Method of manipulator stacking system for glass

Abstract

The invention relates to the technical field of glass production lines, in particular to a method of a manipulator stacking system for glass. A vision detecting system 1 is arranged on a support at the tail end of a conveying belt, acquires information such as the size, the position, the speed, the grade and the like of glass, and transmits the information to a management system 9 in real time; the management system 9 which is communicated with one-machine electric control systems 8 acquires working states and waiting states of the one-machine electric control systems, then distributed tasks according to states of various manipulators 2, and transmits glass distribution information to the one-machine electric control system 8 which receives the tasks; the one-machine electric control system 8 receiving the tasks controls a rib mechanism 6 thereof to ascend by the aid of the acquired information when the glass is conveyed to a grabbing area of the one-machine electric control system 8, an edge measuring device 5 operates to acquire a Y-direction coordinate value of glass after the glass is positioned, an X coordinate of the glass is acquired and the rib mechanism completes operation, and at the moment, position information of the glass is acquired completely. The manipulator stacking system can be used for grabbing a plurality of pieces of glass in various specifications.

Description

[Technical field] [0001] The invention relates to the technical field of glass production lines, in particular to a method for a manipulator glass stacking system. [Background technique] [0002] At present, the commonly used stacking equipment at home and abroad are: horizontal stacker and vertical stacker. Among them, the horizontal stacker and the vertical stacker will cause congestion on the main line of the thin plate due to their own structural principles, and increase the investment in branch lines and interchanges; and in operation, the lifting motor is often damaged, the lifting guide rod is damaged, etc., resulting in scratches or broken glass. If the equipment fails, it has the disadvantages of poor positioning accuracy of the glass stop plate, complicated control, long stacking cycle and many failures. [0003] Therefore, stacking robots are gradually being used in glass production lines. The glass stacking system in which the manipulator completes the grasping...

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Problems solved by technology

[0004] However, the stacking manipulator also has its disadvantages. Most of the equipment that uses the manipulator to stack the stacking is not very high, especially for the glass with a large area, the uniformity will differ by more than 7 to 8 mm. Fragile products such as glass are fatal during transportation; the main reason for this problem is the large position error of the object being transported in the manipulator base coordinate system

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