Pick-and-place positioning method, device and system for glass sweeping machine

Abstract

The invention discloses a taking and placing positioning method for a glass polishing machine. The method comprises a jig positioning step and a feeding positioning step. According to the jig positioning step, material tray images are acquired, at least two characteristic marks on material trays are identified from the images, the rotation angles of the material trays are calculated, and then theorientation and the position of each jig of each material tray are calculated according to the known relative position relation between each characteristic mark and each jig, wherein at least one connection line of at least two characteristic marks passes the circle center of the corresponding material tray; and according to the feeding positioning step, before glass to be processed is placed on the jigs, material tray images are acquired again, at least one characteristic mark on the material trays and / or characteristic marks on the jigs are identified from the images, and whether the identified characteristic marks are correct or not is judged according to the known relative position relation between each characteristic mark and each jig. By the adoption of the method, the flexibility ofthe feeding and taking processes is improved, and dealing with material trays staying at various angles is facilitated.

Description

technical field [0001] The invention relates to the technical field of glass sweeping, in particular to a pick-and-place positioning method for a glass sweeper, a pick-and-place method, a pick-and-place positioning device, and a pick-and-place system. Background technique [0002] Glass sweeping is a process used to polish and polish the outer surface of the glass cover (such as mobile phone cover, etc.) after CNC processing. The glass sweeping machine is a device that can sweep the glass cover. After the glass to be processed is placed on the jig of the tray, the tray starts to rotate, and the grinding disc assembly sweeps the glass to be processed on the jig. After the sweeping is completed, the material tray stops rotating, and the processed glass is removed to complete the whole process of glass sweeping. [0003] In the above process of placing the glass to be processed and removing the processed glass, because the angle of the tray is different after each stop of rota...

AI Technical Summary

Problems solved by technology

[0003] In the above process of placing the glass to be processed and removing the processed glass, because the angle of the tray is different after each stop of rotation, or because of other reasons, the angle of the tray before loading is different, which will cause the different angles of the tray on the tray. The position and orientation of the jig also have certain randomness. When automatic equipment is used to load and unload the glass sweeping machine, the position and orientation of the jig cannot be obtained by inputting the target position in advance, which is not conducive to glass sweeping The process of further automation of machine loading and unloading

[0004] At the same time, when loading and unloading the glass sweeping machine, there are still problems such as deviation of the feeding position of the glass raw material, reversed or inverted feeding of the glass raw material, etc.

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