor installation in described stacking capture area, described mechanical arm tail end is provided with described suction cup carrier, described sensor is installed in described suction cup carrier, described sensor includes the photoelectric sensor of two horizontal directions and the photoelectric sensor of a vertical direction, three described sensors are promoted by cylinder, realize the measurement for treating crawl glass, orientation of the glass relative to described suction cup carrier is known by measurement, and the direction captured by the displacement data of described photoelectric sensor to glass by mechanical arm and the angle of glass streamline direction of advance are corrected, realize that accurate glass stacking is operated by this correction.Stacking operation is carried out using this method, the glass being stacked is put neatly, is that next operation link is prepared.
Description
Technical field
The utility model is related to glass production equipment manufacturing technical field, more particularly to base glass production Stacking Technology neck
Domain, specifically refers to a kind of glass stacking device.
Background technology
In recent years, with the tremendous development of glass industry, automatic production line is quickly grown in the manufacture of cold-end equipment,
Automatic piling equipment from automatic defect testing equipment to least significant end has a certain degree of development.But current industry shows
Shape is glass size, various in style, and production capacity also increasingly increases, and this is just proposed to the efficient and stability of cold end automation equipment
Higher requirement.And the key link that stacking is manufactured as cold end, wherein stacking specification, stacking cycle, whether stacking precision
Cold end manufacturing automation and intelligentized level will be determined by meeting the production requirement of multi-thickness glass, directly affect the peace of production
Quan Xing.
The piler used at present in production line can be divided into three classes：Horizontal stacking, vertical stacks stack machine or manipulator.Water
Flat piler needs to stop piece when taking piece, takes piece speed slow, is not suitable with speed soon, the stacking of the small glass plate of dimensions；Vertically
Piler shows great advantage in terms of piece speed, the degree of reliability, durable easy care is taken compared with horizontal stacking, but
Vertical stacks stack machine can only static state take plate, and take the plate cycle longer, during the glass plate of crawl special requirement and grade, must increase must
The additional spur and slicing apparatus wanted, considerably increase the cumbersome degree of production process, add the cost of production, reduce
The efficiency of practical operation production；Manipulator stacking machine, can run simultaneously with the glass of motion, realize dynamic crawl glass, machine
The Flexible Control degree of tool hand is high, and path can adjust and degree of optimization is good, and program and upgrading flexibility ratio are high, is fitted because its is powerful
Should be able to power and the advantage of itself, manipulator is applied to cold end stacking turns into a kind of trend.Due to glass surface glossy, glass
Glass movement, packaging, transport during easily slide dislocation or due to whole pile glass center of gravity and pallet center of gravity it is inconsistent and
Occurs the overall danger toppled, this accuracy and stacking regularity to glass stacking position proposes higher requirement, and this is just
External equipment is needed to give the accurate information of manipulator, to ensure that manipulator realizes accurately pose and action in operating mode, with
Reach the function needed for production.But the position and coordinate of measurement in real time and seizure glass, will turn into limitation machine in process of production
The key technology of tool hand efficiently and accurately stacking.
Utility model content
In order to overcome above-described the problems of the prior art, one kind, which is set forth below, can carry out exact glass stacking behaviour
The glass stacking device of work.
The glass stacking device is specific as follows：
The glass stacking device, including Stacking Robots and pallet, it is mainly characterized by, and described Stacking Robots include
The first end of mechanical arm described in mechanical arm and pallet is connected with a base, and the base makes described mechanical arm stand on glass
Capture area, and the second end of described mechanical arm is connected with suction cup carrier, and air cylinder group, described gas are further fixed in the suction cup carrier
The piston rod of cylinder group is connected with photoelectric sensor group, and the side of described pallet is equal with the velocity attitude of described streamline
OK.
It is preferred that described air cylinder group includes horizontal air cylinder and vertical cylinder, described photoelectric sensor group includes two
Horizontal photoelectric sensor and a vertical photoelectric sensor, described horizontal photoelectric sensor and described vertical photoelectric sensor
The plane constituted is parallel to each other with the plane where described suction cup carrier, and described horizontal photoelectric sensor is by certain
Long, perpendicular with the velocity attitude of described streamline horizon bar is connected to the piston rod of described horizontal air cylinder, described
Vertical photoelectric sensor is connected by the vertical rod that one has certain length and velocity attitude with described streamline is perpendicular
It is connected to the piston rod of described vertical cylinder.
It is preferred that described mechanical arm is connected described suction cup carrier by a ring flange being flexibly connected with the mechanical arm.
It is preferred that described photoelectric sensor group is connected by photoelectric support with the piston rod of described cylinder.
It is preferred that described suction cup carrier includes multiple suckers.
It is preferred that described air cylinder group and described installing for photoelectric sensor group are adapted with described suction cup carrier.
It is preferred that described base includes pulley, described pulley is installed on described base bottom.
This kind of glass stacking device is employed, because it uses relative position of three groups of photoelectric sensors to the glass to be captured
Put and detected, it is possible to by the photoelectric sensor group carry out relative position correction, with ensure its carry out stacking when and pallet
Relative position be it is suitable, further improve stacking quality while, it is ensured that the reliability of construction, improve production efficiency,
So as to be that glass production line equipment manufacturing and industry automatic updating provide brand-new construction technology and method.
Brief description of the drawings
Fig. 1 is the structural representation of glass stacking device of the present utility model.
Fig. 2 is the photoelectric sensor mounting arrangement schematic diagram of glass stacking device of the present utility model.
Fig. 3 is coordinate transform schematic diagram in the rotary course of glass stacking device of the present utility model.
Reference
1 Stacking Robots
2 suction cup carriers
3 horizontal air cylinders
4 horizontal photoelectric supports
5 first level photoelectric sensors
6 glass
7 suckers
8 vertical photoelectric supports
9 vertical photoelectric sensors
10 pallets
11 ring flanges
12 second horizontal photoelectric sensors
13 vertical cylinders
H1First displacement of vertical photoelectric sensor
H2The second displacement of first level photoelectric sensor
H3The triple motion of second horizontal photoelectric sensor
Embodiment
In order to better illustrate technology contents of the present utility model, further illustrated especially exemplified by specific examples below.
Referring to Fig. 1, the glass stacking device, including Stacking Robots 1 and pallet 10, it is mainly characterized by, described
Stacking Robots 1 include mechanical arm and pallet 10, and the first end of described mechanical arm is connected with a base, and the base makes described
Mechanical arm stand on glass capture area, and the second end of described mechanical arm is connected with suction cup carrier 2, in the suction cup carrier 2 also
Be fixed with air cylinder group, the piston rod of described air cylinder group is connected with photoelectric sensor group, the side of described pallet 10 with it is described
Streamline velocity attitude it is parallel.
Described air cylinder group includes horizontal air cylinder 3 and vertical cylinder 13, and described photoelectric sensor group includes two levels
Photoelectric sensor and a vertical photoelectric sensor 9, described horizontal photoelectric sensor and the described institute of vertical photoelectric sensor 9
The plane of composition is parallel to each other with the plane where described suction cup carrier, described horizontal photoelectric sensor by a fixed length,
It is described and perpendicular horizon bar is connected to the piston rod of described horizontal air cylinder 3 with the velocity attitude of described streamline
Vertical photoelectric sensor 9 has a fixed length by one and the vertical rod perpendicular with the velocity attitude of described streamline is connected
In the piston rod of described vertical cylinder 13.
Described mechanical arm is connected described suction cup carrier 2 by a ring flange 11 being flexibly connected with the mechanical arm.
Described photoelectric sensor group is connected by photoelectric support with the piston rod of described cylinder.
Described suction cup carrier includes multiple suckers 7.
Described air cylinder group and described installing for photoelectric sensor group are adapted with described suction cup carrier 2.
Described base includes pulley, and described pulley is installed on described base bottom.
The central point of described suction cup carrier is set to one and is used to correcting described wait to capture by described glass stacking device
Glass 6 and the correction center point of the described relative position of pallet 10, the control method of the device comprise the following steps：
(1) the glass stacking device described in captures described glass to be captured 6 by described suction cup carrier 2；
(2) the glass stacking device described in obtains described treat by described air cylinder group and described photoelectric sensor group
Capture the distance that the adjacent both sides edge of glass 6 arrives described correction center point, and described glass stacking device according to this away from
From the correction offset of the glass to be captured 6 described in acquisition；
(3) the glass stacking device described in is by the correction offset to the glass 6 to be captured and described pallet 10
Relative position is corrected, and the glass 6 to be captured is put into described pallet 10.
Referring to Fig. 3, described air cylinder group includes horizontal air cylinder 3 and vertical cylinder 13, described photoelectric sensor group bag
Two horizontal photoelectric sensors and a vertical photoelectric sensor 9 are included, described horizontal photoelectric sensor includes first level light
The horizontal photoelectric sensor 12 of electric transducer 5 and second, and described first level photoelectric sensor 5, the second horizontal photoelectric sensing
The plane that device 12 is constituted with described vertical photoelectric sensor 9 is parallel to each other with the plane where described suction cup carrier 2, described
Two horizontal photoelectric sensors by a length be S and the horizon bar perpendicular with the velocity attitude of described streamline
Be connected to the piston rod of described horizontal air cylinder 3, described vertical photoelectric sensor 9 by one have certain length and with
The perpendicular vertical rod of the velocity attitude of described streamline is connected to the piston rod of described vertical cylinder 13, and described step
Suddenly (2) are concretely comprised the following steps：
(2.1) air cylinder group described in drives the photoelectric sensor group that is connected on its piston rod from described photoelectric sensor institute
Initial position setting in motion, to detect the edge of described glass to be captured 6；
(2.2) photoelectric sensor described in sends the photosignal for detecting the edge of glass 6 to be captured to described glass
Glass bunching device, the described air cylinder group of described glass stacking device control stops driving its piston rod movement, and records respectively
First displacement H of presently described vertical photoelectric sensor 91, described first level photoelectric sensor 5 second displacement H2, institute
The triple motion H for the second horizontal photoelectric sensor 12 stated3；
(2.3) the glass stacking device described in is according to described second displacement H2, triple motion H3And described horizon bar
Length S, obtain correction angle θ as follows：
θ=arctan ((H2-H3)÷S)；
Wherein, described θ is described correction angle, described H2For described second displacement, described H3For described
Triple motion, described S is the length of described horizon bar；
(2.4) the glass stacking device described in obtains coordinate after described correction as follows：
Wherein described x1For the distance between described vertical reference and described correction center point；Described y2For
The distance between described the second horizontal photoelectric sensor 12 and described correction center point；Described X1To be described after correction
The distance between vertical reference and described correction center point；Described Y2For the second horizontal photoelectric sensing described after correction
The distance between device 12 and described correction center point；
(2.5) the glass stacking device described in obtains described correction offset according to below equation：
Δ y=H3-Y2+L2；
Δ x=H1-X1+L1；
Wherein described, described Δ y is the correction offset of described horizontal photoelectric sensor；Described Δ x is institute
The correction offset for the vertical photoelectric sensor 9 stated；Described H3For described triple motion, described H1For the first displacement；Institute
The Y stated2For the distance between the second horizontal photoelectric sensor 12 described after correction and described correction center point, described X1
For the distance between vertical reference described after correction and described correction center point, described L1For described correction center
Point is the distance between with the described initial position of vertical photoelectric sensor 9, described L2It is described correction center point to described
The distance between horizontal photoelectric sensor initial position.
Referring to Fig. 2, in a kind of specific embodiment, for suction cup carrier 2 and the shape facility of glass 6, by two groups of levels
Photoelectric sensor is arranged on same crossbearer, and keeps on crossbearer certain interval S, and crossbearer is integrally fixed at horizontal photoelectric support 4
On, horizontal photoelectric support 4 is connected with the piston rod of horizontal air cylinder 3, and the cylinder barrel of cylinder is integrally fixed in suction cup carrier, is so existed
During measurement, cylinder barrel is remained stationary as, and piston rod drives photoelectric support 4 to move so that photoelectric sensor passes through piston rod
Extend and retract the distance on measurement glass 6 side.The mounting means of vertical photoelectric support 8 is as horizontal photoelectric support 4, the 3rd group
Photoelectric sensor is arranged in two groups of straight vertical direction of photoelectric sensor institute structure on crossbearer, is existed to measure glass 6
X, the measurement apparatus of Y-direction distance, and have common motion and measurement logic.The device is used as drive by the expanding-contracting action of cylinder
It is dynamic, and can accurately calculate glass 6 in X, Y-coordinate system around Z angle, θs rotate and glass stacking when X skews and Y it is inclined
Move.
Horizontal photoelectric support 4 is connected with cylinder piston rod, and the cylinder barrel of cylinder is integrally fixed in suction cup carrier, is so surveying
During amount, cylinder barrel is remained stationary as, and piston rod drives photoelectric support motion so that the stretching that photoelectric sensor passes through piston rod
With distance of the measurement side of glass 6 to described correction center point of retracting.3rd group of vertical photoelectric sensor is directly anchored to vertically
On photoelectric support 8, likewise, the mounting means of vertical photoelectric support 8 is as horizontal photoelectric support 4, and there is common motion
With measurement logic, also have one in the plane parallel with the described place plane of suction cup carrier 2 perpendicular to horizontal photoelectric sensor
Another cylinder of the cylinder connected.Horizontal photoelectric support 4 and vertical photoelectric support 8 spatially keep vertically, so ensuring
3rd group of photoelectricity is arranged on crossbearer in two groups of straight vertical direction of photoelectricity institute shape, in order to avoid the horizontal He of photoelectric support 4
Vertical photoelectric support 8 is non-interference during motion, and considers the minimum border of the size of glass 6, determines horizon light
The final position of electric support 4 and vertical photoelectric support 8, such three groups of photoelectric sensors, which are formd, can measure the X of glass 6, Y side
To the measurement apparatus of distance.
Measuring method：Photoelectric sensor drives piston rod to extend and retract by air cylinder group, the presence or absence of detection glass 6, really
The side of glass 6 is determined to the distance of starting point, in order to avoid being caused to blocking for photoelectric sensor to detection glass 6 for other barriers
The influence of distance, optoelectronic switch will avoid miscellaneous part in suction cup carrier during installation and photoelectric sensor is blocked, together
When measurement process in it is also noted that the interference of other barriers.Thus obtain three measured values, first level photoelectric sensing
First displacement of the second displacement of device 5, the triple motion and vertical photoelectric sensor 9 of the second horizontal photoelectric sensor 12.Glass 6
Transmitted from streamline with certain speed, because machine vibration is brought in the foozle and work progress of streamline
Error, causes the side of glass 6 to there is certain angle, θ with the velocity attitude of glass 6 all the time, along with the measurement of photoelectric sensor is missed
Difference, now second displacement be not equal to triple motion all the time.
Measured value processing：Glass 6 from pipeline to Stacking Robots 1 capture area, now Stacking Robots 1 are same
Step glass 6 is moved, and is picked up the level of glass 6 by sucker, is then measured using photoelectric sensor.After measurement is finished, enter
The processing of row measured value, then Stacking Robots 1 by the coordinate value after processing by the stacking of glass 6 to pallet 10, the disk of pallet 10
Face is usually the square or rectangle of rule, in actual production process, and the placement location of pallet 10 is also to ensure wherein
While being parallel with the velocity attitude of streamline.Glass 6 will ensure to be centrally placed on pallet 10, and technological process is as follows：Due to
In the presence of certain angle, θ during the glass 6 that Stacking Robots 1 are picked up, θ is rotated to opposite direction or positive direction by Stacking Robots 1,
Ensure that glass 6 is parallel while with pallet 10；The correction offset for being computed gained of the mobile glass 6, it is placed in the middle on pallet 10
Place glass 6.
The selection of timing coordinate system：In the state of the level of ring flange 11 of mechanical arm, the horizontal plane of certain point was chosen
On the basis of face, the streamline velocity attitude of glass 6 is coordinate Y-axis line, and Y-axis line will be defined in reference plane, first level photoelectric transfer
The line of the horizontal photoelectric sensor 12 of sensor 5 and second is also defined in reference plane, and vertical with Y-axis line, Stacking Robots 1
The center of circle of ring flange 11 is origin, and the vertical line of Y-axis line is X-axis line.
(5) coordinate system transformation：Coordinate system before Stacking Robots 1 rotate is XOY, and postrotational coordinate system is xoy.
Coordinate transform before rotation between coordinate system XOY and rotation coordinate system xoy uses similarity transformation method, makes a coordinate system
Under point by translation, rotation and scale factor correction, transform under new coordinate system.Transformation equation is：
Wherein θ is the angle that x-axis rotates to axle X, could dictate that to be positive direction, x counterclockwise0,y0For translational movement, k be yardstick because
Son.Keep constant because Stacking Robots 1 rotate front and rear origin, therefore parameter x0,y0It is 0.
(6) θ calculating, X, the determination of Y skews：
θ=arctan ((H2-H3)÷S)；
Wherein H2For the measurement distance of first level photoelectric sensor 5, H3For the second horizontal photoelectric sensor 12 measurement away from
From S is the distance of two groups of horizontal photoelectric sensor lines.Stacking Robots 1 correct the coordinate of postrotational photoelectric sensor, need
To be represented in the coordinate system before correction rotation, each axle of coordinate system of stacking datum mark is corresponding each to coordinate system XOY before rotation
Axle is parallel.
In order to ensure the accuracy calculated, a measurement point is respectively taken on length and width direction as calculating point, heap in glass 6
When pile robot 1 picks up glass 6, the coordinate value and the second horizontal photoelectricity of the measurement point of vertical photoelectric sensor 9 before rotation are obtained
The coordinate value of the measurement point of sensor 12, obtains the two coordinate values of point before rotation in coordinate system, so by coordinate transform
The value with datum mark makes the difference afterwards, finally obtains the glass 6 and is offset in the due X-axis of timing and Y-axis, passes to mechanical arm, really
Determine the final position of mechanical arm.
Horizontal photoelectric support 4 and vertical photoelectric support 8 spatially keep vertically, so ensuring the 3rd group of photoelectric sensor
It is arranged on crossbearer in two groups of straight vertical direction of photoelectricity institute shape, in order to avoid horizontal photoelectric support 4 and vertical photoelectricity branch
Frame 8 is non-interference during motion, and considers the minimum border of the size of glass 6, determines horizontal photoelectric support 4 and hangs down
The final position of straight photoelectric support 8, such three groups of photoelectric sensors, which are formd, can measure the X of glass 6, the survey of Y-direction distance
Measure device.
Employ this kind of glass stacking device, due to its using three groups of photoelectric sensors to the relative of the glass 6 to be captured
Detected position, it is possible to which relative position correction is carried out by the photoelectric sensor group, to ensure during its progress stacking with holding in the palm
The relative position of disk 10 is suitable, while stacking quality is further improved, it is ensured that the reliability of construction, improves production effect
Rate, so as to provide brand-new construction technology and method for glass production line equipment manufacturing and industry automatic updating.
In this description, the utility model is described with reference to its specific embodiment.But it is clear that still can be with
Various modification can be adapted and conversion is without departing from spirit and scope of the present utility model.Therefore, specification and drawings are considered as
It is illustrative and not restrictive.
Claims (7)
1. a kind of glass stacking device, including Stacking Robots and pallet, it is characterised in that described Stacking Robots include machine
Tool arm and pallet, the first end of described mechanical arm are connected with a base, and described base stands on described mechanical arm
Glass capture area, and the second end of described mechanical arm is connected with suction cup carrier, and air cylinder group is further fixed in the suction cup carrier, it is described
The piston rod of air cylinder group be connected with photoelectric sensor group, the side of described pallet is parallel with the velocity attitude of streamline.
2. glass stacking device according to claim 1, it is characterised in that described air cylinder group includes horizontal air cylinder and hung down
Straight cylinder, described photoelectric sensor group includes two horizontal photoelectric sensors and a vertical photoelectric sensor, described two
The plane that the direction of motion of individual horizontal photoelectric sensor and described vertical photoelectric sensor is constituted and described suction cup carrier institute
Plane be parallel to each other, the velocity attitude phase of described horizontal photoelectric sensor by a fixed length, with described streamline
Vertical horizon bar is connected to the piston rod of described horizontal air cylinder, and described vertical photoelectric sensor has a fixed length by one
The spend and vertical rod perpendicular with the velocity attitude of described streamline is connected to the piston rod of described vertical cylinder.
3. glass stacking device according to claim 1, it is characterised in that described mechanical arm passes through one and the mechanical arm
Suction cup carrier described in the ring flange connection of flexible connection.
4. glass stacking device according to claim 1, it is characterised in that described photoelectric sensor group passes through photoelectricity branch
Frame is connected with the piston rod of described cylinder.
5. glass stacking device according to claim 1, it is characterised in that described suction cup carrier includes multiple suckers.
6. glass stacking device according to claim 1, it is characterised in that described air cylinder group and described photoelectric sensing
The installation of device group is adapted with described suction cup carrier.
7. glass stacking device according to claim 1, it is characterised in that described base includes pulley, described cunning
Wheel is installed on described base bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621299872.3U CN206437621U (en) | 2016-11-30 | 2016-11-30 | glass stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621299872.3U CN206437621U (en) | 2016-11-30 | 2016-11-30 | glass stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206437621U true CN206437621U (en) | 2017-08-25 |
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ID=59647422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621299872.3U Active CN206437621U (en) | 2016-11-30 | 2016-11-30 | glass stacking device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109607198A (en) * | 2019-01-04 | 2019-04-12 | 福耀集团长春有限公司 | A kind of vehicle glass de-stacking device |
| CN109677930A (en) * | 2019-01-31 | 2019-04-26 | 中国建材国际工程集团有限公司 | A kind of horizontal stacking and its control method |
| CN113895952A (en) * | 2021-08-30 | 2022-01-07 | 河北光兴半导体技术有限公司 | Substrate glass grabbing device |
| CN114396894A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Pipeline straightness detection device and method based on laser ranging and monocular vision |
-
2016
- 2016-11-30 CN CN201621299872.3U patent/CN206437621U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109093375B (en) * | 2018-11-06 | 2023-11-03 | 中国工程物理研究院激光聚变研究中心 | Flexible assembly method and assembly device for assembling and calibrating precise element |
| CN109607198A (en) * | 2019-01-04 | 2019-04-12 | 福耀集团长春有限公司 | A kind of vehicle glass de-stacking device |
| CN109607198B (en) * | 2019-01-04 | 2023-08-29 | 福耀集团长春有限公司 | Automobile glass unstacking device |
| CN109677930A (en) * | 2019-01-31 | 2019-04-26 | 中国建材国际工程集团有限公司 | A kind of horizontal stacking and its control method |
| CN113895952A (en) * | 2021-08-30 | 2022-01-07 | 河北光兴半导体技术有限公司 | Substrate glass grabbing device |
| CN114396894A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Pipeline straightness detection device and method based on laser ranging and monocular vision |
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