阅读说明：本技术 一种高硼硅玻璃壶自动化引嘴系统及其控制方法 (Automatic nozzle guiding system of high borosilicate glass pot and control method thereof ) 是由 王剑平 程天相 于 2021-01-19 设计创作，主要内容包括：本发明涉一种高硼硅玻璃壶自动化引嘴系统及其控制方法,包括高硼硅玻璃棒烧融台、高硼硅玻璃壶吹气台、视觉系统、高硼硅玻璃壶和玻璃棒夹取机械臂、移动喷火头机械臂、控制箱,高硼硅玻璃棒烧融台包括恒温电加热炉和由旋转轴、托料轮、减速电机组成的高硼硅玻璃棒旋转托架,高硼硅玻璃壶吹气台包括支撑台面、密封垫、壶体加压杆,视觉系统可对玻璃棒的实时长度进行识别,本发明自动化程度高,生产效率高,确保产品不同批次质量统一。(The invention relates to an automatic nozzle guiding system of a high borosilicate glass kettle and a control method thereof, and the automatic nozzle guiding system comprises a high borosilicate glass rod burning and melting table, a high borosilicate glass kettle blowing table, a vision system, a high borosilicate glass kettle, a glass rod clamping mechanical arm, a movable flame spraying head mechanical arm and a control box, wherein the high borosilicate glass rod burning and melting table comprises a constant temperature electric heating furnace and a high borosilicate glass rod rotating bracket consisting of a rotating shaft, a material supporting wheel and a speed reducing motor, the high borosilicate glass kettle blowing table comprises a supporting table surface, a sealing pad and a kettle body pressurizing rod, and the vision system can identify the real-time length of the glass rod.)

1. The utility model provides a mouth system is introduced in borosilicate glass kettle automation which characterized in that: comprises a workbench (1), a high borosilicate glass rod burning and melting table (2), a vision system (3), a movable fire-spraying head mechanical arm (4), a high borosilicate glass kettle blowing table (5), a high borosilicate glass kettle and glass rod clamping mechanical arm (6) and a control box (8);

the high borosilicate glass kettle blowing table (5) comprises a high borosilicate glass kettle body supporting table surface (501), a sealing gasket (502) and a kettle body pressurizing rod (505); high borosilicate glass kettle body supporting table surface (501) is installed at the extreme of workstation (1), a horizontal table surface is supported by four pillars, the table surface size is greater than the maximum position of the kettle body, sealed pad (502) is located the central point of horizontal table surface, the diameter is greater than the kettle mouth, the central point of horizontal table surface and sealed pad (502) has the trompil, horizontal table surface lower part trompil department connects the trachea, kettle body pressure bar support (508) is installed in one side of horizontal table surface, install a single-acting cylinder (507) on kettle body pressure bar support (508), cylinder telescopic link (506) of single-acting cylinder up, kettle body pressure bar (505) is installed perpendicularly with cylinder telescopic link (506) to the extreme of cylinder telescopic link (506), graphite pad (504) is installed in the position that is located high borosilicate glass kettle (503) bottom dead center to kettle body pressure bar (505).

2. The automated spout system of a borosilicate glass kettle according to claim 1, wherein: the high borosilicate glass rod burning and melting table (2) comprises a constant temperature electric heating furnace (201) and a high borosilicate glass rod rotating bracket, the constant temperature electric heating furnace (201) is arranged at the end of the worktable (1), the high borosilicate glass rod rotating bracket at least comprises five rotating shafts (203), two ends of each rotating shaft (203) are fixed in bearings parallel to bearing seats (202) of the constant temperature electric heating furnace (201), each rotating shaft (203) at least equidistantly penetrates through seven material supporting wheels (204) in the middle part of the two bearing seats, all the material supporting wheels (204) are positioned at the same position of each rotating shaft (203), the distance between the first material supporting wheel and the last material supporting wheel and the front and back two bearing seats is equal, one material supporting wheel (204) penetrates through one material supporting wheel (204) at one side of the bearing seats (202) close to the constant temperature electric heating furnace (201), the position of each material supporting wheel (204) is close to the bearing seats as much as possible and has a certain distance with the bearing seats, all rotating shafts (203) penetrate through a rotating shaft gear (208) on one side, away from a constant-temperature electric heating furnace (201), of a bearing seat (202), all rotating shaft gears (208) are located at the same position of the rotating shafts (203), a rectangular notch (205) exists in a workbench (1) right below the rotating shaft gears (208), a speed reducing motor (701) is placed on a small platform right below the workbench (1) where a high borosilicate glass rod rotating bracket is located, the speed reducing motor gear (702) is connected with the rotating shaft gears (208) through a chain (206), all rotating shafts (203) are driven by the speed reducing motor (701) to synchronously and slowly rotate, high borosilicate glass rods (207) are placed between the rotating shafts (203), and are driven to rotate by a material supporting wheel (204).

3. The automated spout system of a borosilicate glass kettle according to claim 1, wherein: the vision system (3) comprises a camera support (302) positioned on one side of the high borosilicate glass rod rotating bracket, an industrial camera (301) arranged at the tail end of the camera support (302) and an image operation processing system arranged in a control box (8), wherein the lens of the industrial camera faces downwards, the acquisition range of the industrial camera covers all inlets of the high borosilicate glass rod rotating bracket and the constant-temperature electric heating furnace (201), and the image operation processing system adopts a CNN algorithm vision system mature in the market.

4. The automated spout system of a borosilicate glass kettle according to claim 1, wherein:

the movable fire-spraying head mechanical arm (4) comprises a two-degree-of-freedom mechanical arm and a customized fire-spraying head (404), a mechanical arm seat is arranged at the protruding position of the workbench (1) between a high borosilicate glass rod rotating bracket and a high borosilicate glass kettle blowing table (5), the whole two-degree-of-freedom mechanical arm consists of a first rotating shaft (401), a second rotating shaft (403) and a connecting arm which is connected with the first rotating shaft (401) and the second rotating shaft (403), the pitching angle of the mechanical arm can be adjusted through a movable fire-spraying head mechanical arm pitching angle adjusting shaft (402), the customized fire-spraying head (404) is positioned at the tail end of the connecting arm behind the second rotating shaft (403), the angle of the customized fire-spraying head (404) can be adjusted according to needs, the size of the cross section of flame of the customized fire-spraying head (404) is realized by customizing fire-spraying heads with different sizes, and the bottom of the customized, the gas pipe is a mixture of natural gas and oxygen.

5. The automated spout system of a borosilicate glass kettle according to claim 1, wherein:

the high borosilicate glass pot and glass rod clamping mechanical arm (6) comprises a six-degree-of-freedom mechanical arm and a pair of customized clamping jaws (601), a mechanical arm seat is arranged on the ground near a high borosilicate glass rod rotating bracket and is positioned on one side opposite to a camera support (302), the high borosilicate glass pot and glass rod clamping mechanical arm (6) is provided with a clamping mechanical controller (608), the clamping mechanical controller is electrically connected with a control box (8), the whole six-degree-of-freedom mechanical arm consists of a first clamping mechanical arm rotating shaft (607), a second clamping mechanical arm rotating shaft (606), a third clamping mechanical arm rotating shaft (605), a fourth clamping mechanical arm rotating shaft (604), a fifth clamping mechanical arm rotating shaft (603), a sixth clamping mechanical arm rotating shaft (602) and connecting arms for connecting the rotating shafts, and the customized clamping jaws (601) are positioned behind the sixth clamping mechanical arm rotating shaft (602), the inside of the customized clamping jaw (601) is covered with a graphite pad.

6. The automated spout system of a borosilicate glass kettle according to claim 1, wherein:

the control box (8) is positioned on the side surface of the workbench (1) and below the high borosilicate glass pot support, and is internally provided with a direct current power supply, a PLC (programmable logic controller), a speed reduction motor relay, an electromagnetic valve and a pipeline for controlling the mixing of natural gas and oxygen, an electromagnetic valve and a pipeline for controlling the inflation of the pot body, a motion control connecting circuit of two mechanical arms and an image operation processing system; the direct current power supply converts 220VAC into 24VDC to be responsible for supplying power to the PLC, the electromagnetic valve and the image operation processing system, the PLC controls the whole system to operate through controlling a relay and a mechanical arm controller, and the image operation processing system adopts a CNN algorithm visual system matured in the market and is used for sending the identified length of the glass rod and the relative position of a melting part to the PLC so as to adjust the placing position of the glass rod and determine whether to replace the glass rod.

7. A control method of an automatic nozzle guiding system of a high borosilicate glass pot is characterized by comprising the following specific steps:

step1, the PLC controls the corresponding relay to act, and then the heating furnace and the high borosilicate glass rod rotating bracket are started;

step2, the PLC controls the mechanical arm motion controller so as to control the mechanical arm to place the glass kettle body on the blowing table;

step3, after the set time delay is finished, the PLC controls the corresponding relay, the electromagnetic valve and the mechanical arm controller to act so as to pressurize the pressurizing rod, ignite and heat the flame projecting head and lead the kettle body to reach the designated position;

step4, after the set time delay is finished, the PLC controls the corresponding mechanical arm controller to move the flame spray head away and stick the softened glass rod to the softened position of the kettle body, and then the nozzle guiding action is finished;

step5, PLC controls the corresponding mechanical arm controller to make the flame nozzle move to the designated position and blow the joint of the glass rod and the spout;

step6, PLC controls the corresponding relay and mechanical arm controller to lift the pressure bar and replace the kettle body;

step7, judging whether to replace the glass rod according to the length information of the glass rod recognized by the vision system and the set threshold value PLC; if so, replacing the glass rod and then putting the glass rod into a heating furnace, otherwise, directly putting the glass rod into the heating furnace;

step8, PLC controls the corresponding mechanical arm controller to pick up another glass rod, and then the step3 is started.

Technical Field

The invention relates to an automatic nozzle guiding system of a high borosilicate glass kettle and a control method thereof, belonging to the field of glassware mechanical equipment.

Background

The spout on the side of the high borosilicate glass kettle is generally heated by heating the spout position of the glass kettle, then the melting part of a glass rod with one end heated is adhered to the heated spout position, simultaneously, air is blown into the glass kettle, the glass rod is pulled according to the shape of the spout, and after the spout guiding action of the glass kettle is completed, the connecting part of the glass rod and the spout is melted by flame, so that the glass rod is separated from the spout. The method of respectively forming and bonding the spout of the kettle body can leave wrinkles, so that the current procedure can only be manually completed by workers, and the position of the spout leading part, the shape of the spout and the angle of the spout of each kettle can be different, so that the quality of the glass kettle is poor. And because manual processing is completely adopted, the efficiency is low, the batches cannot be completely unified, and the batch production cannot be realized.

The prior and pending related patents are focused on solving the problem of forming borosilicate glass pots of the cold pot type with only a single top spout, but not on forming spouts of teapot type with spouts on the sides. For example, an automated borosilicate glass kettle production system (application No. 201711453513.8) proposes a production system in which a blowing machine and a forming mold are matched with each other, but can only produce a borosilicate glass kettle of a cold water kettle type having a single top kettle opening. "a molding device for spout of borosilicate glass kettle (application number: 201711455885.4)" proposes that the molding operation of the spout of the borosilicate glass kettle is realized by a rotary disc and an extrusion molding mechanism, but the molding device is still only suitable for the borosilicate glass kettle with a single top spout. In consideration of the vacancy of the existing patent, the invention designs the automatic spout guiding system of the high borosilicate glass kettle by a set of comprehensive method, can perform spout guiding operation of the side spout on the high borosilicate glass kettle of a teapot type with the spout on the side surface, replaces manual processing, improves the efficiency and realizes uniform appearance and quality of products in different batches.

Theoretical analysis and actual tests show that the molten glass rod has non-solid characteristics, and the flame of a fire head fluctuates along with the fluctuation of natural gas pressure, so that the length, the shape and the size of a non-solid part of the molten glass rod are different after the mouth guiding action is finished each time.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic nozzle guiding system of a high borosilicate glass pot and a control method thereof.

The technical scheme of the invention is as follows: an automatic nozzle guiding system for a high borosilicate glass kettle comprises a workbench 1, a high borosilicate glass rod burning and melting table 2, a vision system 3, a movable fire nozzle mechanical arm 4, a high borosilicate glass kettle blowing table 5, a high borosilicate glass kettle and glass rod clamping mechanical arm 6 and a control box 8; the control circuit in the control box is connected with other circuits so that all the actions are matched with each other to complete the action of the high borosilicate glass kettle nozzle.

The high borosilicate glass kettle blowing table 5 comprises a high borosilicate glass kettle body supporting table surface 501, a sealing gasket 502 and a kettle body pressurizing rod 505; high borosilicate glass kettle body supporting table surface 501 is arranged at the extreme end of the workbench 1, a horizontal table surface is supported by four pillars, the size of the table surface is larger than the maximum position of the kettle body, a sealing gasket 502 is arranged at the central position of the horizontal table surface, the diameter is larger than a kettle opening, an opening is arranged at the central position of the horizontal table surface and the sealing gasket 502, an air pipe is connected with the opening at the lower part of the horizontal table surface, a kettle body pressurizing rod support 508 is arranged at one side of the horizontal table surface, a single-acting cylinder 507 is arranged on the kettle body pressurizing rod support 508, a cylinder telescopic rod 506 of the single-acting cylinder faces upwards, a kettle body pressurizing rod 505 is vertically arranged at the extreme end of the cylinder telescopic rod 506 and the cylinder telescopic rod 506, and a graphite.

As a further scheme of the invention, the high borosilicate glass rod burning and melting platform 2 comprises a constant temperature electric heating furnace 201 and a high borosilicate glass rod rotating bracket, the constant temperature electric heating furnace 201 is arranged at the end of the working platform 1, the high borosilicate glass rod rotating bracket is at least composed of five rotating shafts 203, two ends of each rotating shaft 203 are fixed in bearings parallel to bearing seats 202 of the constant temperature electric heating furnace 201, each rotating shaft 203 at least equidistantly penetrates through seven material supporting wheels 204 in the middle part of the two bearing seats, all the material supporting wheels 204 are positioned at the same position of each rotating shaft 203, the distance between the first material supporting wheel and the last material supporting wheel and the front and back two bearing seats is equal, all the rotating shafts 203 penetrate through one material supporting wheel 204 at one side of the bearing seats 202 close to the constant temperature electric heating furnace 201, the material supporting wheels 204 are positioned as close as possible to the bearing seats and have a certain distance with the bearing seats, all the rotating shafts 203 penetrate through one rotating shaft gear 208 at one side, all the rotating shaft gears 208 are positioned at the same position of the rotating shaft 203, a rectangular notch 205 is formed in the workbench 1 right below the rotating shaft gears 208, a speed reducing motor 701 is placed on a small platform right below the workbench 1 where the high borosilicate glass rod rotating bracket is positioned, the speed reducing motor gear 702 is connected with the rotating shaft gears 208 through a chain 206, all the rotating shafts 203 are driven by the speed reducing motor 701 to synchronously and slowly rotate, the high borosilicate glass rods 207 are placed between the rotating shafts 203 and are driven to rotate by the material supporting wheel 204.

As a further scheme of the invention, the vision system 3 comprises a camera bracket 302 positioned on one side of the high borosilicate glass rod rotating bracket, an industrial camera 301 arranged at the tail end of the camera bracket 302 and an image operation processing system arranged in the control box 8, wherein the lens of the industrial camera faces downwards, the acquisition range is covered to the inlets of all the high borosilicate glass rod rotating bracket and the constant temperature electric heating furnace 201, and the image operation processing system adopts a CNN algorithm vision system mature in the market.

As a further aspect of the present invention, the moving torch robot 4 comprises a two-degree-of-freedom robot and a custom torch 404, the robot base is installed at a position where the work table 1 protrudes between the borosilicate glass rod rotary bracket and the borosilicate glass pot blowing table 5, the whole two-degree-of-freedom robot is composed of a first rotary shaft 401, a second rotary shaft 403 and a connecting first rotary shaft 401, the linking arm of second rotation axis 403 constitutes, the every single move angle accessible of arm removes first arm every single move angle regulating spindle 402 and adjusts, and customization flame projecting head 404 is located the end of second rotation axis 403 rear connecting arm, and the angle of customization flame projecting head 404 can be adjusted as required, and the flame cross section size of customization flame projecting head 404 is realized through the flame projecting head of customization equidimension not, and customization flame projecting head 404 bottom even has the trachea, is the mixture of natural gas and oxygen in the trachea.

As a further aspect of the invention, the borosilicate glass pot and glass rod gripping robot 6 comprises a six degree of freedom robot and a pair of customized gripping jaws 601, the robot base is mounted on the ground near the borosilicate glass rod rotating bracket, and is located the opposite side of camera support 302, borosilicate glass pot and glass stick clamp get the arm 6 from taking the mechanical controller 608 of pressing from both sides, press from both sides and get the mechanical controller and electrically connect with control box 8, the whole six degrees of freedom arm is got the arm and is got the arm first rotating shaft 607, press from both sides and get the arm second rotating shaft 606, press from both sides and get the arm third rotating shaft 605, press from both sides and get the arm fourth rotating shaft 604, press from both sides and get the arm fifth rotating shaft 603, press from both sides and get the arm sixth rotating shaft 602 and connect the linking arm of each rotating shaft to make up, make the clamping jaw 601 locate and get the arm sixth rotating shaft 602 after.

As a further scheme of the invention, the control box 8 is positioned on the side surface of the workbench 1 and below the high borosilicate glass pot support, and is internally provided with a direct current power supply, a PLC, a speed reduction motor relay, an electromagnetic valve and a pipeline for controlling the mixing of natural gas and oxygen, an electromagnetic valve and a pipeline for controlling the inflation of the pot body, a motion control connecting circuit of two mechanical arms and an image operation processing system; the direct current power supply converts 220VAC into 24VDC to be responsible for supplying power to the PLC, the electromagnetic valve and the image operation processing system, the PLC controls the whole system to operate through controlling a relay and a mechanical arm controller, and the image operation processing system adopts a CNN algorithm visual system matured in the market and is used for sending the identified length of the glass rod and the relative position of a melting part to the PLC so as to adjust the placing position of the glass rod and determine whether to replace the glass rod. The specific relationship is shown in fig. 1.

A control method of an automatic nozzle guiding system of a high borosilicate glass pot comprises the following specific steps:

step1, the PLC controls the corresponding relay to act, and then the heating furnace and the high borosilicate glass rod rotating bracket are started;

step2, the PLC controls the mechanical arm motion controller so as to control the mechanical arm to place the glass kettle body on the blowing table;

step3, after the set time delay is finished, the PLC controls the corresponding relay, the electromagnetic valve and the mechanical arm controller to act so as to pressurize the pressurizing rod, ignite and heat the flame projecting head and lead the kettle body to reach the designated position;

step4, after the set time delay is finished, the PLC controls the corresponding mechanical arm controller to move the flame spray head away and stick the softened glass rod to the softened position of the kettle body, and then the nozzle guiding action is finished;

step5, PLC controls the corresponding mechanical arm controller to make the flame nozzle move to the designated position and blow the joint of the glass rod and the spout;

step6, PLC controls the corresponding relay and mechanical arm controller to lift the pressure bar and replace the kettle body;

step7, judging whether to replace the glass rod according to the length information of the glass rod recognized by the vision system and the set threshold value PLC; if so, replacing the glass rod and then putting the glass rod into a heating furnace, otherwise, directly putting the glass rod into the heating furnace;

step8, PLC controls the corresponding mechanical arm controller to pick up another glass rod, and then the step3 is started.

The working process of the invention is as follows:

firstly, a tray is respectively placed on two sides of a high borosilicate glass pot and a glass rod clamping mechanical arm, and a high borosilicate glass pot body and unused high borosilicate glass rods with equal length are respectively placed in the trays. The clamping mechanical arm puts four high borosilicate glass rods on the glass rod rotating bracket, one end of each glass rod extends into the constant-temperature electric heating furnace, and the motor of the glass rod rotating bracket and the constant-temperature electric heating furnace are started, so that one end of each glass rod is uniformly heated in the furnace and keeps a softened water drop shape due to rotation. The clamping mechanical arm puts down a kettle mouth of a borosilicate glass kettle body on a sealing pad of a blowing table of the borosilicate glass kettle, a pressure rod electromagnetic valve of the control box is opened, and the kettle body pressure rod falls to the bottom of the kettle body and applies certain pressure. The flame of the mechanical arm is moved by the flame spraying head to be ignited and moved to a preset position, so that the flame of the flame spraying head just covers the position of the mounting spout of the high borosilicate glass kettle body. After borosilicate glass stick and glass kettle preheat and accomplish, press from both sides to get the arm and press from both sides and get glass stick and spout the first removal arm of fire and put aside the hu zui position with the fire of glass stick, after the kettle mouth position of pasting the kettle body with burning of glass stick end, let in highly-compressed air to the kettle body and press from both sides simultaneously and get the arm and drive the glass stick and burn the end and move according to the hu zui shape, the action is accomplished the back and is spouted first arm and aim at glass stick and kettle mouth junction with the flame of fire head, burns off the junction. The clamping mechanical arm puts the high borosilicate glass rod back on the glass rod rotating bracket, the flame spray head is moved away, the air blowing electromagnetic valve is closed, the pressure rod electromagnetic valve is closed, and the kettle body pressure rod is lifted. The clamping mechanical arm replaces the glass kettle body and repeats the actions, and the glass rod in the tray is replaced when the glass rod is worn to a certain length. The specific working process is shown in fig. 2.

The invention has the beneficial effects that:

1. the invention can be produced by only customizing different clamping jaws and flame throwers according to different kettle body sizes, and the cost is lower when glass kettles of different models are produced.

2. The automatic feeding and discharging device can automatically feed and discharge the kettle body and the glass rod, realize full automation and save labor cost.

3. The invention solves the problem of forming the spout of the high borosilicate glass kettle with the spout on the side surface, is the original at present and fills the blank of the invention field.

4. The invention has high automation degree and high production efficiency, and ensures uniform quality of different batches of products;

5. the clamping mechanical arm is used for taking and placing the high borosilicate glass kettle body at the designated position of the tray and placing the processed finished product kettle body according to the set clamp, so that the automatic feeding and discharging of the glass kettle body are realized.

6. The clamping mechanical arm automatically adjusts the clamping position of the glass rod according to the size and the length of the glass rod melting part identified by the vision system, so that the high consistency of the finished product is realized under the condition of natural gas pressure fluctuation.

7. The clamping mechanical arm compares the total length of the glass rod identified by the vision system with a threshold value, so that the glass rod is automatically loaded and unloaded.

Drawings

FIG. 1 is a schematic view of a control box connection;

FIG. 2 is a schematic diagram of the operation of the present invention;

FIG. 3 is an elevational view of the overall construction of the present invention;

FIG. 4 is a side view of the overall structure of the present invention;

FIG. 5 is a top view of a high borosilicate glass rod melting station structure;

FIG. 6 is a schematic view of the overall structure of the mechanical arm of the movable flame-throwing head;

FIG. 7 is a side view of a structure of a blowing station of a borosilicate glass kettle;

FIG. 8 is a schematic view of the overall structure of a high borosilicate glass pot and a glass rod gripping robot arm;

in the figure: 1-workbench, 2-high borosilicate glass rod burning and melting table, 201-constant temperature electric heating furnace, 202-bearing seat, 203-rotating shaft, 204-material supporting wheel, 205-rectangular notch, 206-chain, 207-high borosilicate glass rod, 208-rotating shaft gear, 3-vision system, 301-industrial camera, 302-camera bracket, 4-mobile fire head mechanical arm, 401-first rotating shaft, 402-mobile fire head mechanical arm pitch angle adjusting shaft, 403-second rotating shaft, 404-customized fire head, 5-high borosilicate glass kettle blowing table, 501-high borosilicate glass kettle body supporting table surface, 502-sealing pad, 503-high borosilicate glass kettle body, 504-graphite pad, 505-kettle body pressurizing rod, 506-air cylinder, 507-single-action cylinder, 508-pot body pressurizing rod support, 6-borosilicate glass pot and glass rod clamping mechanical arm, 601-customized clamping jaw, 602-sixth rotating shaft of clamping mechanical arm, 603-fifth rotating shaft of clamping mechanical arm, 604-fourth rotating shaft of clamping mechanical arm, 605-third rotating shaft of clamping mechanical arm, 606-second rotating shaft of clamping mechanical arm, 607-first rotating shaft of clamping mechanical arm, 608-clamping mechanical controller, 701-speed reducing motor, 702-speed reducing motor gear, 703-speed reducing motor placing table and 8-control box.

Detailed Description

The invention is further described with reference to the following drawings and detailed description.

Embodiment 1, refer to fig. 1-8, an automated guiding nozzle system for borosilicate glass pots comprises a workbench 1, a borosilicate glass stick melting table 2, a vision system 3, a movable fire-jet mechanical arm 4, a borosilicate glass pot blowing table 5, a borosilicate glass pot and glass stick clamping mechanical arm 6, and a control box 8;

the high borosilicate glass kettle blowing table 5 comprises a high borosilicate glass kettle body supporting table surface 501, a sealing gasket 502 and a kettle body pressurizing rod 505; high borosilicate glass kettle body supporting table surface 501 is arranged at the extreme end of the workbench 1, a horizontal table surface is supported by four pillars, the size of the table surface is larger than the maximum position of the kettle body, a sealing gasket 502 is arranged at the central position of the horizontal table surface, the diameter is larger than a kettle opening, an opening is arranged at the central position of the horizontal table surface and the sealing gasket 502, an air pipe is connected with the opening at the lower part of the horizontal table surface, a kettle body pressurizing rod support 508 is arranged at one side of the horizontal table surface, a single-acting cylinder 507 is arranged on the kettle body pressurizing rod support 508, a cylinder telescopic rod 506 of the single-acting cylinder faces upwards, a kettle body pressurizing rod 505 is vertically arranged at the extreme end of the cylinder telescopic rod 506 and the cylinder telescopic rod 506, and a graphite.

As a further scheme of the invention, the high borosilicate glass rod burning and melting platform 2 comprises a constant temperature electric heating furnace 201 and a high borosilicate glass rod rotating bracket, the constant temperature electric heating furnace 201 is arranged at the end of the working platform 1, the high borosilicate glass rod rotating bracket is at least composed of five rotating shafts 203, two ends of each rotating shaft 203 are fixed in bearings parallel to bearing seats 202 of the constant temperature electric heating furnace 201, each rotating shaft 203 at least equidistantly penetrates through seven material supporting wheels 204 in the middle part of the two bearing seats, all the material supporting wheels 204 are positioned at the same position of each rotating shaft 203, the distance between the first material supporting wheel and the last material supporting wheel and the front and back two bearing seats is equal, all the rotating shafts 203 penetrate through one material supporting wheel 204 at one side of the bearing seats 202 close to the constant temperature electric heating furnace 201, the material supporting wheels 204 are positioned as close as possible to the bearing seats and have a certain distance with the bearing seats, all the rotating shafts 203 penetrate through one rotating shaft gear 208 at one side, all the rotating shaft gears 208 are positioned at the same position of the rotating shaft 203, a rectangular notch 205 is formed in the workbench 1 right below the rotating shaft gears 208, a speed reducing motor 701 is placed on a small platform right below the workbench 1 where the high borosilicate glass rod rotating bracket is positioned, the speed reducing motor gear 702 is connected with the rotating shaft gears 208 through a chain 206, all the rotating shafts 203 are driven by the speed reducing motor 701 to synchronously and slowly rotate, the high borosilicate glass rods 207 are placed between the rotating shafts 203 and are driven to rotate by the material supporting wheel 204.

As a further scheme of the invention, the vision system 3 comprises a camera bracket 302 positioned on one side of the high borosilicate glass rod rotating bracket, an industrial camera 301 arranged at the tail end of the camera bracket 302 and an image operation processing system arranged in the control box 8, wherein the lens of the industrial camera faces downwards, the acquisition range is covered to the inlets of all the high borosilicate glass rod rotating bracket and the constant temperature electric heating furnace 201, and the image operation processing system adopts a CNN algorithm vision system mature in the market.

As a further aspect of the present invention, the moving torch robot 4 comprises a two-degree-of-freedom robot and a custom torch 404, the robot base is installed at a position where the work table 1 protrudes between the borosilicate glass rod rotary bracket and the borosilicate glass pot blowing table 5, the whole two-degree-of-freedom robot is composed of a first rotary shaft 401, a second rotary shaft 403 and a connecting first rotary shaft 401, the linking arm of second rotation axis 403 constitutes, the every single move angle accessible of arm removes first arm every single move angle regulating spindle 402 and adjusts, and customization flame projecting head 404 is located the end of second rotation axis 403 rear connecting arm, and the angle of customization flame projecting head 404 can be adjusted as required, and the flame cross section size of customization flame projecting head 404 is realized through the flame projecting head of customization equidimension not, and customization flame projecting head 404 bottom even has the trachea, is the mixture of natural gas and oxygen in the trachea.

As a further aspect of the invention, the borosilicate glass pot and glass rod gripping robot 6 comprises a six degree of freedom robot and a pair of customized gripping jaws 601, the robot base is mounted on the ground near the borosilicate glass rod rotating bracket, and is located the opposite side of camera support 302, borosilicate glass pot and glass stick clamp get the arm 6 from taking the mechanical controller 608 of pressing from both sides, press from both sides and get the mechanical controller and electrically connect with control box 8, the whole six degrees of freedom arm is got the arm and is got the arm first rotating shaft 607, press from both sides and get the arm second rotating shaft 606, press from both sides and get the arm third rotating shaft 605, press from both sides and get the arm fourth rotating shaft 604, press from both sides and get the arm fifth rotating shaft 603, press from both sides and get the arm sixth rotating shaft 602 and connect the linking arm of each rotating shaft to make up, make the clamping jaw 601 locate and get the arm sixth rotating shaft 602 after.

As a further scheme of the invention, the control box 8 is positioned on the side surface of the workbench 1 and below the high borosilicate glass pot support, and is internally provided with a direct current power supply, a PLC, a speed reduction motor relay, an electromagnetic valve and a pipeline for controlling the mixing of natural gas and oxygen, an electromagnetic valve and a pipeline for controlling the inflation of the pot body, a motion control connecting circuit of two mechanical arms and an image operation processing system; the direct current power supply converts 220VAC into 24VDC to be responsible for supplying power to the PLC, the electromagnetic valve and the image operation processing system, the PLC controls the whole system to operate through controlling a relay and a mechanical arm controller, and the image operation processing system adopts a CNN algorithm visual system matured in the market and is used for sending the identified length of the glass rod and the relative position of a melting part to the PLC so as to adjust the placing position of the glass rod and determine whether to replace the glass rod. The specific relationship is shown in fig. 1.

A control method of an automatic nozzle guiding system of a high borosilicate glass pot comprises the following specific steps:

step1, the PLC controls the corresponding relay to act, and then the heating furnace and the high borosilicate glass rod rotating bracket are started;

step2, the PLC controls the mechanical arm motion controller so as to control the mechanical arm to place the glass kettle body on the blowing table;

step3, after the set time delay is finished, the PLC controls the corresponding relay, the electromagnetic valve and the mechanical arm controller to act so as to pressurize the pressurizing rod, ignite and heat the flame projecting head and lead the kettle body to reach the designated position;

step4, after the set time delay is finished, the PLC controls the corresponding mechanical arm controller to move the flame spray head away and stick the softened glass rod to the softened position of the kettle body, and then the nozzle guiding action is finished;

step5, PLC controls the corresponding mechanical arm controller to make the flame nozzle move to the designated position and blow the joint of the glass rod and the spout;

step6, PLC controls the corresponding relay and mechanical arm controller to lift the pressure bar and replace the kettle body;

step7, judging whether to replace the glass rod according to the length information of the glass rod recognized by the vision system and the set threshold value PLC; if so, replacing the glass rod and then putting the glass rod into a heating furnace, otherwise, directly putting the glass rod into the heating furnace;

step8, PLC controls the corresponding mechanical arm controller to pick up another glass rod, and then the step3 is started. While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes and modifications can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.