Automatic film cutting device and method for laminated glass

Abstract

The invention discloses an automatic film cutting device and method for laminated glass, and belongs to the technical field of glass film cutting. The automatic film cutting device comprises a programmable logic controller (PLC) and a controlled object connected with the PLC through a control line; the controlled object comprises a human-computer interaction interface, a cross-shaped jacking rotary conveyor capable of bearing glass, a cutter system matched with the cross-shaped jacking rotary conveyor and a driving system used for controlling the cross-shaped jacking rotary conveyor and the cutter system to work. Wherein the human-computer interaction interface carries out data interaction with the driving system through the PLC, the laminated glass film cutting automation can be effectively realized, the production efficiency is effectively improved, the cutting precision is improved, and meanwhile, the labor intensity of workers is effectively reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of glass film cutting, and in particular relates to an automatic film cutting device and method for laminated glass. Background Art

[0002] Laminated glass is widely used in construction, automobile, shipbuilding and other industrial fields due to its excellent safety and sound insulation effects. However, the performance of laminated glass is largely restricted by the accuracy of laminated glass film cutting. Accurate film cutting technology can ensure that the size and shape of the film match the requirements of laminated glass, thereby improving the quality and appearance of the product. In addition, good film cutting technology can not only improve the quality of the product, but also reduce film waste, reduce production costs, improve production efficiency, and shorten production cycles.

[0003] The traditional method of cutting laminated glass mainly relies on manual cutting, which has obvious limitations. Not only is the labor intensity high, but the cutting quality is also affected by the workers' proficiency. In the long run, this production method that relies on manpower is difficult to meet the requirements of modern industry for precision and efficiency. Therefore, the automation of laminated glass cutting is of great significance.

[0004] Therefore, there is a need for an automatic film cutting device and method for laminated glass that can realize automatic film cutting of laminated glass. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic film cutting device and method for laminated glass, which can effectively realize the automation of laminated glass film cutting, effectively improve production efficiency, enhance cutting accuracy and effectively reduce manual labor intensity.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: A laminated glass automatic film cutting device comprises a programmable controller (PLC) and a controlled object connected to the programmable controller (PLC) via a control line; the controlled object comprises a human-machine interaction interface, a cross-lifting rotary conveyor capable of carrying glass, a cutter system matched with the cross-lifting rotary conveyor, and a drive system for controlling the cross-lifting rotary conveyor and the cutter system, wherein the human-machine interaction interface performs data exchange with the drive system via the programmable controller (PLC).

[0007] A further improvement of the technical solution of the present invention is that: the drive system includes a servo drive system for controlling the operation of the cutter system and a cross-lifting rotary conveyor drive system for controlling the operation of the cross-lifting rotary conveyor; the servo drive system includes a plurality of servo motors and a servo driver electrically connected to the servo motors and controlling their operation, wherein the servo driver communicates with the programmable controller PLC through ENTHERCAT; the cross-lifting rotary conveyor drive system includes a three-phase asynchronous motor, two solenoid valves and a frequency converter electrically connected to the three-phase asynchronous motor and controlling its operation, wherein the two solenoid valves and the frequency converter communicate with the programmable controller PLC through a digital I / O port and RS-485 respectively.

[0008] A further improvement of the technical solution of the present invention is that the cross-lifting rotating conveyor includes a frame with a three-phase asynchronous motor on one side, a roller conveyor arranged on the frame and capable of driving the glass to move under the control of the three-phase asynchronous motor, and a lifting rotating mechanism arranged on the frame capable of driving the glass to rise, fall and rotate.

[0009] A further improvement of the technical solution of the present invention is that the roller conveyor includes assembly plates correspondingly arranged on the left and right sides of the top of the frame, four partitions correspondingly arranged between the two assembly plates and cooperating to form a cross channel, a plurality of rollers rotatably arranged between the ends of the two assembly plates and between the middle of the assembly plates and the partitions and capable of driving the glass to move forward and backward, a driving shaft located below the roller and connected to a three-phase asynchronous motor at one end, driving sprockets respectively arranged at the left and right ends of the driving shaft, and chains respectively mounted on the two driving sprockets and the rollers above the two driving sprockets.

[0010] A further improvement of the technical solution of the present invention is that the lifting and rotating mechanism includes left and right corresponding lifting cylinders arranged at the bottom of the frame, a mounting plate horizontally arranged on the two lifting cylinders, a rotating shaft arranged on the mounting plate through a bearing, a steering cylinder connected to the lower end of the rotating shaft through a crank, and a cross bogie adapted to a cross channel arranged at the upper end of the rotating shaft, wherein the two lifting cylinders and the steering cylinder are electrically connected to two solenoid valves respectively and their operation is controlled by the solenoid valves.

[0011] A further improvement of the technical solution of the present invention is that the cutter system includes a fixed base correspondingly arranged on the left and right sides of the frame and respectively fixed with two short slides, and a long slide correspondingly arranged on the front and rear sides of the frame and respectively installed with two short slides that can move left and right through a screw transmission mechanism, wherein the short slide is arranged horizontally and perpendicular to the fixed base or the long slide, and each short slide is installed with a cutter that can move closer to or away from the frame through a screw transmission mechanism; one end of the eight short slides and the two long slides is provided with a servo motor connected to its traditional screw mechanism.

[0012] A further improvement of the technical solution of the present invention is that the traditional screw mechanism includes a screw connected to a servo motor on a short slide or a long slide through a coupling, a slide rail arranged on the short slide or the long slide and located on both sides of the screw, and a nut seat sleeved on the screw and slidably connected to the slide rail and carrying a cutter or a short slide.

[0013] A further improvement of the technical solution of the present invention is that the cutting blades on the long slide or the two short slides of the fixed base are arranged opposite to each other; the lower end of the cutter is set on the nut seat of the short slide through a clamp, and a hole with a pressure sensor inside is opened on the side wall of the clamp.

[0014] A laminated glass automatic film cutting method, using a laminated glass automatic film cutting device to cut the glass film, comprising the following steps: Step S1: placing the glass on the roller of the roller conveyor, and the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two long slides and the servo motors on the two short slides on the two long slides with the cutters with the blades facing left to operate, so that the two cutters move close to the front and rear edges of the glass respectively and move leftward on the two long slides at the same time, and automatically cut the film on the front and rear sides of the glass. At this time, the cutters with the blades facing right on the two long slides are not close to the edge of the glass; Step S2: After the cutting operation in step S1 is completed, the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two short slides on the two long slides carrying the cutters with the blades facing left to operate, so that the two cutters move away from the front and rear edges of the glass respectively; Step S3: the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two long slides and the servo motors on the two short slides on the two long slides carrying the cutters with the blades facing right, so that the two cutters move close to the front and rear edges of the glass respectively and move rightward on the two long slides at the same time, automatically cutting the remaining films on the front and rear sides of the glass; Step S4: After the film cutting on the front and rear sides of the glass is completed, the four cutters on the two long slides return to their original positions under the control of the programmable controller PLC; Step S5: the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two short slides on the two fixed bases carrying the cutters with the blades facing forward to operate, so that the two cutters move close to the left and right edges of the glass respectively. At the same time, the programmable controller PLC controls the frequency converter to drive the three-phase asynchronous motor to rotate. The three-phase asynchronous motor drives each roller to rotate synchronously through two active sprockets and two chains, driving the glass to move backward, so that the two cutters automatically cut the films on the left and right sides of the glass respectively. At this time, the cutters with the blades facing backward on the two fixed bases are not close to the edges of the glass. Step S6: After the cutting operation in step S5 is completed, the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two short slides on the two fixed bases carrying the cutting knives with the blades facing forward to operate, so that the two cutting knives move away from the left and right edges of the glass respectively; Step S7: the programmable controller PLC controls the corresponding servo driver to drive the servo motors on the two short slides on the two fixed bases carrying the cutters with the blades facing backward to operate, so that the two cutters move close to the left and right edges of the glass respectively. At the same time, the programmable controller PLC controls the inverter to drive the three-phase asynchronous motor to rotate. The three-phase asynchronous motor drives each roller to rotate synchronously through two driving sprockets and two chains, driving the glass to move forward, so that the two cutters automatically cut the remaining film on the left and right sides of the glass respectively. Step S8: After the film on the left and right sides of the glass is cut, the four cutters on the two fixed bases return to their original positions under the control of the programmable controller PLC; Step S9: If the film around the glass is not cut off completely, the programmable controller PLC can control the two solenoid valves to drive the two lifting cylinders and the steering cylinder to extend and retract respectively. The two lifting cylinders drive the cross bogie to pass through the cross channel to drive the glass to rise and fall independently. The steering cylinder drives the cross bogie through the crank and the shaft to drive the glass to rotate, thereby changing the orientation of the glass. Repeat steps S1-S8 until the film is cut off completely.

[0015] A further improvement of the technical solution of the present invention is that the programmable controller PLC collects the pressure signal of the pressure sensor, processes the collected pressure signal, and applies the generated output signal to the servo driver through a fractional-order PID control algorithm. After receiving the instruction, the servo driver controls the operation of the servo motors on the two long slides and eight short slides to realize the movement of the eight cutters.

[0016] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is: The automatic film cutting device and method for laminated glass of the present invention can effectively realize the automation of film cutting for laminated glass, effectively improve production efficiency, enhance cutting accuracy and effectively reduce manual labor intensity.

[0017] The automatic film cutting device for laminated glass of the present invention integrates mechanical structure design, electrical control, motor control and industrial field bus communication functions. Multiple cutters of the automatic film cutting device for laminated glass cut thin films at the same time, which significantly improves the efficiency of film cutting. Two cutters fixed on the same long slide or fixed base in the device can correct the previous film cutting when repeating the film cutting operation. At the same time, the interaction force between the cutter and the glass is controlled by means of a control algorithm to ensure the accuracy of film cutting. The electrical control system of the film cutting device can adjust the glass position and control the movement trajectory of the cutter, so that the device can be applied to glass of various specifications.

[0018] The film cutting data of the automatic film cutting device for laminated glass of the present invention is visualized, and human-computer interaction is realized. The device significantly reduces the dependence on manual operation through automated operation, reduces labor costs, and improves production efficiency. Overall, while ensuring the quality of film cutting, it also realizes intelligent management, and promotes industrial production to develop in a more efficient and economical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the electrical principle block diagram of the automatic film cutting device for laminated glass of the present invention; Figure 2 It is a structural schematic diagram of the automatic film cutting device for laminated glass of the present invention; Figure 3 is a side view of the automatic film cutting device for laminated glass of the present invention; Figure 4 It is a schematic diagram of the structure of the cross-lifting rotary conveyor of the automatic film cutting device for laminated glass of the present invention; Figure 5 1. It is a top view schematic diagram of a cross-lifting rotary conveyor of the automatic film cutting device for laminated glass of the present invention; Figure 6 It is a partial structural schematic diagram of the cutting system of the automatic film cutting device for laminated glass of the present invention; Figure 7 It is a partial structural schematic diagram of the roller conveyor of the automatic film cutting device for laminated glass of the present invention; Figure 8 It is a structural schematic diagram of the lead screw transmission mechanism of the automatic film cutting device for laminated glass of the present invention; Among them, 1-1, touch screen HMI, 1-2, programmable controller PLC, 1-3, PC, 1-4, servo drive, 1-5, inverter, 1-6, solenoid valve, 1-7, servo motor, 1-8, three-phase asynchronous motor, 1-9, glass, 1-10, rack; 2-1, roller, 2-2, lifting cylinder, 2-3, steering cylinder, 2-4, crank, 2-5, cross bogie, 2-6, mounting plate, 2-7, bearing, 2-8, cylinder connecting seat, 2-9, rotating shaft, 2-10, driving shaft, 2-11, driving sprocket, 2-12, chain, 2-13, assembly plate, 2-14, partition; 3-1, cutter, 3-2, long slide, 3-3, fixture, 3-4, pressure sensor, 3-5, coupling, 3-6, nut seat, 3-7, fixed base. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with embodiments: Example 1 like Figure 1 As shown, this embodiment provides an automatic film cutting device for laminated glass, including a programmable controller PLC1-2 and a controlled object connected to the programmable controller PLC1-2 through a control line. Among them, the controlled object includes a human-computer interaction interface, a cross-lifting rotary conveyor that can carry glass 1-9, a cutter system that cooperates with the cross-lifting rotary conveyor, and a drive system for controlling the cross-lifting rotary conveyor and the cutter system, wherein the human-computer interaction interface exchanges data with the drive system through the programmable controller PLC1-2. The human-computer interaction interface includes a PC 1-3 equipped with a touch screen HMI1-1, and the interface design of the touch screen HMI1-1 includes a welcome interface, an operation interface, a glass position control interface, a cutter trajectory planning interface, a servo parameter setting interface, and a manual interface design, and the interface design of the PC 1-3 includes a film cutting data monitoring interface and an automatic interface.

[0021] Specifically, the drive system includes a servo drive system for controlling the operation of the cutter system and a cross-lifting rotary conveyor drive system for controlling the operation of the cross-lifting rotary conveyor. The servo drive system includes a plurality of servo motors 1-7 and a plurality of servo drivers 1-4 adapted to the servo motors 1-7, wherein the servo driver 1-4 is electrically connected to the servo motor 1-7 and controls its operation, and the servo driver 1-4 communicates with the programmable controller PLC1-2 via ENTHERCAT. The cross-lifting rotary conveyor drive system includes a three-phase asynchronous motor 1-8, two solenoid valves 1-6 and a frequency converter 1-5, wherein the frequency converter 1-5 is electrically connected to the three-phase asynchronous motor 1-8 and controls its operation, and the two solenoid valves 1-6 and the frequency converter 1-5 communicate with the programmable controller PLC1-2 via the digital I / O port and RS-485 respectively.

[0022] Further, such as Figure 4 , Figure 5 and Figure 7As shown, the cross-lifting rotating conveyor includes a frame 1-10, a roller conveyor and a lifting and rotating mechanism. A three-phase asynchronous motor 1-8 is arranged on one side of the frame 1-10. The roller conveyor is arranged on the frame 1-10, and the roller conveyor can drive the glass 1-9 to move under the control of the three-phase asynchronous motor 1-8. The lifting and rotating mechanism is also arranged on the frame 1-10, and the lifting and rotating mechanism can drive the glass 1-9 to rise and fall and rotate.

[0023] Specifically, the roller conveyor includes a plurality of rollers 2-1, a driving shaft 2-10, two driving sprockets 2-11, two chains 2-12, two assembly plates 2-13, and four partitions 2-14. The two assembly plates 2-13 are correspondingly arranged on the left and right sides of the top of the frame 1-10, and the four partitions 2-14 are arranged on the frame 1-10 and between the two assembly plates 2-13 in pairs. The four partitions 2-14 are arranged parallel to the assembly plates 2-13, and a cross channel is formed between the four partitions 2-14. "The four partitions 2-14 correspond to each other in pairs" means that the four partitions 2-14 correspond to each other in pairs at the front and back and at the left and right sides. Several rollers 2-1 are rotatably arranged between the ends of the two assembly plates 2-13 and between the middle of the assembly plates 2-13 and the partition 2-14, that is, several rollers 2-1 are rotatably arranged between the ends of the two assembly plates 2-13, and several rollers 2-1 are rotatably arranged between the middle of the two assembly plates 2-13 and the two partitions 2-14 opposite to the middle of the two assembly plates 2-13. These rollers 2-1 can drive the glass 1-9 to move forward and backward. "The middle of the assembly plate 2-13" refers to the position between the two ends of the assembly plate 2-13, that is, the position corresponding to the partition 2-14. The driving shaft 2-10 is located below the roller 2-1, and one end of the driving shaft 2-10 is connected to the three-phase asynchronous motor 1-8. Two driving sprockets 2-11 are respectively arranged at the left and right ends of the driving shaft 2-10, and two chains 2-12 are respectively sleeved on the two driving sprockets 2-11 and each roller 2-1 above the two driving sprockets. The programmable controller PLC1-2 can control the frequency converter 1-5 to drive the three-phase asynchronous motor 1-8 to rotate. The three-phase asynchronous motor 1-8 drives each roller 2-1 to rotate synchronously through two active sprockets 2-11 and two chains 2-12, driving the glass 1-9 to move forward or backward.

[0024] The lifting and rotating mechanism includes two lifting cylinders 2-2, a steering cylinder 2-3, a crank 2-4, a cross bogie 2-5, a mounting plate 2-6, a bearing 2-7 and a rotating shaft 2-9. The two lifting cylinders 2-2 are arranged at the bottom of the frame correspondingly on the left and right sides. The mounting plate 2-6 is horizontally arranged on the two lifting cylinders 2-2. The tops of the two lifting cylinders 2-2 are connected to the bottom of the mounting plate 2-6 through cylinder connecting seats 2-8 respectively. The rotating shaft 2-9 is rotatably arranged on the mounting plate 2-6 through bearings 2-7. The steering cylinder 2-3 is connected to the lower end of the rotating shaft 2-9 through the crank 2-4. The cross bogie 2-5 is arranged at the upper end of the rotating shaft 2-9. The cross bogie 2-5 is adapted to the cross channel formed by four partitions 2-14. Among them, the two lifting cylinders 2-2 and the steering cylinder 2-3 are electrically connected to two solenoid valves 1-6 respectively and their operations are controlled by the solenoid valves 1-6. The programmable controller PLC1-2 can respectively control the two solenoid valves 1-6 to drive the two lifting cylinders 2-2 and the steering cylinder 2-3 to extend and retract. The two lifting cylinders 2-2 can drive the cross bogie 2-5 to pass through the cross channel formed by the four partitions 2-14, driving the glass 1-9 to rise and fall independently. The steering cylinder 2-3 can drive the cross bogie 2-5 through the crank 2-4 and the rotating shaft 2-9 to drive the glass 1-9 to rotate, thereby changing the orientation of the glass 1-9.

[0025] like Figure 2 and Figure 3 As shown, the cutter system includes two fixed bases 3-7, two long slides 3-2, eight short slides and eight cutters 3-1. Among them, the two fixed bases 3-7 are correspondingly arranged on the left and right sides of the frame 1-10, and two short slides are fixedly arranged on the two fixed bases 3-7, that is, each fixed base 3-7 is provided with two short slides, and the two long slides 3-2 are correspondingly arranged on the front and back sides of the frame 1-10, and the two long slides 3-2 are respectively installed with two short slides that can move left and right through a screw transmission mechanism, that is, each long slide 3-2 is installed with two short slides that can move left and right through a screw transmission mechanism. Among them, the short slide is arranged horizontally and perpendicularly to the fixed base 3-7 or the long slide 3-2, and each short slide is installed with a cutter 3-1 that can move close to or away from the frame 1-10 through a screw transmission mechanism. One end of the eight short slides and the two long slides 3-2 is provided with a servo motor 1-7 connected to its conventional screw mechanism.

[0026] Specifically, Figure 8As shown, the conventional screw mechanism includes a screw connected to the servo motor 1-7 on the short slide or the long slide 3-2 through a coupling 3-5, a slide rail disposed on the short slide or the long slide 3-2 and located on both sides of the screw, and a nut seat 3-6 sleeved on the screw and slidably connected to the slide rail. The nut seat 3-6 of the conventional screw mechanism can carry the cutter 3-1 on the short slide or the short slide on the long slide 3-2. That is, the long slide 3-2 is equipped with two short slides that can move left and right through the nut seat 3-6 of the screw transmission mechanism, and the short slide is equipped with a cutter 3-1 that can move close to or away from the frame 1-10 through the nut seat 3-6 of the screw transmission mechanism.

[0027] like Figure 2 and Figure 3 As shown, the blades of the cutters 3-1 on the two short slides of the long slide 3-2 or the fixed base 3-7 are arranged opposite to each other, that is, the blades of the cutters 3-1 on the two short slides of the same long slide 3-2 or the fixed base 3-7 are opposite to each other and face in opposite directions. Figure 6 As shown, the lower end of the cutter 3-1 is set on the nut seat 3-6 of the short slide through the clamp 3-3, and a hole with a pressure sensor 3-4 inside is opened on the side wall of the clamp 3-3. The programmable controller PLC1-2 can collect the pressure signal of the pressure sensor 3-4, process the collected pressure signal, and use the fractional order PID control algorithm to act on the generated output signal to the servo driver 1-4. After receiving the command, the servo driver 1-4 controls the operation of the servo motors 1-7 on the two long slides 3-2 and the eight short slides to achieve the rapid movement of the eight cutters 3-1.

[0028] Example 2 This embodiment provides a laminated glass automatic film cutting method, using the laminated glass automatic film cutting device of embodiment 1 to cut the glass 1-9, including the following steps: Step S1: The glass 1-9 is placed statically on the roller 2-1 of the roller conveyor, and the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motors 1-7 on the two long slides 3-2 and the servo motors 1-7 on the two short slides on the two long slides 3-2 carrying the cutters 3-1 with the blades facing left to operate, so that the two cutters 3-1 move close to the front and rear edges of the glass 1-9 respectively and move leftward on the two long slides 3-2 at the same time, and automatically cut the film on the front and rear sides of the glass 1-9. At this time, the cutters 3-1 with the blades facing right on the two long slides 3-2 are not close to the edge of the glass 1-9; Step S2: After the cutting operation in step S1 is completed, the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motors 1-7 on the two short slides on the two long slides 3-2 carrying the cutters 3-1 with their blades facing left to operate, so that the two cutters 3-1 move away from the front and rear edges of the glass 1-9 respectively; Step S3: the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motors 1-7 on the two long slides 3-2 and the servo motors 1-7 on the two short slides on the two long slides 3-2 carrying the cutters 3-1 with the blades facing right, so that the two cutters 3-1 move close to the front and rear edges of the glass 1-9 respectively and move rightward on the two long slides 3-2 at the same time, automatically cutting the remaining films on the front and rear sides of the glass 1-9; Step S4: After the thin films on the front and rear sides of the glass 1-9 are cut, the four cutters 3-1 on the two long slides 3-2 return to their original positions under the control of the programmable controller PLC1-2; Step S5: the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motors 1-7 on the two short slides carrying the cutters 3-1 with blades facing forward on the two fixed bases 3-7 to operate, so that the two cutters 3-1 move close to the left and right edges of the glass 1-9 respectively. At the same time, the programmable controller PLC1-2 controls the frequency converter 1-5 to drive the three-phase asynchronous motor 1-8 to rotate. The three-phase asynchronous motor 1-8 drives each roller 2-1 to rotate synchronously through two active sprockets 2-11 and two chains 2-12, driving the glass 1-9 to move backward, so that the two cutters 3-1 automatically cut the films on the left and right sides of the glass 1-9 respectively. At this time, the cutters 3-1 with blades facing backward on the two fixed bases 3-7 are not close to the edge of the glass 1-9; Step S6: After the cutting operation in step S5 is completed, the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motors 1-7 on the two short slides carrying the cutters 3-1 with the blades facing forward on the two fixed bases 3-7 to operate, so that the two cutters 3-1 move away from the left and right edges of the glass 1-9 respectively; Step S7: the programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motor 1-7 on the two short slides carrying the cutters 3-1 with the blades facing backwards on the two fixed bases 3-7 to operate, so that the two cutters 3-1 move close to the left and right edges of the glass 1-9 respectively. At the same time, the programmable controller PLC1-2 controls the frequency converter 1-5 to drive the three-phase asynchronous motor 1-8 to rotate. The three-phase asynchronous motor 1-8 drives each roller 2-1 to rotate synchronously through two active sprockets 2-11 and two chains 2-12, driving the glass 1-9 to move forward, so that the two cutters 3-1 automatically cut the remaining film on the left and right sides of the glass 1-9 respectively; Step S8: After the thin films on the left and right sides of the glass 1-9 are cut, the four cutters 3-1 on the two fixed bases 3-7 return to their original positions under the control of the programmable controller PLC1-2; Step S9: If the film around the glass 1-9 is not cut off completely, the programmable controller PLC1-2 can control the two solenoid valves 1-6 to drive the two lifting cylinders 2-2 and the steering cylinder 2-3 to extend and retract, and the two lifting cylinders 2-2 drive the cross bogie 2-5 to pass through the cross channel to drive the glass 1-9 to rise and fall independently, and the steering cylinder 2-3 drives the cross bogie 2-5 through the crank 2-4 and the rotating shaft 2-9 to drive the glass 1-9 to rotate, thereby changing the orientation of the glass 1-9, and repeating steps S1-S8 until the film is cut off completely.

[0029] Among them, the programmable controller PLC1-2 collects the pressure signal of the pressure sensor 3-4, processes the collected pressure signal, and applies the generated output signal to the servo driver 1-4 through the fractional-order PID control algorithm. After receiving the instruction, the servo driver 1-4 controls the operation of the servo motors 1-7 on the two long slides 3-2 and the eight short slides to realize the rapid movement of the eight cutters 3-1.

[0030] Specifically, the position control of the cutter 3-1 is achieved through the axis control instruction, and the control of the contact force between the cutter 3-1 and the glass 1-9 adopts the impedance control strategy, in which the inner loop is the position loop and the outer loop is the force loop. The servo motor 1-7 is used as an actuator, and the pressure sensor 3-4 collects the interaction force in real time and transmits the data to the programmable controller PLC1-2. The programmable controller PLC1-2 subtracts the collected pressure value from the given expected contact force to obtain the error signal, and inputs the error signal to the force controller. The force controller adopts the fractional-order PID control algorithm, and the output signal of the force controller is used as the input signal of the position loop. The controller of the position loop adopts the existing axis control relative positioning instruction of Huichuan PLC. After receiving the axis control relative positioning instruction, the servo motor 1-7 controls the feed or retract action, thereby controlling the contact force between the cutter 3-1 and the glass 1-9. The fractional-order PID control algorithm expands the integer-order calculus operator in the traditional PID controller into a fractional-order calculus operator. Compared with the conventional PID controller, the fractional-order PID controller introduces the integral order λ and the differential order μ in addition to the three parameters Kp, Ki and Kd. The fractional-order PID control module is encapsulated in the programmable controller PLC1-2 using the finite memory digital implementation method to improve the control accuracy and the dynamic performance of the system.

[0031] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. An automatic film cutting device for laminated glass, characterized by: The invention comprises a programmable logic controller (PLC) (1-2) and a controlled object connected to the programmable logic controller (PLC) (1-2) via a control line; the controlled object comprises a human-machine interaction interface, a cross-lifting rotary conveyor capable of carrying glass (1-9), a cutter system matched with the cross-lifting rotary conveyor, and a drive system for controlling the operation of the cross-lifting rotary conveyor and the cutter system, wherein the human-machine interaction interface performs data exchange with the drive system via the programmable logic controller (PLC) (1-2).

2. The automatic film cutting device for laminated glass according to claim 1, characterized in that: The drive system comprises a servo drive system for controlling the operation of a cutter system and a cross-lifting rotary conveyor drive system for controlling the operation of a cross-lifting rotary conveyor; the servo drive system comprises a plurality of servo motors (1-7) and a servo driver (1-4) electrically connected to the servo motors (1-7) and controlling the operation thereof, wherein the servo driver (1-4) communicates with a programmable controller (PLC) (1-2) via ENTHERCAT; the cross-lifting rotary conveyor drive system comprises a three-phase asynchronous motor (1-8), two solenoid valves (1-6) and a frequency converter (1-5) electrically connected to the three-phase asynchronous motor (1-8) and controlling the operation thereof, wherein the two solenoid valves (1-6) and the frequency converter (1-5) communicate with the programmable controller (PLC) (1-2) via a digital I / O port and RS-485, respectively.

3. The automatic film cutting device for laminated glass according to claim 2, characterized in that: The cross-lifting rotary conveyor comprises a frame (1-10) with a three-phase asynchronous motor (1-8) disposed on one side, a roller conveyor disposed on the frame (1-10) and capable of driving the glass (1-9) to move under the control of the three-phase asynchronous motor (1-8), and a lifting rotary mechanism disposed on the frame (1-10) capable of driving the glass (1-9) to rise, fall and rotate.

4. The automatic film cutting device for laminated glass according to claim 3, characterized in that: The roller conveyor comprises assembly plates (2-13) correspondingly arranged on the left and right sides of the top of a frame (1-10), four partition plates (2-14) arranged in pairs between the two assembly plates (2-13) and cooperating to form a cross channel, a plurality of rollers (2-1) rotatably arranged between the ends of the two assembly plates (2-13) and between the middle of the assembly plates (2-13) and the partition plates (2-14) and capable of driving the glass (1-9) to move forward and backward, a driving shaft (2-10) located below the roller (2-1) and connected to a three-phase asynchronous motor (1-8) at one end, driving sprockets (2-11) respectively arranged at the left and right ends of the driving shaft (2-10), and chains (2-12) respectively sleeved on the two driving sprockets (2-11) and on each roller (2-1) above the two driving sprockets.

5. The automatic film cutting device for laminated glass according to claim 4, characterized in that: The lifting and rotating mechanism comprises lifting cylinders (2-2) arranged at the bottom of the frame in corresponding left and right positions, a mounting plate (2-6) arranged horizontally on the two lifting cylinders (2-2), a rotating shaft (2-9) arranged on the mounting plate (2-6) for rotation via a bearing (2-7), a steering cylinder (2-3) connected to the lower end of the rotating shaft (2-9) via a crank (2-4), and a cross bogie (2-5) arranged at the upper end of the rotating shaft (2-9) for adapting to a cross channel, wherein the two lifting cylinders (2-2) and the steering cylinder (2-3) are respectively electrically connected to two solenoid valves (1-6) and their operation is controlled by the solenoid valves (1-6).

6. The automatic film cutting device for laminated glass according to claim 5, characterized in that: The cutter system comprises a fixed base (3-7) correspondingly arranged on the left and right sides of a frame (1-10) and respectively fixed with two short slides, and a long slide (3-2) correspondingly arranged on the front and rear sides of the frame (1-10) and respectively installed with two short slides that can move left and right through a screw transmission mechanism, wherein the short slide is arranged horizontally and perpendicularly to the fixed base (3-7) or the long slide (3-2), and each short slide is installed with a cutter (3-1) that can move closer to or away from the frame (1-10) through a screw transmission mechanism; one end of the eight short slides and the two long slides (3-2) is provided with a servo motor (1-7) connected to its screw conventional mechanism.

7. The automatic film cutting device for laminated glass according to claim 6, characterized in that: The conventional screw mechanism comprises a screw connected to a servo motor (1-7) on a short slide or a long slide (3-2) via a coupling (3-5), a slide rail disposed on the short slide or the long slide (3-2) and located on both sides of the screw, and a nut seat (3-6) sleeved on the screw and slidably connected to the slide rail and carrying a cutter (3-1) or a short slide.

8. The automatic film cutting device for laminated glass according to claim 7, characterized in that: The blades of the cutters (3-1) on the long slide (3-2) or the two short slides of the fixed base (3-7) are arranged opposite to each other; the lower end of the cutter (3-1) is arranged on the nut seat (3-6) of the short slide via a clamp (3-3); a hole with a pressure sensor (3-4) arranged inside is provided on the side wall of the clamp (3-3).

9. A method for automatically cutting laminated glass, characterized in that: Using the automatic film cutting device for laminated glass according to any one of claims 1 to 8 to cut the glass (1-9) comprises the following steps: Step S1: placing the glass (1-9) on the roller (2-1) of the roller conveyor, and the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two long slides (3-2) and the servo motors (1-7) on the two short slides on the two long slides (3-2) carrying the cutters (3-1) with blades facing left to operate, so that the two cutters (3-1) respectively move close to the front and rear edges of the glass (1-9) and move leftward on the two long slides (3-2) at the same time, automatically cutting the film on the front and rear sides of the glass (1-9), and at this time, the cutters (3-1) with blades facing right on the two long slides (3-2) are not close to the edge of the glass (1-9); Step S2: After the cutting operation in step S1 is completed, the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two short slides on the two long slides (3-2) carrying the cutters (3-1) with their blades facing left, so that the two cutters (3-1) are moved away from the front and rear edges of the glass (1-9) respectively; Step S3: the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two long slides (3-2) and the servo motors (1-7) on the two short slides on the two long slides (3-2) carrying the cutters (3-1) with their blades facing right to operate, so that the two cutters (3-1) respectively move close to the front and rear edges of the glass (1-9) and simultaneously move rightward on the two long slides (3-2), automatically cutting the remaining film on the front and rear sides of the glass (1-9); Step S4: After the thin films on the front and rear sides of the glass (1-9) are cut, the four cutters (3-1) on the two long slides (3-2) return to their original positions under the control of the programmable controller PLC (1-2); Step S5: the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two short slides carrying the cutting knives (3-1) with blades facing forward on the two fixed bases (3-7) to operate, so that the two cutting knives (3-1) move close to the left and right edges of the glass (1-9) respectively. At the same time, the programmable controller PLC (1-2) controls the frequency converter (1-5) to drive the three-phase asynchronous motor (1-8) to rotate. The three-phase asynchronous motor (1-8) drives each roller (2-1) to rotate synchronously through two driving sprockets (2-11) and two chains (2-12), driving the glass (1-9) to move backward, so that the two cutting knives (3-1) automatically cut the films on the left and right sides of the glass (1-9) respectively. At this time, the cutting knives (3-1) with blades facing backward on the two fixed bases (3-7) are not close to the edge of the glass (1-9); Step S6: After the cutting operation in step S5 is completed, the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two short slides on the two fixed bases (3-7) carrying the cutting knives (3-1) with the blades facing forward to operate, so that the two cutting knives (3-1) are moved away from the left and right edges of the glass (1-9) respectively; Step S7: the programmable controller PLC (1-2) controls the corresponding servo driver (1-4) to drive the servo motors (1-7) on the two short slides carrying the cutters (3-1) with their blades facing backwards on the two fixed bases (3-7) to operate, so that the two cutters (3-1) respectively move close to the left and right edges of the glass (1-9). At the same time, the programmable controller PLC (1-2) controls the frequency converter (1-5) to drive the three-phase asynchronous motor (1-8) to rotate. The three-phase asynchronous motor (1-8) drives each roller (2-1) to rotate synchronously through two driving sprockets (2-11) and two chains (2-12), driving the glass (1-9) to move forward, so that the two cutters (3-1) respectively automatically cut the remaining thin films on the left and right sides of the glass (1-9); Step S8: After the thin films on the left and right sides of the glass (1-9) are cut, the four cutters (3-1) on the two fixed bases (3-7) return to their original positions under the control of the programmable controller PLC (1-2); Step S9: If the film around the glass (1-9) is not completely removed, the programmable controller PLC (1-2) can control the two solenoid valves (1-6) to drive the two lifting cylinders (2-2) and the steering cylinder (2-3) to extend and retract, and the two lifting cylinders (2-2) drive the cross bogie (2-5) to pass through the cross channel to drive the glass (1-9) to move up and down independently, and the steering cylinder (2-3) drives the cross bogie (2-5) through the crank (2-4) and the rotating shaft (2-9) to drive the glass (1-9) to rotate, thereby changing the orientation of the glass (1-9), and repeating steps S1-S8 until the film is completely removed.

10. The automatic film cutting method for laminated glass according to claim 9, characterized in that: The programmable controller PLC (1-2) collects pressure signals from the pressure sensor (3-4), performs data processing on the collected pressure signals, and applies the generated output signals to the servo driver (1-4) through a fractional-order PID control algorithm. After receiving the instructions, the servo driver (1-4) controls the servo motors (1-7) on the two long slides (3-2) and the eight short slides to operate, thereby realizing the movement of the eight cutters (3-1).

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