Robotic stacking flight-grabbing device

Abstract

The application relates to a mechanical hand stacking flight grabbing device, which comprises a glass plate posture detection device for non-contact detection of posture information of a glass plate to be grabbed on a roller, the posture information comprising an inclination angle of the glass plate relative to the roller, a vertex position of the glass plate close to the roller and flowing to the left side and an edge center position; a mechanical hand movably arranged for receiving the posture information provided by the glass plate posture detection device and performing synchronous movement according to the posture information so as to grab the glass plate; a suction disc frame detachably mounted on the mechanical hand for adsorbing the glass plate; and a vacuum system connected with the suction disc frame for providing vacuum adsorption force for the suction disc frame. The mechanical hand stacking flight grabbing device designed by the application introduces accurate glass plate posture data provided by the upstream glass plate posture detection device, realizes non-contact fast positioning, completely gives up a traditional mechanical alignment link and significantly shortens the positioning time of the glass plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glass plate manufacturing equipment, in particular to a mechanical hand stacking flight grabbing device. BACKGROUND

[0002] In the prior art, the stacking link in glass plate production is a key step to ensure product quality and production efficiency. In order to realize accurate stacking of glass plates, the traditional method is to use a mechanical alignment mechanism to position the two side edges of the glass plate during roller conveying. Although this mechanical alignment method can ensure the accuracy of stacking, it also has some significant drawbacks:

[0003] Firstly, the alignment process takes a long time, resulting in slow stacking beats, which is difficult to meet the needs of efficient production, that is, the traditional mechanical alignment needs to adjust the position of the glass plate gradually, which limits the overall production speed; secondly, the alignment mechanism on the roller is complex in structure and has many parts, which not only increases the manufacturing cost of the equipment, but also makes daily maintenance more cumbersome; thirdly, the positioning parts that directly contact the glass plate are prone to wear under long-term friction and impact and need to be replaced regularly, which not only increases maintenance costs, but also may cause downtime of the roller, affecting production efficiency.

[0004] Currently, in the face of diversified glass plate specifications, especially the characteristics of various shapes of automobile glass plates, the traditional mechanical alignment mechanism often needs to frequently adjust the position and parameters of the limiting device, which is tedious and time-consuming, making it difficult for the roller to adapt to flexible and customized production modes and limiting the market competitiveness of enterprises. SUMMARY

[0005] To solve the above problems, the present application provides a mechanical hand stacking flight grabbing device which reduces cost and improves stacking efficiency.

[0006] In order to achieve the above purpose, the mechanical hand stacking flight grabbing device designed by the present application comprises:

[0007] A glass plate posture detection device for non-contact detection of posture information of a glass plate to be grabbed on a roller, the posture information including 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;

[0008] A mechanical hand movably arranged for receiving the posture information provided by the glass plate posture detection device and moving synchronously according to the posture information to grab the glass plate;

[0009] A suction cup rack detachably mounted on the mechanical hand for adsorbing the glass plate;

[0010] A vacuum system connected to the chuck frame for providing vacuum suction force to the chuck frame;

[0011] A control system for receiving the attitude information provided by the glass plate attitude detection device and controlling the actions of the mechanical arm and the vacuum system, so that the mechanical arm moves synchronously according to the attitude information and grabs the glass plate.

[0012] Preferably, the glass plate attitude detection device comprises:

[0013] A gantry arranged above the roller;

[0014] At least three linear array cameras installed in a camera box fixed to the gantry;

[0015] An image processing unit connected to the control system through a communication bus for processing the images collected by the linear array cameras and calculating the inclination angle of the glass plate, the vertex position of the glass plate flowing to the left side of the roller and the edge center position.

[0016] Preferably, the camera box has a sealed inner cavity, the bottom of the inner cavity is provided with a transparent protective glass, and the linear array cameras are installed in the inner cavity and detect the glass plate on the roller through the transparent protective glass.

[0017] Preferably, the camera box is provided with a support structure for adjustably installing the linear array cameras, and the support structure comprises at least one adjusting mechanism for adjusting the angle of the linear array cameras.

[0018] Preferably, the support structure comprises a first base plate and a second base plate arranged opposite to the first base plate, the first base plate is fixedly installed on the inner side wall of the camera box, the linear array cameras are detachably installed on the side of the second base plate away from the first base plate through an L-shaped support plate, the side of the first base plate facing the second base plate is fixedly installed with a first limiting block, a second limiting block and a support rod, and the side of the second base plate facing the first base plate is fixedly installed with a third limiting block; one corner of the bottom side of the second base plate is pivotally connected to the other end of the support rod, and the other corner of the bottom side is abutted against the first limiting block through a first hand screw; the first limiting block is connected to the second base plate through a first tension spring, so that the third limiting block on the second base plate has a tendency to move towards the first limiting block; one corner of the top side of the second base plate is abutted against the second limiting block through a second hand screw, and the corner of the second base plate provided with the second hand screw and the other corner of the top side of the second base plate are both provided with a second tension spring connected to the first base plate, so that the second base plate has a tendency to move towards the second limiting block; the third limiting block is abutted against the first limiting block through a third hand screw, and the axis direction of the third hand screw is parallel to the axis direction of the first tension spring.

[0019] Preferably, the image processing unit calculates the attitude information of the glass sheet by the following steps:

[0020] The image lines captured by the single linear array camera are combined into a single complete image.

[0021] The images captured by the multiple linear array cameras are spliced to form a complete image covering the entire roller.

[0022] The edge line of the glass sheet in the complete image of the entire roller is fitted to obtain the edge line of the glass sheet.

[0023] According to the camera position and the edge line of the glass sheet, the inclination angle of the glass sheet relative to the roller, the vertex position of the glass sheet flowing to the left side of the roller, and the edge center position are calculated.

[0024] Preferably, the system further comprises a photoelectric switch installed on the roller and located in front of the detection area of the glass sheet attitude detection device, for detecting the arrival of the glass sheet on the roller and triggering the glass sheet attitude detection device to start detection.

[0025] Preferably, the vacuum system comprises a vacuum storage tank connected to an external vacuum source, which is installed on the suction cup frame and connected to each vacuum suction cup on the suction cup frame through a vacuum pipeline.

[0026] Preferably, the control system: when receiving the attitude information detected by the glass sheet attitude detection device, controls the robot to move from the initial position to the preliminary grabbing point; when the robot moves to the preliminary grabbing point, adjusts the grabbing attitude of the suction cup frame according to the attitude information provided by the glass sheet attitude detection device; adjusts the movement speed and position of the robot in real time through the PID algorithm, so that the suction cup frame and the glass sheet move synchronously.

[0027] Preferably, the specific steps of the PID algorithm include:

[0028] The output signal is set as the control signal U[t] of the movement speed of the robot;

[0029] The sampling time is set as t, and the sampling interval time is less than or equal to 10 ms;

[0030] The proportional coefficient is set as K, the integral coefficient is set as I, the differential coefficient is set as D, the movement speed of the glass sheet is set as Vg, and the actual movement speed of the robot is set as Vr;

[0031] The error is set as e[t], where e[t]=Vg(t)-Vr(t);

[0032] The control signal U[t] is calculated according to the formula: U[t]=K*e[t]+I*∑e(j)+D*(e[t]-e[t-1]), wherein ∑e(j) is the cumulative value of the error, and j ranges from 0 to t.

[0033] According to the control signal U[t], the movement speed of the mechanical arm is controlled so that the speed of the mechanical arm reaches the set value same as the speed of the glass plate.

[0034] The flying grabbing device of the mechanical arm provided by the application realizes non-contact fast positioning by introducing the accurate 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. Meanwhile, the mechanical arm of the application can complete the grabbing action during the movement process, and the fast vacuum establishment realized by the optimized vacuum adsorption system greatly reduces the grabbing and stacking time of the glass plate, thereby significantly improving the overall stacking efficiency. In addition, the application cancels the complex mechanical alignment mechanism and reduces the number of vulnerable parts, so that the equipment structure is more compact, which not only effectively reduces the manufacturing cost of the equipment, but also greatly reduces the maintenance difficulty and cost of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic diagram of the suction cup rack structure provided by the application;

[0036] Figure 2 is a schematic diagram of the glass plate posture detection device structure provided by the application;

[0037] Figure 3 is a schematic diagram of the linear array camera assembly provided by the application;

[0038] Figure 4 is a schematic diagram of the support structure structure provided by the application;

[0039] Figure 5 is a schematic diagram of the support structure structure provided by the application from another perspective.

[0040] Among them: the glass plate posture detection device 100, the suction cup rack 200, the gantry 10, the linear array camera 20, the camera box 30, the transparent protective glass 31, the support structure 40, the first base plate 41, the second base plate 42, the L-shaped support plate 43, the first limiting block 44, the second limiting block 45, the third limiting block 46, the support rod 47, the first hand screw 48, the second hand screw 49, the third hand screw 50, the first tension spring 51, the second tension spring 52, the vacuum storage tank 60. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0042] The robotic arm stacking and gripping device described in this embodiment is used to achieve rapid and precise stacking of glass plates on a glass plate roller conveyor, such as... Figures 1 to 5 As shown, it mainly includes a glass plate posture detection device 100, a robotic arm, a suction cup holder 200, a vacuum system, and a control system. The control system is typically an industrial-grade PLC controller, used to receive posture information provided by the glass plate posture detection device 100 and control the movements of the robotic arm and the vacuum system, so that the robotic arm moves synchronously according to the posture information and grasps the glass plate.

[0043] A glass plate attitude detection device 100 is used to non-contactly detect the attitude information of a glass plate to be grasped on a roller conveyor. The attitude information includes the tilt angle of the glass plate relative to the roller conveyor, the position of the apex of the glass plate near the left side of the roller conveyor, and the center position of its edge. Specifically, as... Figure 2 , Figure 3 As shown, the glass plate attitude detection device 100 includes: a gantry frame 10 spanning above the roller conveyor; at least three line scan cameras 20, which are installed in camera housings 30 fixed to the gantry; and an image processing unit connected to the control system via a communication bus to process the images acquired by the line scan cameras 20 and calculate the tilt angle of the glass plate, the vertex position of the glass plate near the left side of the roller conveyor, and the center position of its edge. This attitude information provides the basis for the subsequent precise grasping by the robotic arm. In this embodiment, the image processing unit can use existing mature technologies to process the images acquired by the line scan cameras 20 and calculate the attitude information of the glass plate, which will not be elaborated here.

[0044] A robotic arm, movably positioned, receives attitude information provided by the glass plate attitude detection device 100 and performs synchronized movement based on the attitude information to grasp the glass plate. In this embodiment, the robotic arm adopts a multi-axis linkage structure, and its motion trajectory can be flexibly adjusted according to the instructions of the control system to ensure the accuracy and smoothness of grasping.

[0045] A suction cup holder 200 is detachably mounted on the robotic arm for adsorbing the glass plate. In this embodiment, the suction cup holder 200 is made of lightweight aluminum alloy to reduce the load on the robotic arm. Multiple vacuum suction cups are mounted on the suction cup holder 200 to ensure stable adsorption of the glass plate. Furthermore, the suction cup holder 200 can selectively control the opening and closing of the suction cup group according to the size of the glass plate being gripped. For example, when gripping a smaller glass plate, some vacuum suction cups at predetermined positions can be closed to reduce air source consumption while maintaining sufficient gripping suction.

[0046] A vacuum system, connected to the suction cup holder 200, is used to provide vacuum suction force to the suction cup holder 200;

[0047] Specifically, such as Figure 1 As 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 connected to each vacuum suction cup on the suction cup frame 200 via vacuum tubing. The additional vacuum storage tank 60 effectively shortens the vacuum build-up time, thereby enabling reliable and rapid gripping of the glass plate.

[0048] In specific implementation, when the control system receives the posture information detected by the glass plate posture detection device 100, it controls the robot arm to move from the initial position to the pre-grabbing point. When the robot arm moves to the pre-grabbing point, it adjusts the gripping posture of the suction cup frame 200 according to the posture information provided by the glass plate posture detection device 100. The movement speed and position of the robot arm are adjusted in real time through a PID algorithm to make the suction cup frame 200 move synchronously with the glass plate. A photoelectric switch is also included, which is installed on the roller conveyor and located before the detection area of ​​the glass plate posture detection device 100. This switch is used to detect the arrival of the glass plate on the roller conveyor and trigger the glass plate posture detection device 100 to start detection.

[0049] Specifically, the specific steps of the PID algorithm include:

[0050] The output signal is set to the control signal U[t] for the robot's movement speed;

[0051] The sampling time is set to t, and the sampling interval is less than or equal to 10ms.

[0052] Set the proportional coefficient to K, the integral coefficient to I, the derivative coefficient to D, the glass plate's moving speed to Vg, and the robot's actual moving speed to Vr;

[0053] Let the error be e[t], where e[t] = Vg(t) - Vr(t);

[0054] The control signal U[t] is calculated using the formula: U[t] = K*e[t] + I*Σe(j) + D*(e[t] - e[t-1]), where Σe(j) is the accumulated error value, and the value of j ranges from 0 to t;

[0055] Based on the control signal U[t], the movement speed of the robotic arm is controlled to reach the same set value as the speed of the glass plate. Thus, during 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 robotic arm. For example, if the robotic arm's speed response is slow, the value of K can be increased; if the robotic arm's speed oscillates, the value of D can be adjusted appropriately; if the steady-state error is large, the value of I can be adjusted appropriately. In other words, by comparing the actual speed of the robotic arm and the movement speed of the glass plate in real time, and dynamically adjusting the control signal according to the magnitude, accumulation, and trend of the error, the movement speed of the robotic arm can be precisely controlled, ensuring that it remains synchronized with the glass plate. This dynamic adjustment strategy not only achieves synchronized movement between the robotic arm and the glass plate but also ensures the smoothness and reliability of the following process, providing precise position and speed for the grasping action.

[0056] In some embodiments, such as Figure 3 As shown, the camera housing 30 has a sealed inner cavity, and a transparent protective glass 31 is provided at the bottom of the inner cavity. The line scan camera 20 is installed in the inner cavity and detects the glass plate on the roller conveyor through the transparent protective glass 31. The sealed inner cavity design of the camera housing 30 can effectively prevent external contaminants such as dust, moisture, and oil from entering, thereby protecting the delicate line scan camera 20 and its electronic components from damage.

[0057] In some embodiments, such as Figure 3 As shown, the camera housing 30 is equipped with an adjustable support structure 40 for mounting the line scan camera 20. The support structure 40 includes at least one adjustment mechanism for adjusting the angle of the line scan camera 20. By providing an adjustable support structure 40 within the camera housing 30, the mounting position and angle of the line scan camera 20 can be adjusted. This allows the camera position to be adjusted according to actual conditions during equipment installation and commissioning to obtain the optimal field of view and image quality, ensuring that the image captured by the camera accurately covers the entire roller conveyor and meets different production needs.

[0058] Specifically, such as Figure 4 , Figure 5As shown, the support structure 40 includes a first substrate 41 and a second substrate 42 disposed opposite to the first substrate 41. The first substrate 41 is fixedly mounted on the inner wall of the camera housing 30, serving as the reference for the entire support structure. The line scan camera 20 is detachably mounted on the side of the second substrate 42 away from the first substrate 41 via an L-shaped support plate 43. A first limiting block 44, a second limiting block 45, and a support rod 47 are fixedly mounted on the side of the first substrate 41 facing the second substrate 42. A third limiting block 46 is fixedly mounted on the side of the second substrate 42 facing the first substrate 41. One 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 support rod 47 via a first hand-tightening screw 48. The first limiting block 44 abuts against the second substrate 42 via a first tension spring 51, so that the third limiting block 46 on the second substrate 42 tends to move toward the first limiting block 44; one corner of the top side of the second substrate 42 abuts against the second limiting block 45 via a second hand-tightening screw 49, and both the corner of the second substrate 42 where the second hand-tightening screw 49 is provided and the other corner of the top side of the second substrate 42 are provided with second tension springs 52 connected to the first substrate 41, so that the second substrate 42 tends to move toward the second limiting block 45; the third limiting block 46 abuts against the first limiting block 44 via a third hand-tightening screw 50, and the axial direction of the third hand-tightening screw 50 is parallel to the axial direction of the first tension spring 51.

[0059] In practical use, the tilt and lateral angles of the line scan camera 20 can be finely adjusted by rotating the first hand-tightened screw 48, the second hand-tightened screw 49, and the third hand-tightened screw 50, according to specific needs. For example, when it is necessary to adjust the tilt angle of the line scan camera 20, the first hand-tightened screw 48 and the third hand-tightened screw 50 can be rotated, and the angle can be finely adjusted by cooperating with the restoring force of the first tension spring 51 and the second tension spring 52, so that the adjustment can be easily completed. When it is necessary to adjust the position of the camera in the left and right directions, the second hand-tightened screw 49 can be rotated, and the restoring force of the tension spring 52 can be used to finely adjust the position of the camera, which greatly improves the efficiency of adjustment and shortens the equipment debugging time.

[0060] In some embodiments, the image processing unit calculates the pose information of the glass plate using the following steps:

[0061] The images captured by a single line scan camera 20 are combined to form a single complete image. As the glass plate moves on the roller conveyor, the three line scan cameras 20 scan the glass plate respectively, and transmit the image data of each scanned row to the image processing unit. Subsequently, the images captured by multiple line scan cameras 20 are stitched together to form a complete image covering the entire roller conveyor. In the image stitching step, pre-set camera position information is used to ensure the accuracy of the stitched image. For example, the principle of triangulation can be used to calculate the attitude parameters of the glass plate by combining the spatial position of the camera and the pixel position of the straight line on the edge of the glass plate. These attitude parameters are then transmitted to the control system to provide precise data support for the synchronous grasping of the robotic arm.

[0062] The edge of the glass plate is fitted in the complete image of the entire roller conveyor to obtain the straight line of the glass plate edge. Based on the camera position and the straight line of the glass plate edge, the fitting algorithm can filter out noise and interference in the image to obtain a smoother and more accurate straight line of the edge, thereby providing a precise geometric basis for subsequent attitude calculation. Then, the tilt angle of the glass plate relative to the roller conveyor, the position of the vertex of the glass plate near the left side of the roller conveyor, and the position of the edge center are calculated.

[0063] The robotic arm stacking and grasping device provided in this embodiment achieves non-contact rapid positioning by introducing precise glass plate attitude data provided by an upstream glass plate attitude detection device. This completely eliminates the traditional mechanical alignment process, significantly shortening the glass plate positioning time. Simultaneously, the robotic arm of this invention can complete the grasping action instantly during movement. Combined with the rapid vacuum establishment achieved by the optimized vacuum adsorption system, the grasping and stacking time of the glass plates is greatly reduced, thereby significantly improving the overall stacking efficiency. Furthermore, by eliminating the complex mechanical alignment mechanism and reducing the number of vulnerable parts, this invention makes the device structure more compact, effectively reducing not only the manufacturing cost but also the maintenance difficulty and cost.

[0064] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0065] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm stacking and flying grasping device, characterized in that, include: A glass plate posture detection device is used to detect the posture information of a glass plate to be grasped on a roller conveyor in a non-contact manner. The glass plates have different shapes. The posture information includes the tilt angle of the glass plate relative to the roller conveyor, the position of the apex of the glass plate near the left side of the roller conveyor, and the position of the center of the edge. A robotic arm is movably configured to receive attitude information provided by the glass plate attitude detection device and perform synchronous movement according to the attitude information, thereby grasping the glass plate. A suction cup holder, detachably mounted on the robotic arm, is used to adsorb the glass plate; A vacuum system, connected to the suction cup holder, is used to provide vacuum suction force for the suction cup holder; The control system is used to receive the attitude information provided by the glass plate attitude detection device and control the actions of the manipulator and the vacuum system, so that the manipulator moves synchronously according to the attitude information and grasps the glass plate. The glass plate attitude detection device includes: A gantry frame is installed across the roller conveyor. At least three line scan cameras are mounted in camera housings fixed to the gantry; The image processing unit is connected to the control system via a communication bus to process the images captured by the line scan camera and calculate the tilt angle of the glass plate, the vertex position of the glass plate near the left side of the roller conveyor, and the center position of the edge. The image processing unit calculates the pose information of the glass plate using the following steps: Combining rows of images acquired by a single line scan camera into a single complete image; Images captured by multiple line scan cameras are stitched together to form a complete image covering the entire roller conveyor. By fitting the glass plate edge in a complete image of the entire roller conveyor, a straight edge line of the glass plate is obtained; Based on the camera position and the straight line of the glass plate edge, the tilt angle of the glass plate relative to the roller conveyor, the position of the apex of the glass plate near the left side of the roller conveyor, and the position of the edge center are calculated.

2. The robotic arm stacking and flying grasping device according to claim 1, characterized in that, The camera housing has a sealed inner cavity, and a transparent protective glass is provided at the bottom of the inner cavity. The line scan camera is installed in the inner cavity and detects the glass plate on the roller conveyor through the transparent protective glass.

3. The robotic arm stacking and flying grasping device according to claim 2, characterized in that, The camera housing is equipped with an adjustable support structure for mounting the line scan camera, and the support structure includes at least one adjustment mechanism for adjusting the angle of the line scan camera.

4. The robotic arm stacking and flying grasping device according to claim 3, characterized in that, The support structure includes a first substrate and a second substrate disposed opposite to the first substrate. The first substrate is fixedly mounted on the inner wall of the camera housing. The line scan camera is detachably mounted on the side of the second substrate away from the first substrate via an L-shaped support plate. A first limiting block, a second limiting block, and a support rod are fixedly mounted on the side of the first substrate facing the second substrate. A third limiting block is fixedly mounted on the side of the second substrate facing the first substrate. One bottom corner of the second substrate is pivotally connected to the other end of the support rod, and the other bottom corner abuts against the first limiting block via a first hand-tightening screw. The first limiting block is connected to the second substrate via a first tension spring, so that the third limiting block on the second substrate tends to move toward the first limiting block. One top corner of the second substrate abuts against the second limiting block via a second hand-tightening screw, and both the corner of the second substrate with the second hand-tightening screw and the other top corner of the second substrate are provided with second tension springs connected to the first substrate, so that the second substrate tends to move toward the second limiting block. The third limiting block abuts against the first limiting block via a third hand-tightening screw, and the axis of the third hand-tightening screw is parallel to the axis of the first tension spring.

5. The robotic arm stacking and flying grasping device according to claim 1, characterized in that, It also includes a photoelectric switch, which is installed on the roller conveyor and located before the detection area of ​​the glass plate attitude detection device. The photoelectric switch is used to detect the arrival of the glass plate on the roller conveyor and trigger the glass plate attitude detection device to start detection.

6. The robotic arm stacking and flying grasping device according to claim 1, characterized in that, The vacuum system includes a vacuum storage tank connected to an external vacuum source. The vacuum storage tank is mounted on the suction cup frame and connected to each vacuum suction cup on the suction cup frame via vacuum tubing.

7. The robotic arm stacking and flying grasping device according to any one of claims 1-6, characterized in that, The control system: upon receiving the posture information detected by the glass plate posture detection device, controls the robot arm to move from the initial position to the pre-grabbing point; when the robot arm moves to the pre-grabbing point, adjusts the gripping 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 robot arm in real time through a PID algorithm to make the suction cup frame move synchronously with the glass plate.

8. The robotic arm stacking and flying grasping device according to claim 7, characterized in that, The specific steps of the PID algorithm include: The output signal is set to the control signal U[t] for the robot's movement speed; The sampling time is set 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 derivative coefficient to D, the glass plate's moving speed to Vg, and the robot's actual moving speed to Vr; Let the error be e[t], where e[t] = Vg(t) - Vr(t); The control signal U[t] is calculated using the formula: U[t] = K*e[t] + I*Σe(j) + D*(e[t] - e[t-1]), where Σe(j) is the accumulated error value, and the value of j ranges from 0 to t; Based on the control signal U[t], the movement speed of the robotic arm is controlled so that the speed of the robotic arm reaches the same set value as the speed of the glass plate.

Images