An automatic film cutting device and method for laminated glass

Abstract

The application discloses a kind of automatic film cutting devices and methods of laminated glass, belong to glass film cutting technical field, including programmable controller PLC and the controlled object being connected with programmable controller PLC by control line;The controlled object includes man-machine interface, the cross jacking rotary conveyor of glass can be carried, the cutter system matched with cross jacking rotary conveyor and the drive system for controlling cross jacking rotary conveyor and cutter system work, wherein man-machine interface carries out data interaction with drive system by programmable controller PLC, the application can effectively realize the automatic film cutting of laminated glass, effectively improve production efficiency, improve cutting precision while effectively reduce the labor intensity of artificial.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of glass film cutting, and particularly relates to an automatic film cutting device and method for laminated glass. BACKGROUND

[0002] Laminated glass is widely used in construction, automobiles, ships and other industrial fields due to its excellent safety and sound insulation effect. However, the performance of laminated glass is largely constrained by the precision of laminated glass film cutting. Precise film cutting process 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 process not only improves the quality of the product, but also reduces the waste of the film, reduces production costs, improves production efficiency and shortens the production cycle.

[0003] The traditional laminated glass film cutting method mainly relies on manual cutting. This method has obvious limitations. Not only is the labor intensity high, but the cutting quality is also affected by the skill level of the workers. In the long run, this labor-dependent production method cannot meet the requirements of modern industry for precision and efficiency. Therefore, the automation of laminated glass film cutting is of great significance.

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

[0005] The purpose of the present application is to provide an automatic film cutting device and method for laminated glass, which can effectively achieve the automation of laminated glass film cutting, effectively improve production efficiency, and effectively reduce the labor intensity of workers while improving cutting precision.

[0006] To achieve the above purpose, the technical solution adopted by the present application is:

[0007] An automatic film cutting device for laminated glass, comprising a programmable logic controller (PLC) and a controlled object connected to the programmable logic controller (PLC) through a control line; the controlled object comprises a human-computer interaction interface, a cross-jack rotary conveyor capable of carrying glass, a cutter system cooperating with the cross-jack rotary conveyor, and a drive system for controlling the cross-jack rotary conveyor and the cutter system, wherein the human-computer interaction interface interacts with the drive system through the programmable logic controller (PLC).

[0008] Further improvement of the technical scheme of the present application is that the driving system comprises a servo driving system for controlling the cutter system and a cross jacking rotary conveyor driving system for controlling the cross jacking rotary conveyor; the servo driving system comprises a plurality of servo motors and servo drivers electrically connected with the servo motors and controlling the servo motors, wherein the servo drivers communicate with a programmable logic controller (PLC) through ENTHERCAT; the cross jacking rotary conveyor driving system comprises a three-phase asynchronous motor, two electromagnetic valves and a frequency converter electrically connected with the three-phase asynchronous motor and controlling the three-phase asynchronous motor, wherein the two electromagnetic valves and the frequency converter communicate with the programmable logic controller (PLC) through digital I / O and RS-485 respectively.

[0009] Further improvement of the technical scheme of the present application is that the cross jacking rotary conveyor comprises a rack provided with the three-phase asynchronous motor on one side, a roller conveyor provided on the rack and capable of moving the glass under the control of the three-phase asynchronous motor, and a jacking rotary mechanism provided on the rack and capable of lifting and rotating the glass.

[0010] Further improvement of the technical scheme of the present application is that the roller conveyor comprises assembly plates correspondingly provided on the top of the rack and on the left and right sides of the rack, four partition plates correspondingly provided between the two assembly plates and cooperating to form a cross channel, a plurality of rollers rotatably provided between the ends of the two assembly plates and between the middle of the assembly plates and the partition plates and capable of moving the glass forward and backward, a driving shaft located below the rollers and connected with the three-phase asynchronous motor at one end, driving sprockets respectively provided at the left and right ends of the driving shaft, and chains respectively sleeved on the two driving sprockets and on the rollers above the two driving sprockets.

[0011] Further improvement of the technical scheme of the present application is that the jacking rotary mechanism comprises jacking cylinders correspondingly provided on the bottom of the rack, a mounting plate horizontally provided on the two jacking cylinders, a rotating shaft rotatably provided on the mounting plate through a bearing, a steering cylinder connected with the lower end of the rotating shaft through a crank, and a cross steering frame provided on the upper end of the rotating shaft and matched with the cross channel, wherein the two jacking cylinders and the steering cylinder are electrically connected with the two electromagnetic valves respectively and controlled by the two electromagnetic valves.

[0012] Further improvement of the technical scheme of the present application is that the cutter system comprises fixed bases correspondingly provided on the left and right sides of the rack and respectively fixedly provided with two short sliding tables, and long sliding tables correspondingly provided on the front and rear sides of the rack and respectively provided with two movable short sliding tables through screw drive mechanisms, wherein the short sliding tables are horizontally and vertically arranged on the fixed bases or the long sliding tables, and each short sliding table is provided with a cutter movable close to or away from the rack through the screw drive mechanism; one end of each of the eight short sliding tables and the two long sliding tables is provided with a servo motor connected with the screw drive mechanism.

[0013] Further improvement of the technical scheme of the present application is that the screw rod transmission mechanism comprises a screw rod connected with the servo motor on the short slide table or the long slide table through a shaft coupling, slide rails arranged on the short slide table or the long slide table and located at both sides of the screw rod respectively, and a nut seat sleeved on the screw rod and in sliding connection with the slide rails and carrying the cutting knife or the short slide table.

[0014] Further improvement of the technical scheme of the present application is that the cutting knife edges on the long slide table or the two short slide tables of the fixed base are oppositely arranged; the lower end of the cutting knife is arranged on the nut seat of the short slide table through a clamp, and a hole with a pressure sensor arranged inside is formed in the side wall of the clamp.

[0015] An automatic film cutting method for laminated glass uses an automatic film cutting device for laminated glass to cut the film of the glass, comprising the following steps:

[0016] Step S1: the glass is placed on the rollers of the roller conveyor, and the programmable logic controller (PLC) controls the corresponding servo drives to drive the servo motors on the two long slide tables and the servo motors on the two short slide tables carrying the two cutting knives with the leftward edges to operate, so that the two cutting knives are respectively moved close to the front and rear side edges of the glass and simultaneously moved leftward on the two long slide tables to automatically cut the films on the front and rear sides of the glass, at this time, the two cutting knives with the rightward edges on the two long slide tables are not close to the edges of the glass.

[0017] Step S2: after the cutting operation in step S1 is completed, the programmable logic controller (PLC) controls the corresponding servo drives to drive the servo motors on the two short slide tables carrying the two cutting knives with the leftward edges on the two long slide tables to operate, so that the two cutting knives are respectively moved away from the front and rear side edges of the glass.

[0018] Step S3: the programmable logic controller (PLC) controls the corresponding servo drives to drive the servo motors on the two long slide tables and the servo motors on the two short slide tables carrying the two cutting knives with the rightward edges on the two long slide tables to operate, so that the two cutting knives are respectively moved close to the front and rear side edges of the glass and simultaneously moved rightward on the two long slide tables to automatically cut the remaining films on the front and rear sides of the glass.

[0019] Step S4: after the films on the front and rear sides of the glass are cut, the four cutting knives on the two long slide tables are respectively returned to the original positions under the control of the programmable logic controller (PLC).

[0020] Step S5: The programmable controller PLC controls the corresponding servo driver to drive the servo motor on the two short sliding platforms of the two fixed bases carrying the blade forward cutting knife to operate, so that the two cutting knives move away from the left and right edges of the glass respectively.

[0021] Step S6: After the cutting operation in step S5 is completed, the programmable controller PLC controls the corresponding servo driver to drive the servo motor on the two short sliding platforms of the two fixed bases carrying the blade forward cutting knife to operate, so that the two cutting knives move away from the left and right edges of the glass respectively.

[0022] Step S7: The programmable controller PLC controls the corresponding servo driver to drive the servo motor on the two short sliding platforms of the two fixed bases carrying the blade backward cutting knife to operate, so that the two cutting knives move close to the left and right edges of the glass respectively, and 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 to drive each roller to rotate synchronously through two driving sprockets and two chains, driving the glass to move forward, so that the two cutting knives automatically cut the remaining film on the left and right sides of the glass.

[0023] Step S8: After the film on the left and right sides of the glass is cut, the four cutting knives on the two fixed bases return to their original positions under the control of the programmable controller PLC.

[0024] Step S9: If the film around the glass is not completely cut, the programmable controller PLC can control the two electromagnetic valves to drive the two lifting cylinders and steering cylinders to extend and retract, the two lifting cylinders drive the cross steering frame to pass through the cross passage to drive the glass to lift independently, and the steering cylinder drives the cross steering frame through the crank and shaft to drive the glass to rotate, thereby changing the orientation of the glass, and repeating steps S1-S8 until the film is completely cut.

[0025] Further improvement of the technical scheme of the application 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 the fractional order PID control algorithm. The servo driver controls the operation of the servo motor on the two long sliding platforms and the eight short sliding platforms after receiving the command, realizing the movement of the eight cutting knives.

[0026] As a result of adopting the above technical scheme, the application has achieved the following technical progress:

[0027] The automatic film cutting device and method for laminated glass can effectively realize automatic film cutting of laminated glass, effectively improve production efficiency, improve cutting precision, and effectively reduce labor intensity.

[0028] The automatic film cutting device for laminated glass integrates mechanical structure design, electrical control, motor control and industrial field bus communication functions, and the multiple cutting knives of the automatic film cutting device for laminated glass cut the film at the same time, which significantly improves the film cutting efficiency. The two cutting knives fixed on the same long slide or fixed base in the device can correct the last film cutting when repeating the film cutting operation. At the same time, the interaction force between the cutting knife and the glass is controlled by means of a control algorithm to ensure the precision of the film cutting. The electrical control system of the film cutting device can adjust the glass position and control the cutting knife movement track, so that the device can be applied to various specifications of glass.

[0029] The film cutting data visualization of the automatic film cutting device for laminated glass realizes human-computer interaction. The device significantly reduces the dependence on manual operation, reduces labor cost, improves production efficiency, and realizes intelligent management while ensuring film cutting quality, which promotes the development of industrial production to be more efficient and more economical. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is an electrical principle diagram of the automatic film cutting device for laminated glass of the present application;

[0031] Figure 2 is a structural schematic diagram of the automatic film cutting device for laminated glass of the present application;

[0032] Figure 3 is a side view of the automatic film cutting device for laminated glass of the present application;

[0033] Figure 4 is a cross-lifting rotary conveyor structure schematic diagram of the automatic film cutting device for laminated glass of the present application;

[0034] Figure 5 is a cross-lifting rotary conveyor top view schematic diagram of the automatic film cutting device for laminated glass of the present application;

[0035] Figure 6 is a local structure schematic diagram of the cutting knife system of the automatic film cutting device for laminated glass of the present application;

[0036] Figure 7 is a local structure schematic diagram of the roller conveyor of the automatic film cutting device for laminated glass of the present application;

[0037] Figure 8 is a structure schematic diagram of the lead screw transmission mechanism of the automatic film cutting device for laminated glass of the present application;

[0038] 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;

[0039] 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 connector, 2-9, rotating shaft, 2-10, driving shaft, 2-11, driving sprocket, 2-12, chain, 2-13, assembly plate, 2-14, partition;

[0040] 3-1. Cutter, 3-2. Long slide, 3-3. Clamp, 3-4. Pressure sensor, 3-5. Coupling, 3-6. Nut seat, 3-7. Fixed base. DETAILED DESCRIPTION

[0041] The present invention is described in further detail below in conjunction with the embodiments: Example

[0042] 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 via a control line. The controlled object includes a human-machine interface, a cross-lifting rotary conveyor capable of carrying glass 1-9, a cutter system coordinated 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 interface exchanges data with the drive system through the programmable controller PLC1-2. The human-machine interface includes a PC 1-3 equipped with a touch screen HMI1-1. 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. The interface design of the PC 1-3 includes a film cutting data monitoring interface and an automatic interface.

[0043] Specifically, the driving system includes a servo driving system for controlling the cutter system to work and a cross-lifting rotary conveyor driving system for controlling the cross-lifting rotary conveyor to work. The servo driving system includes a plurality of servo motors 1-7 and a plurality of servo drives 1-4 matched with the servo motors 1-7. The servo drives 1-4 are electrically connected with the servo motors 1-7 and control the servo motors 1-7 to work. The servo drives 1-4 communicate with programmable controllers PLC 1-2 through ENTHERCAT. The cross-lifting rotary conveyor driving system includes a three-phase asynchronous motor 1-8, two electromagnetic valves 1-6 and a frequency converter 1-5. The frequency converter 1-5 is electrically connected with the three-phase asynchronous motor 1-8 and controls the three-phase asynchronous motor 1-8 to work. The two electromagnetic valves 1-6 and the frequency converter 1-5 respectively communicate with the programmable controllers PLC 1-2 through digital I / O port and RS-485.

[0044] Further, as shown in Figure 4 、 Figure 5 and Figure 7 , the cross-lifting rotary conveyor includes a rack 1-10, a drum conveyor and a lifting rotary mechanism. The three-phase asynchronous motor 1-8 is arranged on one side of the rack 1-10. The drum conveyor is arranged on the rack 1-10 and can drive the glass 1-9 to move under the control of the three-phase asynchronous motor 1-8. The lifting rotary mechanism is also arranged on the rack 1-10 and can drive the glass 1-9 to lift and rotate.

[0045] Specifically, the roller conveyor comprises a plurality of rollers 2-1, a driving shaft 2-10, two driving sprockets 2-11 and two chains 2-12, two assembling plates 2-13 and four partition plates 2-14. The two assembling plates 2-13 are arranged on the left and right sides of the top of the rack 1-10, and the four partition plates 2-14 are arranged on the rack 1-10 between the two assembling plates 2-13. The four partition plates 2-14 are parallel to the assembling plates 2-13, and a cross passage is formed between the four partition plates 2-14. The four partition plates 2-14 are arranged in pairs on the front and rear sides and the left and right sides. The plurality of rollers 2-1 are rotatably arranged between the ends of the two assembling plates 2-13 and between the middle of the assembling plates 2-13 and the partition plates 2-14, i.e. a plurality of rollers 2-1 are rotatably arranged between the ends of the two assembling plates 2-13, and a plurality of rollers 2-1 are rotatably arranged between the middle of the two assembling plates 2-13 and the two partition plates 2-14 corresponding to the middle of the two assembling plates 2-13. The rollers 2-1 can drive the glass 1-9 to move forward and backward. The middle of the assembling plate 2-13 refers to the position between the two ends of the assembling plate 2-13, i.e. the position corresponding to the partition plate 2-14. The driving shaft 2-10 is located below the rollers 2-1, and one end of the driving shaft 2-10 is connected to the three-phase asynchronous motor 1-8. The two driving sprockets 2-11 are arranged on the left and right ends of the driving shaft 2-10, and the two chains 2-12 are respectively sleeved on the rollers 2-1 above the two driving sprockets 2-11. The programmable controller PLC 1-2 can control the frequency converter 1-5 to drive the three-phase asynchronous motor 1-8 to rotate, and the three-phase asynchronous motor 1-8 drives the rollers 2-1 to rotate synchronously through the two driving sprockets 2-11 and the two chains 2-12, thereby driving the glass 1-9 to move forward or backward.

[0046] The jacking and rotating mechanism includes two jacking 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 jacking cylinders 2-2 are arranged at the bottom of the frame in left and right correspondence. The mounting plate 2-6 is horizontally arranged on the two jacking cylinders 2-2. The tops of the two jacking 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 jacking cylinders 2-2 and the steering cylinder 2-3 are electrically connected to the two solenoid valves 1-6 respectively and their operation is controlled by the solenoid valve 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.

[0047] 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. 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 slides are arranged horizontally and perpendicularly to the fixed bases 3-7 or the long slides 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 transmission mechanism.

[0048] Specifically, such as Figure 8As shown in the figure, the lead screw transmission mechanism includes a lead screw connected with the servo motor 1-7 on the short slide or long slide 3-2 through the shaft coupling 3-5, a slide rail arranged on the short slide or long slide 3-2 and located at both sides of the lead screw respectively, and a nut seat 3-6 sleeved on the lead screw and in sliding connection with the slide rail. The nut seat 3-6 of the lead screw transmission 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 provided with two short slides movable leftward and rightward through the nut seat 3-6 of the lead screw transmission mechanism, and the short slide is provided with the cutter 3-1 movable close to or away from the rack 1-10 through the nut seat 3-6 of the lead screw transmission mechanism.

[0049] As shown in the figure, Figure 2 and Figure 3 As shown in the figure, the cutter blades on the long slide 3-2 or the two short slides of the fixed base 3-7 are oppositely arranged, that is, the cutter blades on the same long slide 3-2 or the two short slides of the fixed base 3-7 are opposite and face opposite directions. As shown in the figure, Figure 6 The lower end of the cutter 3-1 is arranged on the nut seat 3-6 of the short slide through the clamp 3-3, and a hole with a pressure sensor 3-4 arranged inside is formed in the side wall of the clamp 3-3. The programmable controller PLC 1-2 can collect the pressure signal of the pressure sensor 3-4, process the collected pressure signal, and apply 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, so as to realize the rapid movement of the eight cutters 3-1. Embodiment

[0050] The embodiment provides an automatic film cutting method for laminated glass. The automatic film cutting device for laminated glass in embodiment 1 is used to cut the glass 1-9, which includes the following steps.

[0051] Step S1: Place the glass 1-9 on the roller 2-1 of the roller conveyor. 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 carrying the cutters 3-1 with blades facing left on the two long slides 3-2 to operate, so that the two cutters 3-1 respectively move close to the front and rear side edges of the glass 1-9 and simultaneously move leftward on the two long slides 3-2, and automatically cut the films on the front and rear sides of the glass 1-9. At this time, the cutters 3-1 with blades facing right on the two long slides 3-2 do not move close to the edges of the glass 1-9.

[0052] 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 motor 1-7 on the two short sliding platforms of the two long sliding platforms 3-2 carrying the cutting knives 3-1 with blades facing left to operate, so that the two cutting knives 3-1 respectively move away from the front and rear edges of the glass 1-9;

[0053] Step S3: The programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motor 1-7 on the two long sliding platforms 3-2 and the servo motor 1-7 on the two short sliding platforms of the two long sliding platforms 3-2 carrying the cutting knives 3-1 with blades facing right to operate, so that the two cutting knives 3-1 respectively move close to the front and rear edges of the glass 1-9 and simultaneously move right on the two long sliding platforms 3-2, automatically cutting the remaining film on the front and rear sides of the glass 1-9;

[0054] Step S4: After the film on the front and rear sides of the glass 1-9 is cut, the four cutting knives 3-1 on the two long sliding platforms 3-2 respectively return to the original position under the control of the programmable controller PLC1-2;

[0055] Step S5: The programmable controller PLC1-2 controls the corresponding servo driver 1-4 to drive the servo motor 1-7 on the two short sliding platforms of the two fixed bases 3-7 carrying the cutting knives 3-1 with blades facing forward to operate, so that the two cutting knives 3-1 respectively move close to the left and right edges of the glass 1-9, and 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, so that the three-phase asynchronous motor 1-8 drives each roller 2-1 to rotate synchronously through the two driving sprockets 2-11 and the two chains 2-12, and drives the glass 1-9 to move backward, so that the two cutting knives 3-1 respectively automatically cut the film on the left and right sides of the glass 1-9, and at this time, the cutting knives 3-1 with blades facing backward on the two fixed bases 3-7 do not approach the edges of the glass 1-9;

[0056] 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 motor 1-7 on the two short sliding platforms of the two fixed bases 3-7 carrying the cutting knives 3-1 with blades facing forward to operate, so that the two cutting knives 3-1 respectively move away from the left and right edges of the glass 1-9;

[0057] 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 sliding platforms of the two fixed bases 3-7 carrying the cutting knives 3-1 moving backward, so that the two cutting knives 3-1 respectively move close to the left and right side edges of the glass 1-9, 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, and the three-phase asynchronous motor 1-8 drives each roller 2-1 to rotate synchronously through the two driving sprockets 2-11 and the two chains 2-12, and drives the glass 1-9 to move forward, so that the two cutting knives 3-1 respectively automatically cut the remaining film on the left and right sides of the glass 1-9;

[0058] Step S8: After the film on the left and right sides of the glass 1-9 is cut, the four cutting knives 3-1 on the two fixed bases 3-7 respectively return to the original position under the control of the programmable controller PLC1-2.

[0059] Step S9: If the film around the glass 1-9 is not completely cut, the programmable controller PLC1-2 can control the two electromagnetic valves 1-6 to drive the two lifting cylinders 2-2 and the steering cylinder 2-3 to extend and retract, respectively, the two lifting cylinders 2-2 drive the cross steering frame 2-5 to pass through the cross passage to drive the glass 1-9 to rise and fall independently, and the steering cylinder 2-3 drives the cross steering frame 2-5 to drive the glass 1-9 to rotate through the crank 2-4 and the rotating shaft 2-9, thereby changing the orientation of the glass 1-9, and repeating steps S1-S8 until the film is completely cut.

[0060] 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, and the servo driver 1-4 controls the operation of the servo motor 1-7 on the two long sliding platforms 3-2 and the eight short sliding platforms after receiving the instruction, realizing the rapid movement of the eight cutting knives 3-1.

[0061] Specifically, the position control of the cutter 3-1 is realized by the shaft control instruction, and the contact force control between the cutter 3-1 and the glass 1-9 adopts an impedance control strategy, wherein an inner ring is a position ring, and an outer ring is a force ring. The servo motor 1-7 serves as an actuator, the pressure sensor 3-4 collects the interaction force in real time and transmits the data to the programmable controller PLC 1-2, the programmable controller PLC 1-2 obtains an error signal by subtracting the given expected contact force from the collected pressure value, and inputs the error signal to a force controller. The force controller adopts a fractional order PID control algorithm, the output signal of the force controller is used as the input signal of the position ring, the controller of the position ring adopts the existing shaft control relative positioning instruction of the HuiChuan PLC, the servo motor 1-7 controls the infeed or retraction action after receiving the shaft control relative positioning instruction, thereby controlling the contact force between the cutter 3-1 and the glass 1-9. The fractional order PID control algorithm extends the integral operator in the traditional PID controller to a fractional integral operator, and compared with the conventional PID controller, the fractional order PID controller introduces an integral order λ and a differential order μ in addition to the three parameters Kp, Ki and Kd. The fractional order PID control module is packaged in the programmable controller PLC 1-2 by using the finite memory digital implementation method, so as to improve the control precision and the dynamic performance of the system.

[0062] It can be understood that the present application is described by some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application. In addition, the features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the present application without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are within the scope of the present application.

Claims

1. An automatic film cutting device for laminated glass, characterized by: The invention comprises a programmable controller (PLC) (1-2) and a controlled object connected to the programmable 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 coordinated 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 exchanges data with the drive system via the programmable controller (PLC) (1-2); The drive system includes a servo drive system for controlling the operation of the cutter system and a cross-lift rotary conveyor drive system for controlling the operation of the cross-lift rotary conveyor; the servo drive system includes 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-lift rotary conveyor drive system includes 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; The cross-lifting rotary conveyor comprises a frame (1-10) with a three-phase asynchronous motor (1-8) provided on one side, a roller conveyor provided 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 and rotating mechanism provided on the frame (1-10) capable of driving the glass (1-9) to rise and fall and rotate; 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) correspondingly arranged 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 the 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.

2. The automatic film cutting device for laminated glass according to claim 1, characterized in that: The lifting and rotating mechanism comprises left and right corresponding lifting cylinders (2-2) arranged at the bottom of the frame, 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) and rotating through a bearing (2-7), a steering cylinder (2-3) connected to the lower end of the rotating shaft (2-9) through a crank (2-4), and a cross bogie (2-5) adapted to a cross channel and arranged at the upper end of the rotating shaft (2-9), 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 operations are controlled by the solenoid valves (1-6).

3. The automatic film cutting device for laminated glass according to claim 2, 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 fixedly provided with two short slides, and a long slide (3-2) correspondingly arranged on the front and rear sides of the frame (1-10) and provided with two short slides movable left and right via a screw transmission mechanism, wherein the short slides are arranged horizontally and perpendicularly to the fixed base (3-7) or the long slide (3-2), and each short slide is provided with a cutter (3-1) movable towards or away from the frame (1-10) via a screw transmission mechanism; one end of each of the eight short slides and the two long slides (3-2) is provided with a servo motor (1-7) connected to its screw transmission mechanism.

4. The automatic film cutting device for laminated glass according to claim 3, characterized in that: The screw transmission 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 the short slide.

5. The automatic film cutting device for laminated glass according to claim 4, 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 relative 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 therein is opened on the side wall of the clamp (3-3).

6. A method for automatically cutting laminated glass, characterized by: Using the automatic film cutting device for laminated glass according to any one of claims 1 to 5 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 their blades facing left, so that the two cutters (3-1) respectively move close to the front and rear edges of the glass (1-9) and simultaneously move left on the two long slides (3-2), automatically cutting the film on the front and rear sides of the glass (1-9). At this time, the cutters (3-1) with their 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, 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 back 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 cutters (3-1) with their blades facing forward 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 the rollers (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 cutters (3-1) automatically cut the films on the left and right sides of the glass (1-9). At this time, the cutters (3-1) with their 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 cutters (3-1) with their blades facing forward, 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 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 backward 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 the rollers (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. The two lifting cylinders (2-2) drive the cross bogie (2-5) through the cross channel to drive the glass (1-9) to move up and down independently. 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). Repeat steps S1-S8 until the film is completely removed.

7. The automatic film cutting method for laminated glass according to claim 6, 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 operation of the servo motors (1-7) on the two long slides (3-2) and the eight short slides, thereby realizing the movement of the eight cutters (3-1).

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