Posture adjusting method for super-long glass piling car

Abstract

The invention discloses a posture adjusting method of an ultra-long glass piling car, a posture adjusting device of the ultra-long glass piling car is adopted, the posture adjusting device of the ultra-long glass piling car comprises two piling cars and a piling frame, two sides of the two piling cars and the two sides of the piling frame are respectively provided with a group of detection devices, and the detection devices comprise photoelectric sensors. According to the invention, through the detection devices arranged on two sides, the limitation of single-side detection is broken through, photoelectric sensor signals and encoder data of a transmission station are combined, closed-loop feedback of position detection and relative displacement tracking is formed, and the positions of two sides of a stacking frame or two sides of glass of the first piling car and the second piling car can be detected respectively; the device can effectively detect the size error and the structural deformation of a large-size glass frame and the walking error of a piling car, accurately determines the overall stacking position of glass, and systematically solves the problem of adjustment of the stacking error of ultra-long glass.

Description

Technical Field

[0001] This invention relates to the field of technology, and more specifically to a method for adjusting the posture of an ultra-long glass stacking vehicle. Background Technology

[0002] With the in-depth development of the high-end glass industry, the demand for automated stacking of extra-long glass sheets (specifically, large glass sheets with a length ≥ 6 meters and a thickness ≤ 22 mm) is increasing. In automated glass stacking, it is essential to ensure that the glass sheets are accurately stacked onto the stacking rack and to avoid scratches, thus meeting process requirements.

[0003] Extra-long glass panels have extremely high economic value, especially large glass panels with a length of ≥6 meters and a thickness of ≤22 mm. During automatic stacking, due to the large length of the glass, the dimensional error of the stacking frame, the walking error of the stacking vehicle, and the change in the rigidity of the glass are all relatively large. The existing stacking control methods are difficult, and the glass is very easy to be scratched, which in turn affects the product quality and value.

[0004] Patent document CN 221342916 U discloses a flat glass stacking accuracy detection device, including a first column group, a second column group, a first pull beam, a second pull beam, a first detection through-beam photoelectric switch, a second detection through-beam photoelectric switch, and a walking device; the first column group and the second column group are respectively located on both sides of the glass stacking rack station; the first pull beam is fixedly connected to the first column group, and the second pull beam is fixedly connected to the second column group; the first detection through-beam photoelectric switch and the second detection through-beam photoelectric switch are respectively connected to multiple walking devices and move on the first column group, the second column group, the first pull beam, and the second pull beam.

[0005] However, it uses a moving detection device to check the stacking accuracy of static glass after it has been stacked, resulting in poor detection accuracy. Summary of the Invention

[0006] The technical problem to be solved by this invention is how to improve the stacking accuracy of ultra-long glass.

[0007] This invention solves the above-mentioned technical problems through the following technical means: a method for adjusting the posture of an ultra-long glass stacking truck, employing an ultra-long glass stacking truck posture adjustment device, the ultra-long glass stacking truck posture adjustment device including two stacking trucks and a stacking frame, with a set of detection devices arranged on both sides of the two stacking trucks and the stacking frame, the detection devices including photoelectric sensors, and the adjustment method including: S1. When the stacking rack on a stacker truck first triggers the sensing signal of the photoelectric sensor on one side, the drive station of the stacker truck continues to move forward a fixed distance A1, and then stops moving in the opposite direction A2. The difference between A2 and A1 is equal to the thickness A3 of the extra-large glass sheet. S2. Another stacker truck continues to move forward, and the stacking frame triggers the sensing signal of the photoelectric sensor on the other side. The drive station of the stacker truck continues to move forward a fixed distance S1 and then stops moving in the opposite direction S2, so that the sensing signal on that side is not triggered; the stacking mechanism begins to stack the first piece of ultra-large glass. S3. After the first piece of glass is stacked, the transmission stations of the two stacker cars move backward by A3 simultaneously, so that the photoelectric sensors on both sides are not triggered; continue stacking the extra-large pieces of glass. S4. Repeat step S3 until stacking is complete.

[0008] As a preferred technical solution, the trigger signal of the photoelectric sensor during the stacking process is not related to the movement of the stacker truck.

[0009] As a preferred technical solution, after the super-large glass sheets are stacked, the two stacking trucks move backward by the same distance.

[0010] As a preferred technical solution, the two stacker trucks are stacker truck one and stacker truck two, and stacker truck one and stacker truck two have the same structure.

[0011] As a preferred technical solution, the stacker truck includes a fixed frame, a sliding trolley, and a transmission station. The sliding trolley is slidably mounted on the top of the fixed frame, and a stacking frame is fixedly connected to the sliding trolley. The fixed frame is equipped with a transmission station, which is connected to the sliding trolley via the transmission station. The transmission station can drive the sliding trolley to move relative to the fixed frame.

[0012] As a preferred technical solution, the stacking rack is used to stack ultra-large glass sheets. One end of the stacking rack is fixed on the sliding trolley of stacking car one, and the other end is fixed on the sliding trolley of stacking car two.

[0013] The beneficial effects of this invention are as follows: (1) In this invention, by setting detection devices on both sides, the limitation of single-sided detection is broken. The photoelectric sensor signal and the encoder data of the transmission station are combined to form a closed-loop feedback of position detection and relative displacement tracking. The positions of the stacking racks on both sides of the stacking car one and the stacking car two or the glass sides can be detected respectively. The size error, structural deformation and dual error of the stacking car movement of the large-size glass frame can be effectively detected, and the overall stacking position of the glass can be accurately determined. That is, the posture of the stacking platform in motion is detected from both sides by the static detection device and combined with the real-time adjustment of the transmission device to complete the posture adjustment, and systematically solve the problem of adjusting the error of ultra-long glass stacking. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the main structure of the ultra-long glass stacking vehicle attitude adjustment device provided in an embodiment of the present invention; Figure 2This is a side view of the posture adjustment device for an ultra-long glass stacking vehicle provided in an embodiment of the present invention. Reference numerals: 1. Stacker truck 1; 2. Stacker truck 2; 3. Stacking rack; 4. Detection device; 41. Photoelectric sensor; 5. Extra-large glass sheet. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Compared to conventional glass stacking, the stacking of extra-long glass involves several factors, including the structural deformation of the extra-large glass frame itself, the walking error of the stacker truck, the deformation of the equipment during the movement of the stacker truck (such as the deformation error caused by the movement of the glass frame), and uncontrollable structural deformation during the use of the equipment. The superposition of these errors results in poor precision and low efficiency when stacking extra-long glass.

[0017] See Figure 1 A method for adjusting the posture of an ultra-long glass stacking cart is disclosed, which is achieved through an ultra-long glass stacking cart posture adjustment device. The ultra-long glass stacking cart posture adjustment device includes two stacking carts and a stacking frame 3. In this embodiment, the two stacking carts are stacking cart 1 and stacking cart 2. Stacking cart 1 and stacking cart 2 have the same structure and are arranged side by side. Stacking cart 1 includes a fixed frame, a sliding trolley, and a transmission station. The sliding trolley is slidably mounted on the top of the fixed frame. The stacking frame 3 is fixedly connected to the sliding trolley. The stacking frame 3 is used to stack ultra-large glass sheets 5. One end of the stacking frame 3 is fixed to the sliding trolley of stacking cart 1, and the other end is fixed to the sliding trolley of stacking cart 2. The fixed frame is provided with a transmission station, which is connected to the sliding trolley through the transmission station. The transmission station can drive the sliding trolley to move relative to the fixed frame. Two stacker trucks and a stacker rack 3 are each equipped with a set of detection devices 4 on both sides. The detection devices 4 include vertical support columns and photoelectric sensors 41 fixed on the vertical support columns. In this embodiment, the two photoelectric sensors 41 are located at the same height.

[0018] Compared to the existing combination of a single stacker truck and a single stacker rack, the advantages of setting up two stacker trucks and stacker racks 3 are: By setting detection devices 4 on both sides, the limitation of single-sided detection is broken: the positions of the stacking racks 3 of stacking truck 1 and stacking truck 2 or the glass can be detected separately. The dimensional error, structural deformation and dual error of stacking truck movement of large glass frames can be effectively detected, and the overall stacking position of the glass can be accurately determined.

[0019] The independent movement of stacker truck 1 and stacker truck 2 makes it easier to adjust their positioning deviations in real time compared to a single stacker truck, ensuring the final glass stacking accuracy and further improving stacking efficiency and quality. 。

[0020] By combining the photoelectric sensor 41 of the detection device 4 with the encoder control of the stacker truck, a closed loop of position detection and relative displacement tracking feedback is formed, which solves the overall error problem of ultra-long glass stacks.

[0021] As stacker truck 1 and stacker truck 2 move back and forth with the extra-long stacking frame, the forward or backward positions of the stacking frame 3 or the extra-large glass 5 on both sides of stacker truck 1 and stacker truck 2 are detected respectively. Combined with the forward and backward movement of stacker truck 1 and stacker truck 2, the placement positions of the first extra-large glass 5 on both sides of the stacking frame 3 and the stacking positions of the extra-large glass 5 on both sides of each subsequent stacking can be accurately determined. This solves the problems caused by the dimensional tolerance of the stacking frame 3 and the positioning deviation of the stacker truck, ensuring the stacking accuracy of the glass, thereby improving stacking efficiency and quality.

[0022] The method for adjusting the posture of an extra-long glass stacking truck includes the following steps: During the initial stacking of the large glass panes, due to mechanical errors in the operation of the transmission stations of stacker 1 and stacker 2, as well as the inherent errors of the glass frame, stacker 1 and stacker 2 cannot synchronize. Therefore, when the large glass panes 5 are first stacked on the stacking frame 3, one side of the large glass panes 5, that is, the side closer to stacker 1 or the side closer to stacker 2, will contact the stacking frame 3 first. This will make the large glass panes 5 very susceptible to scratches. Therefore, it is necessary to correct the mechanical errors in the operation of the transmission stations of stacker 1 and stacker 2, as well as the inherent errors of the glass frame. S1. When the stacking frame 3 on a stacker truck (stacker truck 1 or stacker truck 2) first triggers the sensing signal of the photoelectric sensor 41 on one side, the drive station of the stacker truck continues to move forward a fixed distance A1 and then stops moving in the opposite direction A2. In this embodiment, the difference between A2 and A1 is equal to the thickness A3 of the extra-large glass 5, so that the sensor on that side is not triggered, so as to complete the calibration on that side. S2. Another stacker truck (stacker truck 2 or stacker truck 1) continues to move forward. The stacker frame 3 triggers the sensing signal of the photoelectric sensor 41 on the other side. The drive station of the stacker truck continues to move forward a fixed distance S1 and then stops running in the opposite direction S2, so that the sensing signal on this side is not triggered, thus completing the calibration on the other side. The stacking mechanism begins stacking the first large glass panel 5. It should be noted that the trigger signal of the photoelectric sensor 41 during the stacking process is not related to the movement of the stacker vehicle.

[0023] S3. After the first piece of glass is stacked, the drive station of stacker truck 2 or stacker truck 1 simultaneously reverses by S3, so that the photoelectric sensor 41 is not triggered; continue stacking the extra-large piece of glass 5, and after the extra-large piece of glass 5 is stacked, ensure that the reverse distance of stacker truck 2 or stacker truck 1 is consistent on both sides: S4. Repeat step S3 every time you stack 5 extra-large glass pieces until the stacking is complete. When reversing, the edge of the large glass panel 5 on one side triggers the sensor signal first, and the stacker truck on that side continues to retreat by the thickness S3 of a single glass panel. The other stacker truck continues to retreat, triggering the sensor signal on the other side, and that stacker truck continues to retreat by the same fixed distance S3, preparing for the stacking of subsequent panels.

[0024] Compared with existing technologies, this method has the following advantages: It breaks through the limitations of single-point detection on one side and compensates for the dual errors caused by glass frame deformation and stacker vehicle movement error in real time.

[0025] The signal from photoelectric sensor 41 and the encoder data from the transmission station are combined to form a closed-loop feedback for position detection and relative displacement tracking. That is, through the signal input from the detection devices on both sides, combined with the control feedback of the two sliding carriages, various errors and error accumulation are systematically eliminated, forming a closed-loop system that systematically solves the problem of adjusting errors in ultra-long glass stacking.

[0026] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the posture of an ultra-long glass stacker, characterized by, The application discloses an attitude adjusting device for an ultra-long glass stacking vehicle, and an adjusting method thereof. S1, when the stacking frame on one of the stacking vehicles triggers the sensing signal of the photoelectric sensor on one side, the driving station of the stacking vehicle continues to travel a fixed distance A1 and then stops moving in the opposite direction by A2, wherein the difference between A2 and A1 is equal to the thickness A3 of the ultra-long glass sheet; S2, the other stacking vehicle continues to move forward, and the stacking frame triggers the sensing signal of the photoelectric sensor on the other side; the driving station of the stacking vehicle continues to travel a fixed distance S1 and then stops moving in the opposite direction by S2, so that the sensing signal on the side is not triggered; the stacking mechanism starts to stack the first ultra-long glass sheet; S3, after the first glass sheet is stacked, the driving stations of the two stacking vehicles simultaneously retreat by A3, so that the photoelectric sensors on the two sides are not triggered; the ultra-long glass sheet is continuously stacked; S4, the step S3 is repeated until the stacking is completed.

2. The attitude adjustment method of an ultra-long glass stacker according to claim 1, characterized in that, The triggering signal of the photoelectric sensor in the stacking process is not related to the movement of the stacking vehicle.

3. The method of claim 1, wherein, After the ultra-long glass sheet is stacked, the two stacking vehicles retreat by the same distance.

4. The method of claim 1, wherein, The two stacking vehicles are a first stacking vehicle and a second stacking vehicle, and the first stacking vehicle and the second stacking vehicle are of the same structure.

5. The method of claim 4, wherein, The first stacking vehicle comprises a fixed frame, a sliding trolley and a driving station, the sliding trolley is slidingly installed on the top of the fixed frame, the stacking frame is fixedly connected to the sliding trolley, the fixed frame is provided with the driving station, and the driving station is in driving connection with the sliding trolley.

6. The method of claim 4, wherein, The stacking frame is used for stacking the ultra-long glass sheet, one end of the stacking frame is fixed to the sliding trolley of the first stacking vehicle, and the other end of the stacking frame is fixed to the sliding trolley of the second stacking vehicle.

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