Edge measurement control system, robot applying same and method

Abstract

The invention discloses an edge measurement control system, which is suitable for a robot, and comprises a sensor module, the sensor module is used for detecting the edge position, thickness and angle parameters of glass, the sensor module is connected with a data processing module, the data processing module is used for receiving data transmitted by the sensor module and processing and analyzing the received data, and the data processing module is connected with the controller module, and the controller module is used for receiving information transmitted by the data processing module and sending out a control instruction to drive the robot to grab and stack the glass. According to the invention, the edge measurement control system and the edge measurement control method are matched, so that the size and position information of the glass can be accurately detected, the precision of stacking the glass by the robot is improved, and strict precision requirements are met; according to the edge measuring control method, the action of the robot can be adjusted in real time, the uniformity and stability of glass stacking are ensured, and the damage risk of the glass in the transportation and storage process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of glass processing and robot automation control, and in particular to an edge measurement control system, a robot and a method for applying the same. Background Art

[0002] During the glass production and storage process, glass plates need to be stacked in a certain way to improve space utilization and ensure safety.

[0003] In the process of glass production and processing, the operation of robot stacking glass is becoming more and more common. However, the current robot stacking glass method still has shortcomings in terms of accuracy, especially when determining the exact position and size of the glass, which is prone to deviations, resulting in uneven stacking and uneven gaps between glasses, affecting the storage, transportation and subsequent processing quality of the glass. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned background technical problems and to provide a side measurement control system, a robot and a method for using the same.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A edge measurement control system, suitable for a robot, comprises: a sensor module, the sensor module is used to detect the edge position, thickness and angle parameters of glass, the sensor module is connected to a data processing module, the data processing module is used to receive data transmitted by the sensor module, and process and analyze the received data to calculate the size and position of the glass, the data processing module is connected to a controller module, the controller module is used to receive the information transmitted by the data processing module, and issue control instructions to drive the robot to grab and stack the glass.

[0007] As a further solution of the present invention: the sensor module includes a plurality of laser displacement sensors and contact sensors, the laser displacement sensors are used to obtain edge position parameters of the glass, and the contact sensors are used to obtain thickness and angle parameters of the glass.

[0008] A robot comprises: a frame, the frame is connected to a side measurement control system, the frame is connected to a gripper mounting plate, the gripper mounting plate is mounted at the flange center of the robot A6 axis, the gripper mounting plate is connected to a gripper, the gripper is connected to a plurality of suction cup assemblies, the frame is connected to a pneumatic adjustment mechanism, the suction cup assemblies cooperate with the pneumatic adjustment mechanism to pick up or release glass.

[0009] As a further solution of the present invention: the suction cup assembly includes a cylinder, and the output end of the cylinder is connected to the suction cup.

[0010] As a further solution of the present invention: the pneumatic adjustment mechanism includes a positive pressure gauge assembly and a negative pressure gauge assembly, and the positive pressure gauge assembly and the negative pressure gauge assembly are used to adjust the pressure in the suction cup.

[0011] As a further solution of the present invention: the pneumatic regulating mechanism includes a solenoid valve, and the solenoid valve is connected to the positive pressure gauge assembly and the negative pressure gauge assembly respectively.

[0012] A method for edge measurement control, comprising:

[0013] S1, start the robot and make it close to the glass to be stacked. The robot scans the edge of the glass, and the sensor module transmits the detected data to the data processing module in real time;

[0014] S2, after receiving the data transmitted by the sensor, the data processing module filters and calibrates the data, and presets an algorithm to calculate the size, position and angle parameters of the glass according to the algorithm, and the data processing module sends the processed information to the controller module;

[0015] S3, after receiving the information transmitted by the data processing module, the controller module plans the grabbing and stacking paths and generates control instructions. After receiving the control instructions, the suction cup assembly grabs the glass and stacks the glass to the target position according to the stacking path;

[0016] S4, repeating steps S1 to S3 for the next glass until the stacking task of all the glass is completed. As a further solution of the present invention: in step S2, the preset algorithm steps include:

[0017] S21, measuring the coordinates of multiple sensors in the sensor module compared with the coordinates of the center of the flange of the A6 axis of the robot to obtain the coordinate data of each sensor;

[0018] S22, adding the value detected by the sensor to the coordinate data of the corresponding sensor to obtain a measurement result;

[0019] S23. According to the measurement result, the inverse tangent function is used to calculate the offset of angle A, and the X-direction offset formula and the Y-direction offset formula are used to calculate the offsets in the X and Y directions respectively.

[0020] Beneficial effects of the present invention:

[0021] (1) In the present invention, the edge measurement control system and the edge measurement control method cooperate to accurately detect the size and position information of the glass, improve the accuracy of the robot stacking glass, and meet strict accuracy requirements.

[0022] (2) In the present invention, the edge measurement control method can adjust the robot's movements in real time, ensure the neatness and stability of the glass stack, and reduce the risk of damage to the glass during transportation and storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 It is a structural schematic diagram of a side measurement control system of the present invention;

[0025] Figure 2 It is a structural front view of a robot of the present invention;

[0026] Figure 3 It is a top view of the structure of a robot of the present invention;

[0027] Figure 4 It is a flow chart of an edge measurement control method in the present invention.

[0028] In the figure:

[0029] 1. Frame; 2. X-axis detection device; 3. Y-axis detection device; 4. Limit detection device; 5. Gripper mounting plate; 6. Suction cup assembly; 7. Junction box; 8. Positive pressure gauge assembly; 9. Negative pressure gauge assembly; 10. Solenoid valve. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 As shown, the present invention is an edge measurement control system suitable for a robot, the edge measurement control system comprises: a sensor module, the sensor module is used to detect the edge position, thickness and angle parameters of the glass. The sensor module comprises a plurality of laser displacement sensors and contact sensors, the laser displacement sensor is used to obtain the edge position parameters of the glass, and the contact sensor is used to obtain the thickness and angle parameters of the glass.

[0032] The sensor module is connected to the data processing module, which is used to receive the data transmitted by the sensor module, process and analyze the received data, and calculate the size and position of the glass. Since the glass edge position parameter obtained by the sensor module is a relatively fuzzy positioning parameter, it is necessary to analyze the data processing module to obtain a more accurate glass size and position.

[0033] The data processing module is connected to the controller module, and the controller module is used to receive information transmitted by the data processing module and issue control instructions to drive the robot to grab and stack glass.

[0034] See also Figure 1-Figure 3 As shown, a robot comprises: a frame 1, the frame 1 is connected to a side measurement control system, in the robot, the sensor module in the side measurement control system comprises three detection devices, namely an X-direction detection device 2, a Y-direction detection device 3 and a limit detection device 4, wherein the X-direction detection device 2 and the Y-direction detection device 3 are photoelectric sensors, preferably, laser displacement sensors are used, and the limit detection device 4 is a contact sensor.

[0035] Specifically, the frame 1 is connected to the gripper mounting plate 5, which is mounted at the flange center of the robot A6 axis, and the gripper mounting plate 5 is connected to a gripper, which is connected to a plurality of suction cup assemblies 6. The suction cup assemblies 6 include a cylinder, and the output end of the cylinder is connected to the suction cup, which is driven by the cylinder to rise and fall.

[0036] Furthermore, the frame is connected to a pneumatic regulating mechanism, which includes a positive pressure gauge assembly 8 and a negative pressure gauge assembly 9, and the positive pressure gauge assembly 8 and the negative pressure gauge assembly 9 are used to adjust the pressure in the suction cup.

[0037] Specifically, the positive pressure gauge assembly 8 and the negative pressure gauge assembly 9 are both fixed to the frame 1 through a fixing plate, and the frame 1 is also fixed with a junction box 7 through a fixing plate for connecting various components. The positive pressure gauge assembly 8 is usually provided with a header for displaying the measurement results, a pressure sensor for detecting changes in gas pressure, and an interface for connecting an external ventilation duct. Correspondingly, the negative pressure gauge assembly 9 also includes the above structure. The pneumatic regulating mechanism also includes a solenoid valve 10, which is connected to the positive pressure gauge assembly 8 and the negative pressure gauge assembly 9 respectively.

[0038] The suction cup assembly 6 cooperates with the pneumatic adjustment mechanism to pick up or release the glass.

[0039] See also Figure 4 As shown, a method for edge measurement control includes:

[0040] S1. Start the robot and bring it close to the glass to be stacked. The robot scans the edge of the glass from different angles through the sensor module. The laser displacement sensor transmits the detected data to the data processing module in real time.

[0041] S2. After receiving the data transmitted by the sensor, the data processing module filters and calibrates the data to improve the accuracy of the data. An algorithm is preset to calculate the size, position and angle parameters of the glass, and the data processing module sends the processed information to the controller module.

[0042] The preset algorithm steps include:

[0043] S21. Measure the coordinates of multiple sensors in the sensor module compared with the coordinates of the center of the flange of the robot A6 axis to obtain the coordinate data of each sensor.

[0044] Specifically, the coordinates of the X-axis detection device 2, the Y-axis detection device 3, and the limit detection device 4 are measured relative to the center of the flange of the robot A6 axis to obtain three coordinates, namely X1 (X, Y), X2 (X, Y), and Y1 (X, Y).

[0045] S22. Add the value detected by the sensor to the coordinate data of the corresponding sensor to obtain a measurement result.

[0046] The measurement results are as follows:

[0047] The Y coordinate value of the measurement result of the X-direction detection device 2 is Yb

[0048] The X coordinate value of the measurement result of the X-direction detection device 2 is Xb,

[0049] The Y coordinate value of the measurement result of the Y-direction detection device 3 is Yc,

[0050] The X coordinate value of the measurement result of the Y-direction detection device 3 is Xc,

[0051] The X coordinate value of the measurement result of the limit detection device 4 is Xa,

[0052] The Y coordinate value of the measurement result of the limit detection device 4 is Ya.

[0053] S23. According to the measurement result, the inverse tangent function is used to calculate the offset of angle A, and the X-direction offset formula and the Y-direction offset formula are used to calculate the offsets in the X and Y directions respectively.

[0054] The specific calculation method is as follows:

[0055] Calculate the offset of angle A:

[0056]

[0057] Calculate the offset in the X direction:

[0058]

[0059] Calculate the offset in the Y direction:

[0060]

[0061] S3. After receiving the information transmitted by the data processing module, the controller module plans the grabbing and stacking paths and generates control instructions. After receiving the control instructions, the suction cup assembly 6 grabs the glass along the grabbing path and then stacks the glass to the target position according to the stacking path.

[0062] Specifically, after receiving the control command, the cylinder in the suction cup assembly 6 drives the suction cup to move down to absorb the glass, and then lifts the glass into the air. During the absorption process, the solenoid valve 10 and the negative pressure gauge assembly 9 reduce the suction cup air pressure so that the glass can be smoothly adsorbed. According to the offset calculated in step S2, the gripper stacks the glass to the target position according to the planned stacking path. During the stacking process, the gripper continuously adjusts the position of the glass to ensure that the gaps between the glasses are uniform and the stacking is neat, meeting the required stacking accuracy requirements. After stacking, the solenoid valve 10 and the positive pressure gauge assembly 8 are used to release the pressure to release the glass from the suction cup.

[0063] This edge measurement control method can adjust the robot's movements in real time to ensure the neatness and stability of the glass stacking and reduce the risk of damage to the glass during transportation and storage.

[0064] S4, repeat steps S1 to S3 for the next piece of glass until the stacking task of all the glasses is completed.

[0065] In the present application, the sensor module of the edge measurement control system and the algorithm in the edge measurement control method can accurately detect the size and position information of the glass, improve the accuracy of the robot stacking glass, and meet strict accuracy requirements.

[0066] The edge measurement control method adopted by the present invention can improve the automation degree and efficiency of glass stacking, reduce labor costs, and has a wider scope of application.

[0067] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A side measurement control system, suitable for a robot, characterized in that: include: A sensor module, wherein the sensor module is used to detect edge position, thickness and angle parameters of the glass; The sensor module is connected to a data processing module, and the data processing module is used to receive the data transmitted by the sensor module, process and analyze the received data, and calculate the size and position of the glass; The data processing module is connected to the controller module, and the controller module is used to receive information transmitted by the data processing module and issue control instructions to drive the robot to grab and stack glass.

2. A side measurement control system according to claim 1, characterized in that: The sensor module includes a plurality of laser displacement sensors and contact sensors. The laser displacement sensors are used to obtain edge position parameters of the glass, and the contact sensors are used to obtain thickness and angle parameters of the glass.

3. A robot, characterized in that: include: A frame (1), wherein the frame (1) is connected to a side measurement control system according to any one of claims 1 to 2; The frame (1) is connected to a gripper mounting plate (5), the gripper mounting plate (5) is mounted at the center of the flange of the A6 axis of the robot, the gripper mounting plate (5) is connected to a gripper, and the gripper is connected to a plurality of suction cup assemblies (6); The frame is connected to a pneumatic adjustment mechanism, and the suction cup assembly (6) cooperates with the pneumatic adjustment mechanism to pick up or release the glass.

4. A robot according to claim 3, characterized in that: The suction cup assembly (6) comprises a cylinder, and the output end of the cylinder is connected to the suction cup.

5. A robot according to claim 4, characterized in that: The pneumatic adjustment mechanism comprises a positive pressure gauge assembly (8) and a negative pressure gauge assembly (9), and the positive pressure gauge assembly (8) and the negative pressure gauge assembly (9) are used to adjust the pressure in the suction cup.

6. A robot according to claim 5, characterized in that: The pneumatic regulating mechanism comprises a solenoid valve (10), and the solenoid valve (10) is connected to the positive pressure gauge assembly (8) and the negative pressure gauge assembly (9) respectively.

7. A method for edge measurement control, characterized in that: include: S1, start the robot and make it close to the glass to be stacked. The robot scans the edge of the glass, and the sensor module transmits the detected data to the data processing module in real time; S2, after receiving the data transmitted by the sensor, the data processing module filters and calibrates the data, and presets an algorithm to calculate the size, position and angle parameters of the glass according to the algorithm, and the data processing module sends the processed information to the controller module; S3, after receiving the information transmitted by the data processing module, the controller module plans the grabbing and stacking paths and generates control instructions, and the suction cup assembly (6) grabs the glass after receiving the control instructions and stacks the glass to the target position according to the stacking path; S4, repeat steps S1 to S3 for the next piece of glass until the stacking task of all the glasses is completed.

8. A method for edge measurement control according to claim 7, characterized in that: In step S2, the preset algorithm steps include: S21, measuring the coordinates of multiple sensors in the sensor module compared with the coordinates of the center of the flange of the A6 axis of the robot to obtain the coordinate data of each sensor; S22, adding the value detected by the sensor to the coordinate data of the corresponding sensor to obtain a measurement result; S23. According to the measurement result, the inverse tangent function is used to calculate the offset of angle A, and the X-direction offset formula and the Y-direction offset formula are used to calculate the offsets in the X and Y directions respectively.

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