Manipulator stacking flying grabbing equipment

Abstract

The invention relates to mechanical arm stacking flying grabbing equipment which comprises a glass plate posture detection device used for detecting posture information of glass plates to be grabbed on a roller way in a non-contact mode, and the posture information comprises the inclination angle of the glass plates relative to the roller way and the vertex position and the edge center position, close to the roller way, of the glass plates flowing to the left side; the manipulator is movably arranged and is used for receiving the posture information provided by the glass plate posture detection device and synchronously moving according to the posture information so as to grab the glass plate; the suction cup frame is detachably mounted on the manipulator and is used for adsorbing a glass plate; the vacuum system is connected with the suction cup frame and used for providing vacuum adsorption force for the suction cup frame. According to the mechanical arm stacking flying grabbing equipment designed by the invention, non-contact rapid positioning is realized by introducing accurate glass plate posture data provided by the upstream glass plate posture detection device, so that a traditional mechanical alignment link is thoroughly abandoned, and the positioning time of the glass plate is remarkably shortened.

Description

Technical Field

[0001] The invention relates to the technical field of glass plate manufacturing equipment, in particular to a manipulator stacking flying grabbing equipment. Background Art

[0002] In the prior art, the stacking process in glass sheet production is a key step to ensure product quality and production efficiency. In order to achieve accurate stacking of glass sheets, the traditional method is to use a mechanical alignment mechanism to position the edges of the glass sheets on both sides during roller conveying. Although this mechanical alignment method can ensure the accuracy of stacking, it also has some significant disadvantages: Firstly, the alignment process is time-consuming, resulting in a slow stacking cycle, which is difficult to meet the needs of efficient production. In other words, traditional mechanical alignment requires the position of the glass plate to be adjusted gradually, and this process limits the overall production speed. Secondly, the alignment mechanism on the roller is relatively complex and has many parts, which not only increases the manufacturing cost of the equipment, but also makes daily maintenance more cumbersome. Moreover, the positioning parts that are in direct contact with the glass plate are prone to wear due to long-term friction and impact, and need to be replaced regularly, which not only increases maintenance costs, but may also cause roller downtime, affecting production efficiency.

[0003] At present, faced with the diverse specifications of glass plates, especially the different shapes of automotive glass plates, traditional mechanical alignment mechanisms often need to frequently adjust the position and parameters of the limit devices, which is cumbersome and time-consuming to operate. This makes it difficult for roller conveyors to adapt to flexible and customized production models, limiting the company's market competitiveness. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a manipulator stacking flying grasping device which reduces the cost and improves the stacking efficiency.

[0005] In order to achieve the above-mentioned object, the manipulator stacking flying grabbing device designed by the present invention comprises: A glass plate posture detection device, used for contactlessly detecting the posture information of the glass plate to be grasped on the roller, wherein the posture information includes the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate close to the left side of the roller flow direction, and the edge center position; a manipulator, movably arranged to receive the posture information provided by the glass plate posture detection device and to perform synchronous movement according to the posture information, so as to grasp the glass plate; A suction cup frame, detachably mounted on the manipulator, and used for adsorbing the glass plate; A vacuum system connected to the suction cup frame and used to provide vacuum adsorption force for the suction cup frame; The control system is used to receive the posture information provided by the glass plate posture detection device and control the actions of the manipulator and the vacuum system so that the manipulator moves synchronously according to the posture information and grabs the glass plate.

[0006] Preferably, the glass plate posture detection device comprises: A gantry frame is arranged across the roller conveyor; at least three line array cameras mounted in a camera housing fixed to the gantry; The image processing unit is connected to the control system through a communication bus and is used to process the image collected by the linear array camera and calculate the inclination angle of the glass plate, the vertex position of the glass plate close to the left side of the roller flow, and the edge center position.

[0007] Preferably, the camera housing has a sealed inner cavity, a transparent protective glass is provided at the bottom of the inner cavity, the line array camera is installed in the inner cavity, and detects the glass plate on the roller table through the transparent protective glass.

[0008] Preferably, a support structure for adjustably mounting the line array camera is disposed in the camera housing, and the support structure includes at least one adjustment mechanism for adjusting the angle of the line array camera.

[0009] Preferably, the support structure comprises a first substrate and a second substrate arranged opposite to the first substrate, the first substrate is fixedly mounted on the inner side wall of the camera case, and the line array camera is detachably mounted on the side of the second substrate away from the first substrate through an L-shaped support plate; a first limit block, a second limit block and a support rod are fixedly mounted on the side of the first substrate facing the second substrate, and a third limit block is fixedly mounted on the side of the second substrate facing the first substrate; a corner of the bottom side of the second substrate is pivotally connected to the other end of the support rod, and the other corner of the bottom side is connected to the first limit block through a first hand screw The first limit block is connected to the second substrate through a first tension spring, so that the third limit block on the second substrate has a tendency to move toward the first limit block; one corner of the top side of the second substrate is against the second limit block through a second hand screw, and one corner of the second substrate where the second hand screw is provided and the other corner of the top side of the second substrate are both provided with a second tension spring connected to the first substrate, so that the second substrate has a tendency to move toward the second limit block; the third limit block is against the first limit block through a third hand screw, and the axial direction of the third hand screw is parallel to the axial direction of the first tension spring.

[0010] Preferably, the image processing unit calculates the posture information of the glass plate by the following steps: Combining the image rows acquired by a single line array camera into a single complete image; The images collected by multiple line array cameras are stitched together to form a complete image covering the entire roller conveyor; Fitting the edge of the glass plate in the complete image to obtain an edge straight line of the glass plate; According to the camera position and the straight line of the glass plate edge, the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate close to the left side of the roller flow and the edge center position are calculated.

[0011] Preferably, it further comprises a photoelectric switch, which is installed on the roller and located before the detection area of ​​the glass plate posture detection device, and is used to detect the arrival of the glass plate on the roller and trigger the glass plate posture detection device to start detection.

[0012] Preferably, the vacuum system comprises a vacuum storage tank connected to an external vacuum source, the vacuum storage tank is mounted on the suction cup frame, and is connected to each vacuum suction cup on the suction cup frame through a vacuum pipeline.

[0013] Preferably, the control system: when receiving the posture information detected by the glass plate posture detection device, controls the manipulator to move from an initial position to a preparatory grasping point; when the manipulator moves to the preparatory grasping point, adjusts the grasping posture of the suction cup frame according to the posture information provided by the glass plate posture detection device; and adjusts the movement speed and position of the manipulator in real time through a PID algorithm, so that the suction cup frame moves synchronously with the glass plate.

[0014] Preferably, the specific steps of the PID algorithm include: Set the output signal to be the control signal U[t] of the robot's motion speed; Set the sampling time to t, and the sampling interval is less than or equal to 10ms; Set the proportional coefficient to K, the integral coefficient to I, the differential coefficient to D, the glass plate movement speed to Vg, and the actual movement speed of the manipulator to Vr; Set the error to e[t], where e[t]=Vg(t)-Vr(t); Calculate the control signal U[t] using the formula: U[t]=K*e[t]+I*Σe(j)+D*(e[t]-e[t-1]), where Σe(j) is the accumulated value of the error and j ranges from 0 to t; According to the control signal U[t], the movement speed of the robot is controlled so that the robot speed reaches the same set value as the glass plate speed.

[0015] The manipulator stacking flying grasping device designed by the present invention realizes non-contact rapid positioning by introducing the precise glass plate posture data provided by the upstream glass plate posture detection device, thereby completely abandoning the traditional mechanical alignment link and significantly shortening the positioning time of the glass plate. At the same time, the manipulator of the present invention can instantly complete the grasping action during the movement process, and the rapid vacuum establishment achieved by the optimized vacuum adsorption system greatly reduces the grasping and stacking time of the glass plate, thereby significantly improving the overall stacking efficiency. In addition, the present invention eliminates the complex mechanical alignment mechanism and reduces the number of vulnerable parts, making the equipment structure more compact, which not only effectively reduces the manufacturing cost of the equipment, but also greatly reduces the maintenance difficulty and maintenance cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the suction cup frame provided in an embodiment of the present application; Figure 2 is a structural schematic diagram of a glass plate posture detection device provided in an embodiment of the present application; Figure 3 is a schematic diagram of the assembly of a linear array camera provided in an embodiment of the present application; Figure 4 It is a schematic diagram of the support structure provided in the embodiment of the present application; Figure 5 This is a schematic structural diagram of the support structure provided in an embodiment of the present application from another perspective.

[0017] Among them: glass plate posture detection device 100, suction cup frame 200, gantry 10, linear array camera 20, camera chassis 30, transparent protective glass 31, support structure 40, first substrate 41, second substrate 42, L-shaped support plate 43, first limit block 44, second limit block 45, third limit block 46, support rod 47, first hand screw 48, second hand screw 49, third hand screw 50, first tension spring 51, second tension spring 52, vacuum storage tank 60. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] The manipulator stacking flying grabbing device described in this embodiment is used to realize fast and accurate stacking of glass plates on a glass plate roller. Figures 1 to 5As shown, it mainly includes a glass plate posture detection device 100, a manipulator, a suction cup frame 200, a vacuum system and a control system. The control system is generally an industrial-grade PLC controller, which is used to receive the posture information provided by the glass plate posture detection device 100 and control the actions of the manipulator and the vacuum system, so that the manipulator moves synchronously according to the posture information and grabs the glass plate.

[0020] The glass plate posture detection device 100 is used to non-contactly detect the posture information of the glass plate to be grasped on the roller, wherein the posture information includes the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate near the left side of the roller flow direction, and the edge center position. Figure 2 , Figure 3 As shown, the glass plate posture detection device 100 includes: a gantry 10, which is arranged across the roller; at least three linear array cameras 20, which are installed in a camera box 30 fixed on the gantry; an image processing unit, which is connected to a control system (connected via a communication bus) to process the image captured by the linear array camera 20, and calculate the inclination angle of the glass plate, the vertex position of the glass plate close to the left side of the roller flow, and the edge center position. These posture information provide a basis for the subsequent precise grasping of the manipulator. In this embodiment, the image processing unit processes the image captured by the linear array camera 20 and calculates the posture information of the glass plate, which can adopt existing mature technologies, and will not be repeated here.

[0021] The manipulator is movably arranged to receive the posture information provided by the glass plate posture detection device 100 and to perform synchronous movement according to the posture information, so as to grasp the glass plate. In this embodiment, the manipulator adopts a multi-axis linkage structure, and its motion trajectory can be flexibly adjusted according to the command of the control system to ensure the accuracy and smoothness of grasping.

[0022] The suction cup frame 200 is detachably mounted on the manipulator and is used to absorb the glass plate. In this embodiment, the suction cup frame 200 is made of a lightweight aluminum alloy material to reduce the weight of the manipulator. At the same time, a plurality of vacuum suction cups are installed on the suction cup frame 200 to ensure stable absorption of the glass plate. In addition, the suction cup frame 200 can also selectively control the opening and closing of the suction cup group according to the size of the grasped glass plate. For example, when grasping a glass plate of smaller specifications, some vacuum suction cups at predetermined positions can be closed to reduce the loss of air source while satisfying the grasping suction force.

[0023] A vacuum system connected to the suction cup frame 200 and used to provide vacuum adsorption force for the suction cup frame 200; Specifically, if Figure 1As shown, the vacuum system includes a vacuum storage tank 60 connected to an external vacuum source, the vacuum storage tank 60 is mounted on the suction cup frame 200, and is connected to each vacuum suction cup on the suction cup frame 200 through a vacuum pipeline. By adding the additional vacuum storage tank 60, the vacuum establishment time can be effectively shortened, thereby achieving reliable and fast gripping of the glass plate.

[0024] In specific implementation, upon receiving the posture information detected by the glass plate posture detection device 100, the control system controls the manipulator to move from the initial position to the preparatory grasping point; when the manipulator moves to the preparatory grasping point, the grasping posture of the suction cup frame 200 is adjusted according to the posture information provided by the glass plate posture detection device 100; the movement speed and position of the manipulator are adjusted in real time through the PID algorithm, so that the suction cup frame 200 moves synchronously with the glass plate. A photoelectric switch is also included, which is installed on the roller and located before the detection area of ​​the glass plate posture detection device 100, and is used to detect the arrival of the glass plate on the roller and trigger the glass plate posture detection device 100 to start detection.

[0025] Specifically, the specific steps of the PID algorithm include: Set the output signal to be the control signal U[t] of the robot's motion speed; Set the sampling time to t, and the sampling interval is less than or equal to 10ms; Set the proportional coefficient to K, the integral coefficient to I, the differential coefficient to D, the glass plate movement speed to Vg, and the actual movement speed of the manipulator to Vr; Set the error to e[t], where e[t]=Vg(t)-Vr(t); Calculate the control signal U[t] using the formula: U[t]=K*e[t]+I*Σe(j)+D*(e[t]-e[t-1]), where Σe(j) is the accumulated value of the error and j ranges from 0 to t; According to the control signal U[t], the movement speed of the manipulator is controlled so that the manipulator speed reaches the same set value as the glass plate speed. In this way, during the operation, the values ​​of PID parameters K, I, and D can be adjusted in real time according to the actual movement state and speed deviation of the manipulator. For example, if the manipulator speed response is slow, the K value can be increased; if the manipulator speed oscillates, the D value can be adjusted appropriately; if the steady-state error is large, the I value can be adjusted appropriately; that is, by comparing the actual speed of the manipulator and the movement speed of the glass plate in real time, and dynamically adjusting the control signal according to the size, accumulation, and change trend of the error, the movement speed of the manipulator can be accurately controlled so that it can always keep in sync with the glass plate. This dynamic adjustment strategy not only realizes the synchronous movement of the manipulator and the glass plate, but also ensures the stability and reliability of the following process, providing accurate position and speed for the grasping action.

[0026] In some embodiments, Figure 3 As shown, the camera case 30 has a sealed inner cavity, a transparent protective glass 31 is provided at the bottom of the inner cavity, and the line array camera 20 is installed in the inner cavity, and detects the glass plate on the roller table through the transparent protective glass 31. The sealed inner cavity design of the camera case 30 can effectively prevent external pollutants such as dust, water vapor, and oil from entering, thereby protecting the internal precision line array camera 20 and its electronic components from damage.

[0027] In some embodiments, Figure 3 As shown, a support structure 40 for adjustably mounting the line array camera 20 is provided in the camera chassis 30, and the support structure 40 includes at least one adjustment mechanism for adjusting the angle of the line array camera 20. By providing an adjustable support structure 40 in the camera chassis 30, the installation position and angle of the line array camera 20 can be adjusted, so that during the equipment installation and debugging process, the position of the camera can be adjusted according to the actual situation to obtain the best field of view and image quality, ensuring that the image collected by the camera can accurately cover the entire roller table and meet different production requirements.

[0028] Specifically, Figure 4 , Figure 5As shown, the support structure 40 includes a first substrate 41 and a second substrate 42 arranged opposite to the first substrate 41. The first substrate 41 is fixedly mounted on the inner wall of the camera case 30 and serves as a reference for the entire support structure. The line array camera 20 is detachably mounted on the side of the second substrate 42 away from the first substrate 41 through an L-shaped support plate 43; a first limit block 44, a second limit block 45 and a support rod 47 are fixedly mounted on the side of the first substrate 41 facing the second substrate 42, and a third limit block 46 is fixedly mounted on the side of the second substrate 42 facing the first substrate 41; a bottom corner of the second substrate 42 is pivotally connected to the other end of the support rod 47, and the other bottom corner is connected to the first substrate 41 through a first hand screw 48. The first limit block 44 is abutted against the second substrate 42; the first limit block 44 is connected to the second substrate 42 through the first tension spring 51, so that the third limit block 46 on the second substrate 42 has a tendency to move toward the first limit block 44; a corner of the top side of the second substrate 42 is abutted against the second limit block 45 through the second hand screw 49, and a corner of the second substrate 42 where the second hand screw 49 is provided and another corner of the top side of the second substrate 42 are provided with a second tension spring 52 connected to the first substrate 41, so that the second substrate 42 has a tendency to move toward the second limit block 45; the third limit block 46 is abutted against the first limit block 44 through the third hand screw 50, and the axial direction of the third hand screw 50 is parallel to the axial direction of the first tension spring 51.

[0029] In actual use, according to specific needs, the pitch angle and left and right tilt angle of the linear array camera 20 can be finely adjusted by rotating the first hand screw 48, the second hand screw 49 and the third hand screw 50. For example, when the pitch angle of the linear array camera 20 needs to be adjusted, the first hand screw 48 and the third hand screw 50 can be rotated, and the angle can be fine-tuned in conjunction with the reset force of the first tension spring 51 and the second 52, and the adjustment can be easily completed. When the position of the camera in the left and right directions needs to be adjusted, the second hand screw 49 can be rotated, and the reset force of the tension spring 52 can be used to achieve fine-tuning of the camera position, which greatly improves the adjustment efficiency and shortens the equipment debugging time.

[0030] In some embodiments, the image processing unit calculates the posture information of the glass sheet by the following steps: The image rows collected by a single line array camera 20 are combined into a single complete image; when the glass plate moves on the roller, three line array cameras 20 scan the glass plate respectively, and transmit the image data of each scanned row to the image processing unit, and then the images collected by multiple line array cameras 20 are spliced ​​to form a complete image covering the entire roller; in the image splicing step, the pre-set camera position information will be used to ensure the accuracy of the spliced ​​image. For example, the triangulation positioning principle can be used to combine the spatial position of the camera and the pixel position of the straight line of the edge of the glass plate to calculate the posture parameters of the glass plate. These posture parameters will then be transmitted to the control system to provide accurate data support for the synchronous grasping of the robot.

[0031] The edge of the glass plate in the complete image is fitted to obtain the edge straight line of the glass plate; according to the camera position and the edge straight line of the glass plate, the fitting algorithm can filter out the noise and interference in the image to obtain a relatively smooth and accurate edge straight line, thereby providing a precise geometric basis for subsequent posture calculation, and then calculating the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate close to the left side of the roller flow, and the edge center position.

[0032] The manipulator stacking flying grasping device provided in this embodiment realizes non-contact rapid positioning by introducing the precise glass plate posture data provided by the upstream glass plate posture detection device, thereby completely abandoning the traditional mechanical alignment link and significantly shortening the positioning time of the glass plate. At the same time, the manipulator of the present invention can instantly complete the grasping action during the movement process, and the rapid vacuum establishment achieved by the optimized vacuum adsorption system greatly reduces the grasping and stacking time of the glass plate, thereby significantly improving the overall stacking efficiency. In addition, the present invention eliminates the complex mechanical alignment mechanism and reduces the number of vulnerable parts, making the equipment structure more compact, which not only effectively reduces the manufacturing cost of the equipment, but also greatly reduces the maintenance difficulty and maintenance cost of the equipment.

[0033] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator stacking flying grabbing device, characterized in that: include: A glass plate posture detection device, used for contactlessly detecting the posture information of the glass plate to be grasped on the roller, wherein the posture information includes the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate close to the left side of the roller flow direction, and the edge center position; a manipulator, movably arranged to receive the posture information provided by the glass plate posture detection device and to perform synchronous movement according to the posture information, so as to grasp the glass plate; A suction cup frame, detachably mounted on the manipulator, and used for adsorbing the glass plate; A vacuum system connected to the suction cup frame and used to provide vacuum adsorption force for the suction cup frame; The control system is used to receive the posture information provided by the glass plate posture detection device and control the actions of the manipulator and the vacuum system so that the manipulator moves synchronously according to the posture information and grabs the glass plate.

2. The manipulator stacking flying grabbing device according to claim 1 is characterized in that: The glass plate posture detection device comprises: A gantry frame is arranged across the roller conveyor; at least three line array cameras mounted in a camera housing fixed to the gantry; The image processing unit is connected to the control system through a communication bus and is used to process the image collected by the linear array camera and calculate the inclination angle of the glass plate, the vertex position of the glass plate close to the left side of the roller flow, and the edge center position.

3. The manipulator stacking flying grabbing device according to claim 2 is characterized in that: The camera case has a sealed inner cavity, a transparent protective glass is arranged at the bottom of the inner cavity, the line array camera is installed in the inner cavity, and detects the glass plate on the roller through the transparent protective glass.

4. The manipulator stacking flying grabbing device according to claim 3 is characterized in that: A support structure for adjustably mounting the line array camera is disposed in the camera housing, and the support structure includes at least one adjustment mechanism for adjusting the angle of the line array camera.

5. The manipulator stacking flying grabbing device according to claim 4 is characterized in that: The support structure includes a first substrate and a second substrate arranged opposite to the first substrate, the first substrate is fixedly mounted on the inner side wall of the camera case, and the line array camera is detachably mounted on the side of the second substrate away from the first substrate through an L-shaped support plate; a first limit block, a second limit block and a support rod are fixedly mounted on the side of the first substrate facing the second substrate, and a third limit block is fixedly mounted on the side of the second substrate facing the first substrate; a bottom corner of the second substrate is pivotally connected to the other end of the support rod, and the other bottom corner is abutted against the first limit block through a first hand screw; the first limit block is connected to the second substrate through a first tension spring, so that the third limit block on the second substrate has a tendency to move toward the first limit block; a top corner of the second substrate is abutted against the second limit block through a second hand screw, and a corner of the second substrate provided with the second hand screw and another corner of the top side of the second substrate are both provided with a second tension spring connected to the first substrate, so that the second substrate has a tendency to move toward the second limit block; the third limit block is abutted against the first limit block through a third hand screw, and the axial direction of the third hand screw is parallel to the axial direction of the first tension spring.

6. The manipulator stacking flying grabbing device according to claim 2 is characterized in that: The image processing unit calculates the posture information of the glass plate by the following steps: Combining the image rows acquired by a single line array camera into a single complete image; The images collected by multiple line array cameras are stitched together to form a complete image covering the entire roller conveyor; Fitting the edge of the glass plate in the complete image to obtain an edge straight line of the glass plate; According to the camera position and the straight line of the glass plate edge, the inclination angle of the glass plate relative to the roller, the vertex position of the glass plate close to the left side of the roller flow and the edge center position are calculated.

7. The manipulator stacking flying grabbing device according to claim 1 is characterized in that: It also includes a photoelectric switch, which is installed on the roller and located before the detection area of ​​the glass plate posture detection device, and is used to detect the arrival of the glass plate on the roller and trigger the glass plate posture detection device to start detection.

8. The manipulator stacking flying grabbing device according to claim 1, characterized in that: The vacuum system comprises a vacuum storage tank connected to an external vacuum source, the vacuum storage tank is mounted on the suction cup frame and is connected to each vacuum suction cup on the suction cup frame through a vacuum pipeline.

9. The manipulator stacking flying grabbing device according to any one of claims 1 to 8, characterized in that: The control system: When receiving the posture information detected by the glass plate posture detection device, controlling the manipulator to move from the initial position to the preparatory grasping point; When the manipulator moves to the preparatory grasping point, the grasping posture of the suction cup frame is adjusted according to the posture information provided by the glass plate posture detection device; The movement speed and position of the manipulator are adjusted in real time through the PID algorithm so that the suction cup frame and the glass plate move synchronously.

10. The manipulator stacking flying grabbing device according to claim 9, characterized in that: The specific steps of the PID algorithm include: Set the output signal to be the control signal U[t] of the robot's motion speed; Set the sampling time to t, and the sampling interval is less than or equal to 10ms; Set the proportional coefficient to K, the integral coefficient to I, the differential coefficient to D, the glass plate movement speed to Vg, and the actual movement speed of the manipulator to Vr; The error is set to e[t], where e[t] = Vg(t) - Vr(t); Calculate the control signal U[t] using the formula: U[t] = K*e[t] + I*Σe(j) + D*(e[t] - e[t-1]), where Σe(j) is the accumulated value of the error and j ranges from 0 to t; According to the control signal U[t], the movement speed of the robot is controlled so that the robot speed reaches the same set value as the glass plate speed.

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