Glass transfer system based on robot vision

Abstract

The invention relates to the technical field of auxiliary equipment for glass machining, in particular to a glass transfer system based on robot vision. The glass transfer system comprises an on-chip transmission mechanism, a positioning transmission mechanism, a support, an industrial robot and a control unit. The on-chip transmission mechanism is connected with the positioning transmission mechanism in a butt-joint manner. The support is arranged above the positioning transmission mechanism. A vision identifying unit is mounted on the support. The positioning transmission mechanism comprises a driving roller, a driven roller and a transparent plane conveyor belt. The driving roller and the driven roller are sleeved with the transparent plane conveyor belt. A cavity is defined by the driving roller, the driven roller and the transparent plane conveyor belt. A face light source is arranged in the cavity. The face light source irradiates the vision identifying unit through the glass transmission face of the transparent plane conveyor belt. The control unit is electrically connected with the vision identifying unit and the industrial robot, and a moving locus of the industrial robot for capturing and transferring of glass to be transferred is set. The glass transfer system has the beneficial effects that the structure is simple and compact, positioning is fast and precise, the stability is good, continuous production is facilitated, and the production efficiency is improved.

Description

[0001] Technical field: [0002] The invention relates to the technical field of glass processing auxiliary equipment, in particular to a glass transfer system based on robot vision, which is especially suitable for automotive glass with special-shaped curved surfaces, such as side window glass and triangular window glass. [0003] Background technique: [0004] In high-end cars, a large number of semi-tempered laminated glass has been used as side window glass and triangular window glass. In the production process of laminated glass, a trimming process must be performed, that is, the PVB film remaining on the edge of the laminated glass must be removed. Since the edges of side window glass and triangular window glass are exposed when they are installed on the car, they have higher requirements for the shape quality after trimming, so abrasive belts must be used for trimming. For example, Chinese patent CN201210513235.1 discloses a method for trimming high-end glass, which uses...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, glass positioning generally adopts contact mechanical positioning, such as two-point or three-point clamping positioning, and since the side window glass and triangular window glass are mostly shaped or irregular, and the area is small, mechanical positioning is used. The positioning adjustment is inconvenient, the operation time is long, and the positioning stability is poor. Some triangular window glass cannot be positioned even if the servo motor is used.

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