Method of manipulator stacking system for glass
A technology of manipulators and glass, which is applied in the stacking of objects, conveyor objects, and unstacking of objects. It can solve the problems of not very high stacking uniformity and large position errors, and achieve shortened stacking cycle and operation. Faster, more precise results
A technology of manipulators and glass, which is applied in the stacking of objects, conveyor objects, and unstacking of objects. It can solve the problems of not very high stacking uniformity and large position errors, and achieve shortened stacking cycle and operation. Faster, more precise results
CN102491091AActive Publication Date: 2012-06-13CHINA TRIUMPH INT ENG
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[0022] The present invention will be further described below with reference to the accompanying drawings.
[0023] As shown in the figure, the present invention is located at the end of the cold end, and mainly includes a visual inspection system 1, a manipulator 2, a vacuum suction cup gripper 3, a rotating platform 4, an edge measuring device 5, an edge retaining mechanism 6, a conveying roller table 7, and stand-alone electrical control. Cabinet 8, management system 9.
[0024] Visual inspection system 1 includes computer, signal collector, encoder and linear array photoelectric sensor group, LED light source, installation and adjustment bracket, etc. The computer connects the encoder and linear array photoelectric sensor group respectively through the signal collector. The linear array photoelectric sensor group is parallel to the moving surface of the roller table and perpendicular to the moving direction of the glass. The encoder is installed on the roller table. The LED...
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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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Patent Timeline
13 Jun 2012
Publication
CN102491091A
- IPC
- B65G49/06; B65G61/00
- Inventors
- 刘晓亮; 王川申