Feeding compensation system and feeding system

Abstract

The utility model discloses a feeding compensation system and a feeding system, and relates to the technical field of glass production. The feeding compensation system comprises a feeding main body, a measuring part and a control part; the feeding main body is provided with an initial point position and a first working point position which can be switched; the measuring part is arranged on the feeding main body, the feeding main body is switched to the first working point position from the initial point position, and the measuring part obtains the actual thickness value of glass to be fed; the control part is in communication connection with the measuring part and the feeding main body, the control part has a theoretical thickness value corresponding to the glass to be fed, and the control part controls the feeding main body according to a thickness difference value between the actual thickness value and the theoretical thickness value. The problems that in the prior art, an operator measures and updates a compensation value for a robot feeding system to eliminate deviation, but the compensation value needs to be frequently measured for different numbers and batches of glass to update, the labor intensity is increased, and potential safety hazards such as grabbing failure and glass breakage caused by the fact that updating is not conducted in time are also increased are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glass production, and in particular to a feeding compensation system and a feeding system. BACKGROUND

[0002] With the rapid development of science and technology, the feeding operation in glass production is mostly completed by a robot feeding system. The robot feeding system is inputted in advance with the number, thickness and spacer paper thickness of the glass in the tray in the current feeding process, so as to obtain the displacement required for the robot to perform the grabbing feeding, and to realize the grabbing of the glass in the tray.

[0003] However, due to the thickness difference of different batches of glass and the thickness difference of the spacer paper, the actual value of the total thickness of the glass on the tray is deviated from the theoretical value after accumulation. In the prior art, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation.

[0004] However, the inventor found that the prior art has the following problems. In the prior art, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation. However, the update of the compensation value needs to be measured frequently for different numbers and batches of glass, which increases the labor intensity and also increases the safety hazards such as grabbing failure and glass breakage caused by not updating in time. CONTENT OF THE INVENTION

[0005] The purpose of the embodiments of the present application is to provide a feeding compensation system and a feeding system, which solve the problem in the prior art that the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation, but the update of the compensation value needs to be measured frequently for different numbers and batches of glass, which increases the labor intensity and also increases the safety hazards such as grabbing failure and glass breakage caused by not updating in time.

[0006] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] The first aspect of the present application provides a feeding compensation system, comprising:

[0008] a feeding main body, the feeding main body having switchable initial point and first working point;

[0009] a measuring part, the measuring part being arranged on the feeding main body, the feeding main body being switched from the initial point to the first working point, and the measuring part acquiring an actual thickness value of the glass to be fed;

[0010] a control part, the control part being in communication connection with the measuring part and the feeding main body, the control part having a theoretical thickness value corresponding to the glass to be fed, and the control part controlling the feeding main body according to the thickness difference between the actual thickness value and the theoretical thickness value.

[0011] In some embodiments, the aforementioned feeding compensation system, wherein the control unit has a first threshold range, a second threshold range and a third threshold range; the thickness difference is located in the first threshold range, the control unit controls the feeding body to move from the first working point to the initial point; the thickness difference is located in the second threshold range, the control unit controls the feeding body to remain at the first working point; the thickness difference is located in the third threshold range, the control unit controls the feeding body to be at the second working point, and the second working point is obtained by moving the first working point by the thickness difference.

[0012] In some embodiments, the aforementioned feeding compensation system, wherein the first threshold range is less than -40 or greater than 40; the second threshold range is greater than -3 and less than 3; the third threshold range is greater than or equal to -40 and less than or equal to -3, or greater than or equal to 3 and less than or equal to 40.

[0013] In some embodiments, the aforementioned feeding compensation system, wherein the feeding body further comprises a third working point, the third working point is closer to the glass to be fed than the first working point, and the measurement unit obtains the actual thickness value during the movement of the feeding body from the first working point to the third working point.

[0014] In some embodiments, the aforementioned feeding compensation system, further comprising: an alarm unit, the alarm unit is in communication connection with the control unit, the thickness difference is located in the first threshold range, the control unit sends an alarm signal to the alarm unit, and the alarm unit receives the alarm signal and alarms according to the alarm signal.

[0015] In some embodiments, the aforementioned feeding compensation system, wherein the control unit comprises: a data input unit for inputting target information of the glass to be fed; an acquisition unit in communication connection with the measurement unit, for obtaining the actual thickness value; a calculation unit in communication connection with the data input unit and the acquisition unit, for calculating the theoretical thickness value according to the target information, and calculating the thickness difference according to the actual thickness value; an automatic compensation unit in communication connection with the calculation unit and the feeding body, for controlling the feeding body to move by the thickness difference according to the thickness difference, so that the actual thickness value is equal to the theoretical thickness value.

[0016] In some embodiments, the aforementioned feeding compensation system, wherein the control unit further comprises: a detection unit in communication connection with the data input unit and the calculation unit, the detection unit is used for obtaining the target information and sending a rationality detection result to the calculation unit according to the target information.

[0017] In some embodiments, the aforementioned feeding compensation system, wherein the control unit further comprises: a monitoring unit in communication connection with the automatic compensation unit, the monitoring unit monitors whether the automatic compensation unit controls the feeding body to move by the thickness difference.

[0018] In some embodiments, the foregoing feeding compensation system further comprises a recording unit in communication with the control unit, configured to record the theoretical thickness value, the actual thickness value, the thickness difference value and the control condition in one control of the control unit.

[0019] The second aspect of the present application provides a feeding system comprising the foregoing feeding compensation system.

[0020] The foregoing technical solution has at least the following advantages:

[0021] The first aspect of the present application provides a feeding compensation system comprising a feeding main body, a measuring unit and a control unit; the feeding main body has switchable initial point and first working point; the measuring unit is arranged on the feeding main body, and the measuring unit obtains the actual thickness value of the glass to be fed when the feeding main body is switched from the initial point to the first working point; the control unit is in communication with the measuring unit and the feeding main body, and the control unit has a theoretical thickness value corresponding to the glass to be fed; and the control unit controls the feeding main body according to the thickness difference between the actual thickness value and the theoretical thickness value. According to the present application, the control unit calculates the theoretical thickness value according to different batches and quantities of glass, and then the measuring unit obtains the actual thickness value under the cumulative error, and then the control unit calculates the thickness difference between the actual thickness value and the theoretical thickness value, so that the control unit controls the feeding main body to compensate for the thickness difference. Therefore, it is not necessary to frequently measure the compensation value, but the measuring unit and the control unit can automatically and accurately measure and automatically adjust, thereby improving the automation degree of the glass production feeding operation, reducing the labor intensity, and automatically adjusting in time to compensate, thereby avoiding the problems of safety hazards such as failure to grasp, glass breakage and the like caused by failure to update in time. Through the application of the present application, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation in the prior art, but the update of the compensation value needs to be frequently measured for different quantities and batches of glass, which increases the labor intensity and also increases the safety hazards such as failure to grasp, glass breakage and the like caused by failure to update in time.

[0022] The feeding system provided by the second aspect of the present application has the same or similar technical effects as the feeding compensation system provided by the first aspect of the present application.

[0023] The foregoing description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, and to implement the content of the description, the following will describe the preferred embodiments of the present application in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 The structural schematic diagram of the feeding compensation system provided by the embodiment of the present application is schematically shown.

[0026] Figure 2 The structural schematic diagram of the controller of the feeding compensation system provided by the embodiment of the present application is schematically shown.

[0027] Label explanation:

[0028] 1, feeding main body;

[0029] 2, measurement part;

[0030] 3, control part; 31, data input unit; 32, acquisition unit; 33, calculation unit; 34, automatic compensation unit; 35, detection unit; 36, monitoring unit;

[0031] 4, alarm part;

[0032] 5, recording part. DETAILED DESCRIPTION

[0033] The embodiments of the present disclosure will be further described in detail below in combination with the drawings and embodiments. The detailed description of the following embodiments and the drawings are used to exemplarily illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure, and the present disclosure can be implemented in many different forms, and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0034] The present disclosure provides these embodiments in order to make the present disclosure thorough and complete, and fully express the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise indicated by the component description, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and values set forth in these embodiments should be interpreted as merely exemplary, and not as a limitation.

[0035] It should be noted that in the description of the present disclosure, unless otherwise specified and limited, the meaning of "a plurality of" is greater than or equal to two; The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0036] In addition, "first", "second", and similar words used in the present disclosure do not indicate any order, number or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable range of error. "Parallel" is not strictly parallel, but within the allowable range of error. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0037] It should also be noted that in the description of the present disclosure, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or a component connection; It can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the above terms in the present disclosure can be understood in the context of the component. When it is described that a specific device is located between a first device and a second device, there can be an intermediate device between the specific device and the first device or the second device, or there can be no intermediate device.

[0038] All terms used in the present disclosure have the same meaning as understood by those skilled in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or extremely formalized sense, unless specifically defined here.

[0039] Techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the specification.

[0040] The existing glass production in the feeding operation is completed by the robot feeding system, the robot feeding system is inputted in advance the glass quantity, the thickness and the glass interval paper thickness in the tray in the current feeding process, the displacement required for the robot to execute the grabbing feeding is obtained, and the glass in the tray is grabbed. But due to the thickness difference of different batches of glass and the interval paper thickness, the cumulative thickness of the glass on the tray is different from the theoretical value, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation, the inventor finds that the update of the compensation value needs to be measured frequently for different quantities and batches of glass, which increases the labor intensity, and also increases the safety hidden danger of grabbing failure and glass breakage caused by not updating in time, and further invents a feeding compensation system and a feeding system to solve the above problems.

[0041] Embodiment one

[0042] As shown in Figure 1 The first aspect of the present application provides a feeding compensation system, which comprises a feeding main body 1, a measuring part 2 and a control part 3; the feeding main body 1 has switchable initial point and first working point; the measuring part 2 is arranged on the feeding main body 1, the feeding main body 1 is switched from the initial point to the first working point, and the measuring part 2 obtains the actual thickness value of the glass to be fed; the control part 3 is in communication connection with the measuring part 2 and the feeding main body 1, the control part 3 has the theoretical thickness value corresponding to the glass to be fed, and the control part 3 controls the feeding main body 1 according to the thickness difference between the actual thickness value and the theoretical thickness value.

[0043] Specifically, the feeding compensation system of the present application is provided with a feeding main body 1 to execute the feeding work of the glass to be fed, and the feeding main body 1 can be a feeding robot hand or a mechanical arm, etc., which is not limited in particular, the feeding main body 1 has switchable initial point and first working point, the initial point can be the standby or standby position of the feeding main body 1, at the initial point, the feeding main body 1 waits for system command to perform subsequent feeding action, the first working point can be the working position of the feeding main body 1, which is in the first working point, the feeding main body 1 can execute grabbing action for the glass to be fed. The initial point and the first working point are switchable to realize the resettable and cyclic grabbing work of the feeding main body 1.

[0044] Considering that the glass thickness of different batches and the thickness error of the spacing paper may cause the feeding main body 1 at the first working position to fail to perform the grabbing action normally, the application is provided with a measuring part 2 and a control part 3. The control part 3 calculates the theoretical thickness value according to the different batches and quantities of glass, and then the measuring part 2 obtains the actual thickness value under the error accumulation. Then the control part 3 calculates the thickness difference between the actual thickness value and the theoretical thickness value, and then the control part 3 controls the feeding main body 1 to realize the compensation of the thickness difference. The compensation amount does not need to be measured frequently, but can be automatically and accurately measured and automatically adjusted by the measuring part 2 and the control part 3. The automation degree of the glass production feeding operation is improved, the labor intensity is reduced, and the automatic adjustment can compensate in time, avoiding the problems of safety hazards such as grabbing failure and glass breakage caused by not updating in time.

[0045] The measuring part 2 can be a laser ranging sensor, an ultrasonic sensor, a displacement sensor, a photoelectric sensor, a capacitive sensor, etc., which is not limited in particular. It can measure the actual thickness value of the glass to be fed when the feeding main body 1 is at the first working position. The measurement method can take the platform or horizontal surface on which the glass to be fed is placed as the reference, and different methods such as moving ranging, multiple ranging and averaging can be used to obtain the required actual thickness value, which can ensure the accuracy of the measurement result.

[0046] The control part 3 can be a programmable logic controller, an embedded controller, an industrial control system, a SCADA (Supervisory Control and Data Acquisiton, data acquisition and monitoring system), etc., which is not limited in particular. The actual thickness value and the thickness difference between the theoretical thickness value control the feeding main body 1, so that it can adaptively set the control strategy based on the different situations of the thickness difference to compensate in time and improve safety.

[0047] The first aspect of the application provides a feeding compensation system, comprising a feeding main body 1, a measuring part 2 and a control part 3; the feeding main body 1 has switchable initial point position and first working point position; the measuring part 2 is arranged on the feeding main body 1, the feeding main body 1 is switched from the initial point position to the first working point position, and the measuring part 2 obtains the actual thickness value of the glass to be fed; the control part 3 is in communication connection with the measuring part 2 and the feeding main body 1, the control part 3 has a theoretical thickness value corresponding to the glass to be fed, and the control part 3 controls the feeding main body 1 according to the thickness difference between the actual thickness value and the theoretical thickness value. According to the application, the control part 3 calculates the theoretical thickness value according to different batches and quantities of glass, then the measuring part 2 obtains the actual thickness value under the error accumulation, and then the control part 3 calculates the thickness difference between the actual thickness value and the theoretical thickness value, so that the control part 3 controls the feeding main body 1 to realize compensation for the thickness difference. It is not necessary to frequently measure the compensation amount, but it can be automatically and accurately measured and automatically adjusted through the measuring part 2 and the control part 3, thereby improving the automation degree of glass production feeding operation, reducing labor intensity, and timely compensating through automatic adjustment to avoid the problems of safety hazards such as failure to grasp and glass breakage caused by failure to update in time. Through the application of the application, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation in the prior art, but the update of the compensation value needs to be frequently measured for different quantities and batches of glass, which increases the labor intensity and increases the safety hazards such as failure to grasp and glass breakage caused by failure to update in time.

[0048] In some embodiments, the control part 3 has a first threshold range, a second threshold range and a third threshold range; the thickness difference is located in the first threshold range, the control part 3 controls the feeding main body 1 to displace from the first working point position to the initial point position; the thickness difference is located in the second threshold range, the control part 3 controls the feeding main body 1 to remain at the first working point position; the thickness difference is located in the third threshold range, the control part 3 controls the feeding main body 1 to be at the second working point position, and the second working point position is obtained by displacing the first working point position by the thickness difference.

[0049] Specifically, the application sets the first threshold range, the second threshold range and the third threshold range to realize flexible and accurate compensation of the feeding process, and provides processing measures under several different conditions for the feeding compensation system, enhances the flexibility and economy of the feeding compensation system in the operation process, reduces the manual intervention in the compensation process of the thickness error, and improves the degree of automation control.

[0050] When the thickness difference is in the first threshold range, it indicates that the thickness has a serious deviation and has a high safety hazard, at this time, the control part 3 controls the feeding main body 1 to displace from the first working point to the initial point, so as to stop the feeding operation and protect the operator and the equipment. When the thickness difference is in the second threshold range, it indicates that the actual thickness value and the theoretical thickness value are relatively close, in order to improve the flexible control of the feeding compensation system, the control part 3 controls the feeding main body 1 to remain in the first working point, that is, to continue the subsequent feeding operation at the preset working point. When the thickness difference is in the third threshold range, the thickness difference in the threshold range needs to be compensated to eliminate the error, so that the compensation action has greater economic significance and saves energy.

[0051] In some embodiments, the first threshold range is less than -40 or greater than 40, the second threshold range is greater than -3 and less than 3, and the third threshold range is greater than or equal to -40 and less than or equal to -3, or greater than or equal to 3 and less than or equal to 40, so as to realize the error control in the actual production process of the feeding operation. When the thickness difference is less than -40 or greater than 40, it indicates that the thickness has a serious deviation and has a high safety hazard, at this time, the control part 3 controls the feeding main body 1 to displace from the first working point to the initial point. When the thickness difference is greater than -3 and less than 3, it indicates that the actual thickness value and the theoretical thickness value are relatively close, in order to improve the flexible control of the feeding compensation system, the control part 3 controls the feeding main body 1 to remain in the first working point. When the thickness is greater than or equal to -40 and less than or equal to -3, or greater than or equal to 3 and less than or equal to 40, the thickness difference in the range needs to be compensated to eliminate the error and avoid safety hazards.

[0052] In some embodiments, the feeding main body 1 further comprises a third working point, which is closer to the glass to be fed than the first working point. In the process of displacing the feeding main body 1 from the first working point to the third working point, the measuring part 2 obtains the actual thickness value.

[0053] Specifically, in the process of displacing the feeding main body 1 from the first working point to the third working point which is closer to the glass to be fed, the measuring part 2 can continuously measure and update the obtained actual thickness value, so that the measuring part 2 can dynamically update and adjust the obtained actual thickness value in real time, enhancing the flexibility and accuracy of measurement. At the same time, in this process, the measuring part 2 can provide continuous feedback for the entire feeding process by continuously collecting the actual thickness value, which helps to control and optimize the quality of the feeding compensation system.

[0054] As Figure 1As shown, in some embodiments, further comprising: an alarm unit 4, the alarm unit 4 is in communication connection with the control unit 3, the thickness difference value is located in the first threshold range, the control unit 3 sends an alarm signal to the alarm unit 4, and the alarm unit 4 receives the alarm signal and alarms according to the alarm signal.

[0055] Specifically, in order to improve the safety of the feeding compensation system, the feeding compensation system of the present application is further provided with an alarm unit 4. When the thickness difference value is located in the first threshold range, it indicates that there is a serious deviation in the thickness and has a higher safety hazard. An alarm signal is sent to the alarm unit 4 through the control unit 3, the alarm unit 4 receives the alarm signal and alarms according to the alarm signal, so that the on-site operator can timely know the serious deviation phenomenon and take corresponding measures to improve the production safety. The alarm unit 4 can be a sound alarm, an optical alarm, an audible and visual alarm, etc., and the specific type is not limited.

[0056] As shown, Figure 2 In some embodiments, the control unit 3 comprises: a data input unit 31 for inputting target information of the glass to be fed; an acquisition unit 32 in communication connection with the measurement unit 2 for acquiring the actual thickness value; a calculation unit 33 in communication connection with the data input unit 31 and the acquisition unit 32 for calculating the theoretical thickness value according to the target information and calculating the thickness difference value according to the actual thickness value; and an automatic compensation unit 34 in communication connection with the calculation unit 33 and the feeding main body 1 for controlling the displacement of the feeding main body 1 by the thickness difference value so that the actual thickness value is equal to the theoretical thickness value.

[0057] Specifically, the control unit 3 of the present application is provided with a data input unit 31, which enables the operator to input relevant parameter information such as the number of glasses, the thickness of each glass, the interval value thickness, etc. of the glass to be fed through a window, a screen, a touchpad, etc. to provide a data basis for the subsequent calculation of the theoretical thickness value by the calculation unit 33.

[0058] The acquisition unit 32 is in communication connection with the measurement unit 2 for acquiring the actual thickness value of the glass to be fed on the tray, and the calculation unit 33 is in communication connection with the data input unit 31 and the acquisition unit 32 for calculating the theoretical thickness value according to the target information and calculating the thickness difference value according to the actual thickness value. The calculation unit 33 ensures the accuracy of the thickness difference value and provides technical support for compensation.

[0059] The automatic compensation unit 34 can control the displacement of the feeding main body 1 according to the thickness difference value, and by making the displacement equal to the calculated thickness difference value, the deviation between the actual thickness value and the theoretical thickness value is eliminated, ensuring the accuracy and safety of the feeding operation.

[0060] As shown, Figure 2As shown in the figure, in some embodiments, the control part 3 further comprises a detection unit 35, which is in communication connection with the data input unit 31 and the calculation unit 33, and is used to obtain target information and send a rationality detection result to the calculation unit 33 according to the target information.

[0061] Specifically, the present application introduces rationality detection into the control part 3 by setting the detection unit 35 in the control part 3, so as to enable the feeding compensation system to control the data input by the user, ensure the accuracy of the input data, prevent safety hazards caused by misoperation, and also prevent subsequent operations when the input data is unreasonable and there are obvious errors, thereby improving the automation level of the feeding compensation system. The detection part can be a monitoring software, an artificial intelligence carrier, a data acquisition element, etc., which is not limited in particular as long as it can reasonably control the data input by the user.

[0062] As shown in the figure, Figure 2 In some embodiments, the control part 3 further comprises a monitoring unit 36, which is in communication connection with the automatic compensation unit 34 and monitors whether the automatic compensation unit 34 controls the displacement thickness difference of the feeding main body 1.

[0063] Specifically, the control part 3 of the present application further comprises a monitoring unit 36, which monitors the working state of the automatic compensation unit 34 in real time, so as to ensure that the automatic compensation unit 34 accurately controls the displacement of the feeding main body 1 according to the thickness difference calculated by the calculation unit 33. For example, in the process of feeding glass, if the automatic compensation unit 34 cannot adjust the displacement amount of the feeding main body 1 according to the thickness difference, the monitoring unit 36 can discover the problem in time and restart the compensation control of the automatic compensation unit 34, or send a signal to the alarm element to notify the on-site operator, thereby improving the safety and stability of the feeding compensation system. The monitoring unit 36 can be a camera element, an image processor, etc., which is not limited in particular as long as it can monitor the working state of the automatic compensation unit 34 in real time.

[0064] As shown in the figure, Figure 1 In some embodiments, the control part 3 further comprises a recording part 5, which is in communication connection with the control part 3 and is used to record the theoretical thickness value, the actual thickness value, the thickness difference and the control situation in one control of the control part 3.

[0065] Specifically, in order to realize the quality control optimization of the feeding compensation system of the present application, the present application is also provided with a recording part 5, which can save and record the theoretical thickness value, the actual thickness value, the thickness difference value and the control condition in the first control, so as to form a historical record that can be traced and consulted, facilitate the evaluation system to analyze the quality and performance of the feeding compensation system, and simplify the troubleshooting, so as to quickly locate the fault problem for subsequent system optimization. The recording part 5 can be an internal hard disk, a cloud storage server, an industrial control system integration, etc., which is not limited in particular, and can realize the data recording of the control in the compensation process of the feeding compensation system.

[0066] Embodiment two

[0067] The second aspect of the present application provides a feeding system, which comprises a feeding compensation system.

[0068] Specifically, the specific structure of the feeding compensation system is referred to the embodiment one, which will not be described here.

[0069] The second aspect of the present application provides a feeding system, which comprises a feeding compensation system, the feeding compensation system comprising a feeding main body 1, a measuring part 2 and a control part 3; the feeding main body 1 has switchable initial point and first working point; the measuring part 2 is arranged on the feeding main body 1, the feeding main body 1 is switched from the initial point to the first working point, and the measuring part 2 obtains the actual thickness value of the glass to be fed; the control part 3 is in communication connection with the measuring part 2 and the feeding main body 1, the control part 3 has the theoretical thickness value corresponding to the glass to be fed, and the control part 3 controls the feeding main body 1 according to the thickness difference between the actual thickness value and the theoretical thickness value. According to the present application, the control part 3 calculates the theoretical thickness value according to different batches and quantities of glass, then the measuring part 2 obtains the actual thickness value under the error accumulation, and then the control part 3 calculates the thickness difference between the actual thickness value and the theoretical thickness value, so that the control part 3 controls the feeding main body 1 to realize the compensation of the thickness difference. It is not necessary to frequently measure the compensation amount, but it can be automatically and accurately measured and automatically adjusted through the measuring part 2 and the control part 3, which improves the automation degree of the glass production feeding operation, reduces the labor intensity, and can also compensate in time through automatic adjustment, avoiding the problems of safety hazards such as grabbing failure and glass breakage caused by not updating in time. Through the application of the present application, the operator measures and updates the compensation value for the robot feeding system to eliminate the deviation in the prior art, but the update of the compensation value needs to be frequently measured for different quantities and batches of glass, which increases the labor intensity and also increases the safety hazards such as grabbing failure and glass breakage caused by not updating in time.

[0070] Thus, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0071] While some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood that the examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood that modifications or equivalent substitutions of part technical features in the above embodiments can be made without departing from the scope and spirit of the present disclosure. In particular, the technical features mentioned in each of the embodiments can be combined in any manner as long as there is no structural conflict.

Claims

1. A material loading compensation system, characterized by, The system comprises: a loading main body having switchable initial point and first working point; a measuring part provided on the loading main body, the actual thickness value of the glass to be loaded is obtained when the loading main body is switched from the initial point to the first working point; a control part in communication connection with the measuring part and the loading main body, the control part has the theoretical thickness value corresponding to the glass to be loaded, and the control part controls the loading main body according to the thickness difference between the actual thickness value and the theoretical thickness value.

2. The loading compensation system according to claim 1, wherein: the control part has first threshold range, second threshold range and third threshold range; when the thickness difference is in the first threshold range, the control part controls the loading main body to be displaced from the first working point to the initial point; when the thickness difference is in the second threshold range, the control part controls the loading main body to be kept at the first working point; when the thickness difference is in the third threshold range, the control part controls the loading main body to be at the second working point, which is obtained by displacing the first working point by the thickness difference.

3. The loading compensation system according to claim 2, wherein: the first threshold range is less than -40 or greater than 40; the second threshold range is greater than -3 and less than 3; the third threshold range is greater than or equal to -40 and less than or equal to -3, or greater than or equal to 3 and less than or equal to 40.

4. The loading compensation system according to claim 2, wherein: the loading main body further comprises a third working point, which is closer to the glass to be loaded than the first working point, and the actual thickness value is obtained by the measuring part during the displacement of the loading main body from the first working point to the third working point.

5. The feed compensation system according to any of claims 2-4, characterized in that, Further comprising: an alarm part in communication connection with the control part, when the thickness difference is in the first threshold range, the control part sends an alarm signal to the alarm part, and the alarm part receives the alarm signal and alarms according to the alarm signal.

6. The feed compensation system of claim 1, wherein, The control part comprises: a data input unit for inputting target information of the glass to be loaded; an acquisition unit in communication connection with the measuring part for acquiring the actual thickness value; a calculation unit in communication connection with the data input unit and the acquisition unit, for calculating the theoretical thickness value according to the target information, and calculating the thickness difference according to the actual thickness value; an automatic compensation unit in communication connection with the calculation unit and the loading main body, for controlling the displacement of the loading main body by the thickness difference to make the actual thickness value equal to the theoretical thickness value.

7. The feed compensation system of claim 6, wherein, The control part further comprises: a detection unit in communication connection with the data input unit and the calculation unit, for acquiring the target information and sending a rationality detection result to the calculation unit according to the target information.

8. The feed compensation system according to claim 6 or 7, characterized in that The control part further comprises: A monitoring unit is in communication connection with the automatic compensation unit, and monitors whether the automatic compensation unit controls the feeding main body to displace the thickness difference.

9. The feed compensation system of claim 1, wherein, Also included are: A recording unit is in communication connection with the control unit, and is used to record the theoretical thickness value, the actual thickness value, the thickness difference and the control condition in one control of the control unit.

10. A loading system, characterized by Included are: The feeding compensation system according to any one of claims 1-9.

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