Multi-axis bridge frame type glass online stacking machine about stacking manipulator

Abstract

The invention relates to technical field of glass machinery, a freedom degree serial connection robot and automatic control, in particular to a multi-axis bridge frame type glass online stacking machine about a stacking manipulator. The multi-axis bridge frame type glass online stacking machine about the stacking manipulator comprises a manipulator control system, a vision positioning system and an application tool; the device is formed by a rack, a host, a multifunctional vacuum grabbing system, a vision positioning system, a rotary platform and a control system; the rack stretches over a glass production line and adopts a dual-door-shaped two-end cantilever structure; a walking crossbeam support is suspended on suspending support points of left and right side door-shaped frames; the host is arranged in the middle of the walking crossbeam support of the rack; the host is provided with a mechanical structure with a four-freedom-degree serial connection manipulator. A glass grabbing device is structurally formed by a horizontal walking shaft, a vertical lifting shaft, a first rotary shaft and a second rotary shaft. Compared with the prior art, the multi-axis bridge frame type glass online stacking machine about the stacking manipulator has the advantages that as four-freedom-degree serial connection manipulator structure is adopted, precise positioning is realized, the structure bearing capacity is increased, and the stability of the stacking machine is improved.

Description

[technical field] [0001] The invention relates to the technical field of glass machinery, a degree of freedom series robot and automatic control, in particular to a multi-axis bridge-type glass online stacker related to a stacking manipulator. [Background technique] [0002] The online stacking equipment of the flat glass production line mainly includes: horizontal stacker, vertical stacker, and manipulator stacker. Advanced production lines are generally high-end lines, with higher quality requirements and finer classification, and a large number of branch lines are set up; the main stacking equipment is vertical stacker and manipulator stacker. In addition to imported projects, the domestic production lines are mostly low-end. Generally, the board picking and stacking work is completed on the main line, mainly using horizontal stackers and manipulator stackers. Strictly speaking, there are always some unsatisfactory places in these three conventional stacking equipment: t...

AI Technical Summary

Problems solved by technology

Strictly speaking, there are always some unsatisfactory places in these three conventional stacking equipment: the horizontal stacker has a large range of stacking specifications, convenient operation, and low cost. It has been widely used in China; however, the stacking process is to grab and lay flat. When the glass is full, the glass needs to be turned from horizontal to vertical, which is easy to cause glass scratches, the surface quality is not high, and the stacking cycle is relatively long. Long, unable to meet high-end requirements

The track of the vertical stacker is fixed, the cycle is fast, and the stacking accuracy is high; however, it needs to be equipped with complex branch lines, steering, edge adjustment and other devices to cooperate. A single stacker can only stack one specification or type of glass, and maintenance difficulty

The advantage of the manipulator stacker is that it can use the flexible space characteristics of the stacking carrier articulated industrial robot to realize flight grabbing, the stacking cycle is fast, and a single device can be stacked in second-class stacks; however, it is limited by the load capacity of the industrial robot. , generally the maximum grabbing weight is less than 350kg, mainly suitable for stacking small and medium-sized pieces, unable to do anything for medium and large pieces, and industrial robots need to be imported, which is expensive

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