Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system

Abstract

The invention relates to the technical field of a manipulator glass stacking system, in particular to a method for correcting a position during the glass grabbing processing of a manipulator of the manipulator glass stacking system. A photoelectric sensor I and a photoelectric sensor II are arranged between two rollers which are arranged at the upstream of a roller bed which keeps a distance s away from the center of the manipulator, the distance between the photoelectric sensor I and the photoelectric sensor II is 1-1.5m, dimension of the glass is a*b or length*width, v is the speed of the roller bed, when the glass deflects, time t1 for the photoelectric sensor I to send a signal and the time t2 for the photoelectric sensor II to send a signal are different, is adopted: a deflection angle is acquired according to the following computational formula: deflection angle &=(t1-t2)*v / 1; and a time point of grabbing is calculated according to the formula that t=tn+(S-|t1-t2|*v / 2) / v+a / 2 / v, wherein tn is a greater time point in t1 and t2. The method provided by the invention has the advantages of convenience in installation, low cost, long service life and convenience in maintenance.

Description

[technical field] [0001] The invention relates to the technical field of glass stacking systems with manipulators, in particular to a position correction method for a manipulator in a glass stacking system with manipulators when grabbing glass. [Background technique] [0002] The robotic glass stacking system is one of the special equipment for glass production line stacking. During the stacking process, there is no need to stop the board, the operation is stable, the precision is high, the cycle is short, and the degree of automation is high, and each robot can correspond to multiple stations. One robot can stack glasses of different specifications or grades. Applications in the glass industry are increasingly widespread. [0003] However, the instruction for the manipulator to grab the moving glass from the roller table comes from the management system or the upper computer or the wire control, because the position where the manipulator grabs the glass and the position wh...

AI Technical Summary

Problems solved by technology

[0003] However, the instruction for the manipulator to grab the moving glass from the roller table comes from the management system or the host computer or wire control, because the position where the manipulator grabs the glass is not the same as the position where the management system obtains the glass position value, that is, the position obtained by the manipulator The value is converted by the management system according to the position of the manipulator and the speed of the roller table; between these two points, due to the deviation of the roller table and the uneven speed, when the glass moves to the grabbing position of the manipulator, its position value is the same as that of the management system. The values ​​provided are inconsistent; when the error is large, it is easy to cause the vacuum gripper on the manipulator to grab the glass, resulting in stacking failure; The position changes greatly, but the trajectory of the manipulator is fixed, which will cause interference and collision between the glass and the manipulator or other equipment. Therefore, the existing technology has low accuracy of data capture, high cost, troublesome installation and long service life. short

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