Glass sorting device and method, and computer readable storage medium

Abstract

The present invention discloses a glass sorting device and method, and a computer-readable storage medium, wherein the glass sorting device includes an AOI detection device, a material discharge position, and a controller, wherein the AOI detection device is provided with a discharge port, and the discharge port is connected to a conveyor belt; the outlet of the conveyor belt is connected to a uniformly driven docking line, and docking platforms are fixed on both sides of the docking line; the discharge port and the outlet of the conveyor belt are distributed around the docking platform; the docking line is connected to the conveyor belt and the corresponding docking platform, and the position where the material discharge position is connected to the docking platform is provided with sensors; the controller is electrically connected to the AOI detection device, the docking line, and the sensor, respectively. The present invention controls the AOI detection device, the docking line, and the sensor through the controller, and the sensor detects whether the glass product exists, so as to realize the classification of the glass from first to last according to the corresponding category, effectively replacing manual sorting, improving production capacity, and only requiring manual contactless production throughout the process, greatly improving the product yield rate.

Description

Technical Field

[0001] The present invention relates to the technical field of glass detection, and in particular to a glass sorting device and method, and a computer-readable storage medium. Background Art

[0002] AOI (Automatic Optic Inspection) is a device that detects common defects encountered in welding production based on optical principles. AOI is a new emerging testing technology that is developing rapidly. Many manufacturers have launched AOI testing equipment. During automatic testing, the machine automatically scans the PCB through a camera, collects images, compares the tested solder joints with the qualified parameters in the database, and checks the defects on the PCB through image processing. The defects are displayed / marked through a display or automatic mark for maintenance personnel to repair.

[0003] The existing AOI glass inspection equipment can inspect mobile phone glass, flat glass or glass of car displays, etc. Taking mobile phone glass as an example, its working principle is that the feeder puts the mobile phone glass to be inspected into the assembly line, and the assembly line flows the mobile phone glass into the AOI inspection device. The mobile phone glass is inspected by the AOI equipment to generate three different product information: OK, NG, and RI. Among them, OK is a good product, NG is a defective product, and RI is a product to be re-inspected.

[0004] However, in the glass inspection equipment in the prior art, manual loading and unloading is adopted, that is, the glass to be inspected is manually placed into the AOI glass inspection equipment, and after the glass is inspected by the AOI glass inspection equipment, one of the three types of specifications, OK, NG, and RI, is given for each piece of glass, and the corresponding type of glass is manually placed in the designated material tray. Obviously, the direct problem caused by manual sorting is low efficiency, the operator is prone to fatigue, resulting in an increased error rate, and in the process of touching the glass, even if corresponding protective measures are taken, it is still easy to cause dirt on the glass, which increases the defective rate of the glass. Summary of the invention

[0005] The main purpose of the present invention is to provide a glass sorting device, aiming to solve the problem of low material feeding and high defect rate in manual glass sorting.

[0006] To achieve the above-mentioned purpose, the glass sorting equipment proposed in the present invention includes an AOI detection device, a material discharge position and a controller, wherein the AOI detection device is provided with a discharge port, and the discharge port is connected to a conveyor belt; the outlet of the conveyor belt is connected to a connecting line with uniform speed transmission, and connecting platforms are fixed on both sides of the connecting line; the discharge port and the conveyor belt outlet are distributed around the connecting platform; the connecting line is connected to the conveyor belt and the corresponding connecting platform, and sensors are provided at the position where the material discharge position is connected to the connecting platform to detect whether there is a glass product; the controller is electrically connected to the AOI detection device, the connecting line and the sensor respectively.

[0007] Preferably, the unloading position includes a first unloading box for storing good products, a second unloading box for storing defective products, and a third unloading box for storing products to be re-inspected; a first material picking robot is arranged on the side of the first unloading box, and a second material picking robot is arranged at the position where the second unloading box is connected to the third unloading box, and the controller is electrically connected to the first material picking robot and the second material picking robot respectively.

[0008] Preferably, the sensor includes a first sensor, a second sensor and a third sensor, the first sensor is arranged on a corresponding docking platform where the docking line is connected to the conveyor belt, to detect whether there is a glass product entering the docking line; the second sensor is arranged at a position where the first unloading box is connected to the docking platform, to detect whether there is a glass product on the docking line corresponding to the first unloading box; the third sensor is arranged at a position where the second unloading box is connected to the third unloading box, to detect whether there is a glass product.

[0009] In order to achieve the above object, the present invention also provides a glass sorting method, comprising the following steps:

[0010] When it is determined based on the second detection result that the second sensor detects the glass product, the controller acquires a first preset value corresponding to the first unloading box;

[0011] The controller starts parsing from the storage address corresponding to the glass product and obtains the storage content;

[0012] If there is a first storage content in the storage content that is equal to the first preset value, the controller controls the first material picking robot to grab the glass product corresponding to the first storage content and put it into the first material box.

[0013] Preferably, before the step of determining based on the second detection result that the second sensor detects the glass product and the controller acquiring the first preset value corresponding to the first unloading box, the glass sorting method further includes:

[0014] The AOI detection device detects the glass product to obtain a sorting result corresponding to the glass product, and the controller receives the first detection result of the first sensor and the second detection result of the second sensor in real time;

[0015] When it is determined based on the first detection result that the first sensor detects a glass product, the controller acquires a sorting result corresponding to the glass product;

[0016] Based on the sorting result, the controller assigns a value to the sorting result and stores it in a storage address of a register, wherein the storage order of the glass products is: storage starts from the first address of the storage address and is stored by offsetting two bytes in sequence.

[0017] Preferably, after the step of controlling the first picking robot to grab the glass product corresponding to the first storage content and put it into the first unloading box if there is a first storage content in the storage content that is equal to the first preset value, the method further includes:

[0018] When the controller receives the material picking completion signal from the first material picking robot, the controller reassigns a value to the storage address corresponding to the first storage content; wherein the reassigned value is not equal to the value corresponding to the sorting result.

[0019] Preferably, after the step of controlling the first picking robot to grab the glass product corresponding to the first storage content if there is a first storage content in the storage content that is equal to the first preset value, the method further includes:

[0020] The controller receives the third detection result of the third sensor in real time;

[0021] When it is determined based on the third detection result that the third sensor detects the glass product, the controller acquires a second preset value corresponding to the second unloading box and a third preset value corresponding to the third unloading box;

[0022] The controller starts parsing from the first address of the storage address and obtains the storage content. If there is a third storage content in the storage content that is equal to the second preset value, the controller controls the second material picking robot to grab the glass product corresponding to the third storage content and put it into the second material box.

[0023] Preferably, the step of the controller parsing from the first address of the storage address and obtaining the storage content further comprises:

[0024] If there is a fourth storage content in the storage content that is equal to the third preset value, the controller controls the second material picking robot to grab the glass product corresponding to the fourth storage content and put it into the third material box.

[0025] Preferably, the step of the controller parsing from the first address of the storage address and obtaining the storage content further comprises:

[0026] If there is a fifth storage content in the storage content that is equal to the reassigned storage content, the controller controls parsing of a sixth storage content that is offset by two bytes based on the storage address corresponding to the fifth storage content.

[0027] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a glass sorting program is stored. When the glass sorting program is executed by a processor, the steps of the glass sorting method described in any one of the above-mentioned methods are implemented.

[0028] The technical solution of the present invention controls the AOI detection device, the docking line, and the sensor through the controller. The sensor detects whether the glass product exists at the position where the docking line is connected to the conveyor belt, and the position where the material discharge position is connected to the docking platform and the corresponding position on the docking line; when the sensor at the position where the material discharge position is connected to the docking platform detects the existence of the glass product, it means that the glass product has arrived at the material discharge position, and the controller obtains the preset value corresponding to the material discharge position. The controller starts to parse and obtain the storage content from the storage address corresponding to the glass product. If there is a first storage content in the storage content that is equal to the corresponding preset value, the controller controls the material-picking robot of the material discharge position to grab the glass product corresponding to the first storage content and put it into the corresponding material discharge position, and classifies the glass from the first to the last according to the corresponding category. The glass sorting equipment and method of the present invention effectively replaces manual sorting, can be produced continuously and uninterruptedly, improves the utilization rate of the AOI detection device, improves production capacity, and is accurate in sorting. Only manual contactless production is required throughout the process, avoiding manual contact with the glass to cause glass contamination, and greatly improving the product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of glass sorting equipment in the hardware operating environment involved in the embodiment of the present invention;

[0030] Figure 2 It is a structural schematic diagram of an embodiment of a glass sorting device of the present invention;

[0031] Figure 3 A schematic block diagram of a glass sorting device according to the present invention;

[0032] Figure 4 It is a schematic flow chart of a first embodiment of a glass sorting method of the present invention;

[0033] Figure 5 is a schematic flow chart of a second embodiment of a glass sorting method of the present invention;

[0034] Figure 6 is a schematic flow chart of a third embodiment of a glass sorting method of the present invention;

[0035] Figure 7 The figure is a flow chart showing the principle of parsing register addresses in the glass sorting method of the present invention.

[0036] Description of Figure Numbers:

[0037] Label name Label name 10 AOI inspection device 20 Unloading position 30 Controller 40 Connecting line 50 Dock 60 sensor 100 Conveyor Belt 200 First unloading box 201 Second feeding box 202 The third feeding box 203 First reclaiming robot 204 Second pick-up robot 205 Feeding tray 206 Transmission distance 600 First sensor 601 Second sensor 602 Third sensor

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] like Figure 1 As shown, Figure 1 It is a schematic diagram of the structure of glass sorting equipment in the hardware operating environment involved in the embodiment of the present invention.

[0043] The glass sorting device of the embodiment of the present invention can be a PC, or it can be a mobile terminal device with a display function, such as a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III) player, an MP4 (Moving Picture Experts Group Audio Layer IV) player, or a portable computer.

[0044] like Figure 1 As shown, the glass sorting device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The structure of the glass sorting device shown in the figure does not constitute a limitation on the glass sorting device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0046] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a glass sorting program.

[0047] exist Figure 1 In the glass sorting device shown, the network interface 1004 is mainly used to connect to the backend server and perform data communication with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and perform data communication with the client; and the processor 1001 can be used to call the glass sorting program stored in the memory 1005 and perform the following operations:

[0048] When it is determined based on the second detection result that the second sensor detects the glass product, the controller acquires a first preset value corresponding to the first unloading box;

[0049] The controller starts parsing from the storage address corresponding to the glass product and obtains the storage content;

[0050] If there is a first storage content in the storage content that is equal to the first preset value, the controller controls the first material picking robot to grab the glass product corresponding to the first storage content and put it into the first material box.

[0051] Furthermore, the processor 1001 may call the glass sorting program stored in the memory 1005, and further perform the following operations:

[0052] The AOI detection device detects the glass product to obtain a sorting result corresponding to the glass product, and the controller receives the first detection result of the first sensor and the second detection result of the second sensor in real time;

[0053] When it is determined based on the first detection result that the first sensor detects a glass product, the controller acquires a sorting result corresponding to the glass product;

[0054] Based on the sorting result, the controller assigns a value to the sorting result and stores it in a storage address of a register, wherein the storage order of the glass products is: storage starts from the first address of the storage address and is stored by offsetting two bytes in sequence.

[0055] Furthermore, the processor 1001 may call the glass sorting program stored in the memory 1005, and further perform the following operations:

[0056] When the controller receives the material picking completion signal from the first material picking robot, the controller reassigns a value to the storage address corresponding to the first storage content; wherein the reassigned value is not equal to the value corresponding to the sorting result.

[0057] Furthermore, the processor 1001 may call the glass sorting program stored in the memory 1005, and further perform the following operations:

[0058] The controller receives the third detection result of the third sensor in real time;

[0059] When it is determined based on the third detection result that the third sensor detects the glass product, the controller acquires a second preset value corresponding to the second unloading box and a third preset value corresponding to the third unloading box;

[0060] The controller starts parsing from the first address of the storage address and obtains the storage content. If there is a third storage content in the storage content that is equal to the second preset value, the controller controls the second material picking robot to grab the glass product corresponding to the third storage content and put it into the second material box.

[0061] Furthermore, the processor 1001 may call the glass sorting program stored in the memory 1005, and further perform the following operations:

[0062] If there is a fourth storage content in the storage content that is equal to the third preset value, the controller controls the second material picking robot to grab the glass product corresponding to the fourth storage content and put it into the third material box.

[0063] Reference Figure 2 , Figure 2 It is a structural schematic diagram of an embodiment of a glass sorting device of the present invention; Figure 3 It is a block diagram of the glass sorting equipment of the present invention.

[0064] In an embodiment of the present invention, the glass sorting equipment, such as Figure 2-3 As shown, it includes an AOI detection device 10, a material discharge position 20 and a controller 30. The AOI detection device 10 is provided with a discharge port, and the discharge port is connected to a conveyor belt 100; the outlet of the conveyor belt 100 is connected to a connecting line 40 with uniform speed transmission, and connecting platforms 50 are fixed on both sides of the connecting line 40; the discharge position 20 and the outlet of the conveyor belt 100 are distributed around the connecting platform 50; the connecting line 40 is connected to the conveyor belt 100 and the corresponding connecting platform 50, and the position where the material discharge position 20 is connected to the connecting platform 50 is provided with a sensor 60 for detecting whether there is a glass product; the controller 30 is electrically connected to the AOI detection device 10, the connecting line 40, and the sensor 60 respectively.

[0065] The technical solution of the present invention controls the AOI detection device 10, the docking line 40, and the sensor 60 through the controller 30. The sensor 60 detects whether the glass product exists at the position where the docking line 40 is connected to the conveyor belt 100, and the position where the unloading position 20 is connected to the docking platform 50 and the corresponding position on the docking line 40; when the sensor 60 at the position where the unloading position 20 is connected to the docking platform 50 detects the existence of the glass product, it means that the glass product has arrived at the unloading position 20, and the controller 30 obtains the preset value corresponding to the unloading position 20. The controller 30 starts to parse from the storage address corresponding to the glass product and obtains the storage content. If there is a first storage content in the storage content that is equal to the corresponding preset value, the controller 30 controls the material picking robot of the unloading position 20 to grab the glass product corresponding to the first storage content and put it into the corresponding unloading position 20, and classifies the glass in order from first to last according to the corresponding categories. The glass sorting equipment of the present invention effectively replaces manual sorting, can produce continuously and uninterruptedly, improves the utilization rate of the AOI detection device 10, increases production capacity, and is accurate in sorting. The entire process only requires non-manual contact production, avoids manual contact with the glass causing contamination of the glass, and greatly improves the product yield.

[0066] Preferably, the unloading position 20 includes a first unloading box 200 for storing good products, a second unloading box 201 for storing defective products, and a third unloading box 202 for storing products to be re-inspected; a first material picking robot 203 is arranged on the side of the first unloading box 200, and a second material picking robot 204 is arranged at the position where the second unloading box 201 and the third unloading box 202 are connected, and the controller 30 is electrically connected to the first material picking robot 203 and the second material picking robot 204 respectively. The first material box 200 is used to store good products, the second material box 201 is used to store defective products, and the third material box 202 is used to store products to be re-inspected. When the glass product reaches the first material box 200 connected to the docking station 50 and the corresponding docking line 40 position, if the glass product is a good product, the controller 30 controls the first material picking robot 203 to grab the glass product and put it into the first material box 200; when the glass product reaches the second material box 201 connected to the third material box 202 and the corresponding docking line 40 position, if the glass product is a defective product, the controller 30 controls the second material picking robot 204 to grab the glass product and put it into the second material box 201; if the glass product is a product to be re-inspected, the controller 30 controls the second material picking robot 204 to grab the glass product and put it into the third material box 202. The defective products and the products to be re-inspected are picked up by one picking robot, so that the sorting equipment has a compact structure and saves costs.

[0067] Preferably, the sensor 60 includes a first sensor 600, a second sensor 601 and a third sensor 602. The first sensor 600 is arranged on the docking table 50 corresponding to the docking line 40 connected to the conveyor belt 100, so as to detect whether there are glass products entering the docking line 40; the second sensor 601 is arranged at the position where the first unloading box 200 is connected to the docking table 50, so as to detect whether there are glass products on the docking line 40 corresponding to the first unloading box 200; the third sensor 602 is arranged at the position where the second unloading box 201 is connected to the third unloading box 202, so as to detect whether there are glass products.

[0068] In this embodiment, the first sensor 600 is used to detect whether there is a glass product at the position where the connecting line 40 is connected to the conveyor belt 100, that is, to detect whether the glass product is transported from the discharge port of the AOI detection device 10 to the connecting line 40 via the conveyor belt 100; after the glass product is detected in the AOI detection device 10 to obtain the sorting structure, when the first sensor 600 detects the glass product, the AOI detection device 10 is triggered to transmit the corresponding sorting result of the glass product to the controller 30 in a certain communication mode, such as IO, RS232 / 485, Profibus bus communication mode. Assuming that the glass product is a good product, the number corresponding to the good product is set to 1, and the controller 30 will “1”. " is stored in the storage address in the register. If the glass product is the first glass product entering the connecting line 40, the storage address corresponding to the first glass product is set to D0; assuming that the second glass product entering the connecting line 40 is a defective product, the number corresponding to the defective product is set to 2. When the second glass product triggers the first sensor 600, the controller 30 stores "2" in the corresponding storage address in the register and sets it to D2. Similarly, when each glass product enters the connecting line 40, the controller 30 stores the corresponding number in the corresponding storage address, which needs to be offset by a double word based on the original address, that is, the address of the glass product is stored in sequence in the manner of D0→D2→D4→D6→...→Dn.

[0069] When the glass product passes through the second sensor 601, the second sensor 601 is triggered, and the controller 30 will parse the storage content starting from D0 and compare it with the number "1" that identifies a good product. If D0=1, the first material picking robot 203 of the controller 30 grabs the glass product and puts it into the first unloading box 200. After grabbing, since the glass product corresponding to the address has been taken away, the address D0 is reassigned, such as D0=4, as long as D0 is not equal to any number representing a good product, a defective product, or a product to be re-inspected, so that the sequence of the subsequent glass products will not be changed because a glass product has been taken away; if D0 is not equal to 1, the glass product continues to flow into the next workstation, and when the next glass product passes through the second sensor 601, the controller 30 parses the address and shifts it back by two bytes based on D0, that is, scans whether D2 is equal to 1.

[0070] After being screened by the first unloading box 200, the glass products that have not been taken away continue to flow into the next station through the connecting line 40, that is, the connecting line 40 corresponding to the second unloading box 201 and the third unloading box 202. At this time, the controller 30 regularly scans and parses the address, such as deleting the register address storing glass information according to a clock pulse of 0.1 seconds, and each time the scan is performed, the register address shifts by two bytes, that is, D0→D2→D4→D6→...→Dn. During the scanning process, if Dn=4, the controller 30 controls the second material picking robot 204 not to perform any material picking action, so the glass product at this location does not actually exist, and the internal logic of the controller 30 will always wait for the connecting line 204 to be connected. The third sensor 602 on 40 is triggered; when the glass product passes through the third sensor 602, the third sensor 602 is triggered, and the controller 30 receives the sorting result of the glass product and analyzes the current storage address. If Dn is a defective product, the controller 30 controls the second picking robot 204 to grab the glass product and put it into the second unloading box 201; if Dn is a product to be re-inspected, the controller 30 controls the second picking robot 204 to grab the glass product and put it into the third unloading box 202; if the judgment is wrong, the controller 30 controls the second picking robot 204 to put the glass product into the third unloading box 202, thereby effectively completing the sorting of defective products and products to be re-inspected.

[0071] Preferably, two groups of the first sensor 600, the second sensor 601 and the third sensor 602 are provided, and are symmetrically distributed on both sides of the docking station 50. Two groups of the first sensor 600, the second sensor 601 and the third sensor 602 are provided, so that two groups of glass products flow on one production line, which is conducive to improving the detection efficiency and sorting efficiency.

[0072] Preferably, the first sensor 600, the second sensor 601 and the third sensor 602 are all photoelectric sensors 60. The photoelectric sensor 60 is a sensor 60 that uses a photoelectric element as a detection element, which first converts the measured change into a change in an optical signal, and then further converts the optical signal into an electrical signal with the help of the photoelectric element.

[0073] Preferably, there are two discharge ports, and the first discharge box 200, the second discharge box 201 and the third discharge box 202 are each provided with two groups, and are symmetrically distributed on both sides of the docking station 50. The first discharge box 200, the second discharge box 201 and the third discharge box 202 are each provided with two groups, which can store more glass products and effectively improve the sorting efficiency.

[0074] Preferably, the second material box 201 and the third material box 202 are fixedly connected to form a material tray 205, and the material trays 205 are symmetrically distributed on both sides of the docking station 50, and the material trays, the first material box 200 and the outlet of the conveyor belt 100 surround the docking station 50. The second material box 201 and the third material box 202 are fixedly connected to form a material tray, which makes the device compact.

[0075] Preferably, the first material box 200, the second material box 201 and the third material box 202 are respectively perpendicular to the docking station 50. The first material box 200, the second material box 201 and the third material box 202 are respectively perpendicular to the docking station 50 so that the structural layout of the equipment is organized.

[0076] Preferably, a transmission distance 206 is provided between the discharge port and the first unloading box 200, and between the first unloading box 200 and the second unloading box 201. The transmission distance 206 is conducive to a buffer when the first picking robot 203 and the second picking robot 204 grab the glass product, avoiding wrong picking of materials.

[0077] In order to achieve the above object, the present invention also provides a glass sorting method, please refer to Figure 4 , Figure 4 FIG. 1 is a flow chart of a first embodiment of a glass sorting method according to the present invention.

[0078] In a first embodiment, a method for sorting glass includes the following steps:

[0079] S10, when it is determined based on the second detection result that the second sensor detects the glass product, the controller obtains a first preset value corresponding to the first material box;

[0080] S20, the controller starts parsing from the storage address corresponding to the glass product and obtains the storage content;

[0081] S30, if there is a first storage content in the storage content that is equal to the first preset value, the controller controls the first picking robot to grab the glass product corresponding to the first storage content and put it into the first unloading box.

[0082] The technical solution of the present invention controls the AOI detection device, the docking line, and the sensor through the controller. The sensor detects whether the glass product exists at the position where the docking line is connected to the conveyor belt, and the position where the material discharge position is connected to the docking platform and the corresponding position on the docking line; when the sensor at the position where the material discharge position is connected to the docking platform detects the existence of the glass product, it means that the glass product has reached the material discharge position, and the controller obtains the preset value corresponding to the material discharge position. The controller starts to parse from the storage address corresponding to the glass product and obtains the storage content. If there is a first storage content in the storage content that is equal to the corresponding preset value, the controller controls the material picking robot of the material discharge position to grab the glass product corresponding to the first storage content and put it into the corresponding material discharge position, and classifies the glass from first to last according to the corresponding category. The glass sorting method of the present invention effectively replaces manual sorting, can produce continuously and uninterruptedly, improves the utilization rate of the AOI detection device, improves production capacity, and is accurate in sorting. Only manual contactless production is required throughout the process, which greatly improves the product yield rate.

[0083] Based on the first embodiment, a second embodiment of the glass sorting method of the present invention is proposed. Figure 5 Before step 10, the glass sorting method further comprises:

[0084] S11, the AOI detection device detects the glass product to obtain a sorting result corresponding to the glass product, and the controller receives the first detection result of the first sensor and the second detection result of the second sensor in real time;

[0085] S12, when it is determined based on the first detection result that the first sensor detects a glass product, the controller acquires a sorting result corresponding to the glass product;

[0086] S13, based on the sorting result, the controller assigns a value to the sorting result and stores it in a storage address of a register, wherein the storage order of the glass products is: storage starts from the first address of the storage address and is stored with an offset of two bytes in sequence.

[0087] In this embodiment, the AOI detection device detects the glass product to obtain the sorting result corresponding to the glass product, and the controller receives the first detection result of the first sensor and the second detection result of the second sensor in real time; when it is determined based on the first detection result that the first sensor detects the glass product, the controller obtains the sorting result corresponding to the glass product; based on the sorting result, the controller assigns the sorting result and stores it in the storage address of the register, wherein the storage order of the glass product is: storage starts from the first address of the storage address, and is stored by offsetting two bytes in sequence. The specific implementation method is:

[0088] 1. Define three pieces of mobile phone (or tablet) glass G1, G2, and G3, and feed them into the AOI inspection equipment. The inspection results are defined as OK, NG, and RI respectively.

[0089] 2. If Figure 2 As shown, after G1, G2, and G3 pass through the AOI detection, they pass through the first sensor respectively, triggering the AOI detection device, and transmitting the corresponding detection results to the sorting device controller in a certain communication mode, such as IO, RS232 / 485, Profibus, etc. For example, OK is set to 1, NG is set to 2, and RI is set to 3 in the program code. When G1 triggers the first sensor, the AOI detection device will transmit the G1 detection result 1 to the controller, and the controller internal program code will store 1 in address D0. When G2 triggers the first sensor, the AOI detection device will transmit the G2 detection result 2 to the controller. The controller will store 2 in address D2, and so on. When G3 triggers the first sensor, AOI will transmit the G3 detection result 3 to the controller, and the controller's internal program code will store 3 in address D4. Each time the glass triggers the first sensor and completes the transmission of the corresponding result (1, 2 or 3) to the controller, the address where the controller stores the corresponding result needs to be offset by a double word based on the original address (that is, from D0 to D2) in order to store the address of the next piece of glass. This principle is called "addressing" in programming; the entire step 2 adopts the "stack" thinking.

[0090] 3. If Figure 2 As shown, after the AOI inspection, the mobile phone (or tablet) glass G1, G2, and G3 flow to the "OK BIN", that is, the docking line position corresponding to the first unloading box, through the connecting line, the second sensor is triggered, and the controller will parse the storage content starting from D0 and compare it with the number "1" indicating the OK status. For example, if D0=1, the first material picking robot allows the material picking signal. After the material picking is completed, D0=4 is reassigned, where 4 is not any number in the three mark data of OK, NG, and RI. If D0≠1, it is directly ignored, but the current parsed address needs to be shifted back by 2 bits, that is, D2. Every time the glass triggers the second sensor, it will cause the program to parse the register address content and shift the address back by 2 bits. The principle flow Figure 7 .

[0091] Further, step S50 includes:

[0092] When the controller receives the material picking completion signal from the first material picking robot, the controller reassigns a value to the storage address corresponding to the first storage content; wherein the reassigned value is not equal to the value corresponding to the sorting result.

[0093] In this embodiment, after the material is taken, D0 is reassigned to 4, where 4 is not any number among the three flag data of OK, NG, and RI. If D0≠1, it is directly ignored, but the current parsed address needs to be shifted back by 2 bits, that is, D2. Every time the glass triggers the second sensor, it will cause the program to parse the register address content and shift the address back by 2 bits.

[0094] Based on the second embodiment, a third embodiment of the glass sorting method of the present invention is proposed. Figure 6 After step S30, the glass sorting method further includes:

[0095] S40, the controller receives a third detection result of the third sensor in real time;

[0096] S50, when it is determined based on the third detection result that the third sensor detects the glass product, the controller acquires a second preset value corresponding to the second unloading box and a third preset value corresponding to the third unloading box;

[0097] S60, the controller starts parsing from the first address of the storage address and obtains the storage content. If there is a third storage content in the storage content that is equal to the second preset value, the controller controls the second picking robot to grab the glass product corresponding to the third storage content and put it into the second unloading box.

[0098] In this embodiment, after being "screened" by the "OK" BIN, that is, after being screened by the first unloading box, the glass continues to flow to the next BIN position through the connecting line. As shown in the figure, "NG" and "RI" are sorted by the same material-picking robot. The advantages of such a structure are compactness and cost saving. When the glass flows to the unloading tray of the combination of "NG" and "RI" through the connecting line, the third sensor on the connecting line is triggered. First, the program is parsed through the timing scanning function, wherein the scanning method is: flashing according to the clock pulse of 0.1S, continuously meeting the conditions to store the register address of the glass information (OK (1), NG (2) or RI (3)), and each time the scan is performed, the register address is offset by 2 bytes, such as D0→D2→D4...→Dn. During the scanning process, if Dn (n=0, 2, 4, 6...n)=4, NG or RI The BIN robot does not perform any action, and the program code inside the controller directly offsets the address by 2 bytes. If Dn (n=0, 2, 4, 6...n) ≠ 4, the program logic inside the controller will wait for the third sensor on the connecting line to be triggered. However, the triggered glass is no longer marked as starting from D0 in the program, but starts from the number of offset glass pieces filtered out by Dn=4 (Dn=4 represents the number of glasses taken away by the first material-picking robot). At this time, when Dn=2, the controller will give the second material-picking robot an "NG" signal, and the second material-picking robot will take the glass that triggers the third sensor to the second unloading box. When Dn=3, the controller will give the second material-picking robot an "RI" signal, and the second material-picking robot will take the glass that triggers the third sensor to the third unloading box. On this basis, if the second material-picking robot makes a mistake when the glass with Dn=2 triggers the third sensor, the controller will give the second material-picking robot an "RI" signal, and the second robot will take the glass to the third unloading box.

[0099] Furthermore, step S60 further includes:

[0100] If there is a fourth storage content in the storage content that is equal to the third preset value, the controller controls the second material picking robot to grab the glass product corresponding to the fourth storage content and put it into the third material box.

[0101] In this embodiment, when Dn=3, the controller will give the second picking robot an "RI" signal, and the second picking robot will take the glass that triggers the third sensor to the third unloading box.

[0102] Furthermore, step S60 further includes:

[0103] If there is a fifth storage content in the storage content that is equal to the reassigned storage content, the controller controls parsing of a sixth storage content that is offset by two bytes based on the storage address corresponding to the fifth storage content.

[0104] In this embodiment, if Dn (n=0, 2, 4, 6...n)=4, the second material-retrieving robot does not perform any action, and the program code inside the controller directly offsets the address by 2 bytes.

[0105] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a glass sorting program is stored. When the glass sorting program is executed by a processor, the steps of the glass sorting method described above are implemented.

[0106] The specific embodiments of the computer-readable storage medium of the present invention are substantially the same as the various embodiments of the above-mentioned glass sorting method, and are not described in detail herein.

[0107] It should be noted that the technical solutions of the various embodiments of the present invention can be combined with each other, but it must be based on the fact that technical personnel in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0108] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A glass sorting method, characterized in that: The following steps are involved: The AOI detection device detects the glass product to obtain a sorting result corresponding to the glass product, and the controller receives the first detection result of the first sensor and the second detection result of the second sensor in real time; When it is determined based on the first detection result that the first sensor detects a glass product, the controller acquires a sorting result corresponding to the glass product; Based on the sorting result, the controller assigns a value to the sorting result and stores it in a storage address of a register, wherein the storage order of the glass products is: storage starts from the first address of the storage address and is stored by offsetting two bytes in sequence; When it is determined based on the second detection result that the second sensor detects the glass product, the controller obtains a first preset value corresponding to the first unloading box; The controller starts parsing from the storage address corresponding to the glass product and obtains the storage content; If there is a first storage content in the storage content that is equal to the first preset value, the controller controls the first picking robot to grab the glass product corresponding to the first storage content and put it into the first unloading box; When the controller receives the material picking completion signal from the first material picking robot, the controller reassigns a value to the storage address corresponding to the first storage content; wherein the reassigned value is not equal to the value corresponding to the sorting result.

2. The glass sorting method according to claim 1, characterized in that: After the step of controlling the first picking robot to grab the glass product corresponding to the first storage content if there is a first storage content in the storage content that is equal to the first preset value, the method further includes: The controller receives the third detection result of the third sensor in real time; When it is determined based on the third detection result that the third sensor detects the glass product, the controller acquires a second preset value corresponding to the second unloading box and a third preset value corresponding to the third unloading box; The controller starts parsing from the first address of the storage address and obtains the storage content. If there is a third storage content in the storage content that is equal to the second preset value, the controller controls the second material picking robot to grab the glass product corresponding to the third storage content and put it into the second material box.

3. The glass sorting method according to claim 2, characterized in that: The step of the controller parsing from the first address of the storage address and obtaining the storage content also includes: If there is a fourth storage content in the storage content that is equal to the third preset value, the controller controls the second material picking robot to grab the glass product corresponding to the fourth storage content and put it into the third material box.

4. The glass sorting method according to claim 2, characterized in that: The step of the controller parsing from the first address of the storage address and obtaining the storage content also includes: If there is a fifth storage content in the storage content that is equal to the reassigned storage content, the controller controls parsing of a sixth storage content that is offset by two bytes based on the storage address corresponding to the fifth storage content.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a glass sorting program, and when the glass sorting program is executed by a processor, the steps of the glass sorting method according to any one of claims 1 to 4 are implemented.

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