Automatic blanking system

Abstract

The present invention relates to an automatic blanking system, comprising: a robot, including a robotic arm and a control module communicatively connected to the robotic arm; a plurality of placement stations provided on one side of the robot and corresponding to a plurality of grades of display modules, the placement stations being used to carry containers and display modules placed by the robotic arm; a first image acquisition component, arranged close to the placement stations and communicatively connected to the control module, for acquiring and transmitting a first image of the containers at the placement stations; a second image acquisition component arranged on the other side of the robot and communicatively connected to the control module, for acquiring and transmitting a second image of the display modules grasped by the robotic arm; and a control module, for controlling the robotic arm to place the display modules at the set positions in the containers according to the first image, the second image, a first standard image of the containers at the placement stations preset, and a second standard image of the display modules in the containers, so as to realize the automatic sorting of the display modules according to their grades and the high-precision positioning of the display modules in corresponding general containers or special containers.

Description

Technical Field

[0001] The present invention relates to the technical field of automated material storage, and particularly to an automatic blanking system. Background Art

[0002] Automated material storage means that after various inspections of the display module are completed, product grading and storage after classification are carried out through an automatic blanking system, which can be connected to manual feeding or automatic feeding of an AGV cart.

[0003] Currently, most display modules sorted by the automatic blanking system need to be placed in a designated container. This designated container is generally a general-purpose container, which has low requirements for placement accuracy and can store display modules of different grades. However, for special display modules, they need to be placed in a special container, and the placement accuracy of this special container is relatively high. Generally, when the special display module is placed in the special container after being sorted by the automatic blanking system, situations such as overlapping edges and incomplete placement are likely to occur. Summary of the Invention

[0004] Based on this, in view of the problem of low positioning accuracy of the display module in the container, it is necessary to propose an automatic blanking system.

[0005] The present invention provides an automatic blanking system, including:

[0006] A robot, including a robotic arm and a control module communicatively connected to the robotic arm;

[0007] A plurality of placement stations disposed on one side of the robot and corresponding to a plurality of grades of display modules, the placement stations being used to carry the container and the display module placed by the robotic arm;

[0008] A first image acquisition member, disposed near the placement station and communicatively connected to the control module, for acquiring and transmitting a first image of the container at the placement station;

[0009] A second image acquisition member disposed on the other side of the robot and communicatively connected to the control module, for acquiring and transmitting a second image of the display module grabbed by the robotic arm;

[0010] A control module, configured to control the robotic arm to place the display module at a set position in the container according to the first image, the second image, and a preset first standard image of the container at the placement station and a second standard image of the display module in the container.

[0011] When the above automatic blanking system is in use, after different containers reach the designated positions at the placement stations, the first image acquisition component acquires the first image of the containers at the placement stations and transmits the first image to the control module. After the robotic arm grabs the display module, the second image acquisition component acquires the second image of the display module and transmits the second image to the control module. After receiving these two communication signals, the control module obtains the set position of the target container that the display module is to reach based on the first image, the second image, and the first standard image of the container at the placement station and the second standard image of the display module inside the container preset in it. Then, the control module controls the robotic arm to place the grabbed display module at the set position of the target container. By comparing the first image with the first standard image and the second image with the second standard image, it is possible to control the display module to be placed into the target container with high precision and to perform sorting judgment to achieve automatic material separation and blanking. Therefore, through the above automatic blanking system, automatic sorting of the display module according to its grade and high-precision positioning into the corresponding general-purpose container or special-purpose container can be realized.

[0012] In one embodiment, the control module is configured to compare the first image and the first standard image to obtain a first offset value and a vacant position. The first offset value is the offset amount of the container relative to the standard position of the placement station where it is located. The vacant position includes the grade number of the placement station, the idle row position number, and the idle column position number.

[0013] In one embodiment, the control module is configured to obtain a placement position based on the second image and the vacant position, and compare the second image and the second standard image to obtain a second offset value. The placement position is the grade number, row position number, and column position number of the display module. The second offset value is the offset amount of the display module relative to the standard position of the placement station where it is located.

[0014] In one embodiment, the control module is configured to determine the vacant position where the display module is to be placed and the corresponding first offset value based on the placement position, and determine the moving terminal coordinate value of the robotic arm according to the first offset value and the second offset value, and control the robotic arm to move to the moving terminal.

[0015] In one embodiment, a plurality of the placement stations are arranged at intervals along a first direction, and a transfer station is respectively arranged at both ends. The transfer station is used to carry the container. The control module obtains the placement station corresponding to the container according to the first image and controls the robotic arm to move the container to the corresponding placement station.

[0016] In one embodiment, the automatic blanking system further includes a first manipulator and a plurality of empty stations, the plurality of empty stations are arranged at intervals along the first direction on the side of the placement station away from the robot, and the empty stations are used to accommodate the fully loaded containers; the first manipulator is arranged between the empty station and the placement station and is communicatively connected to the control module, and is used to move the fully loaded container from the placement station to the empty station.

[0017] In one embodiment, the automatic blanking system further includes a second manipulator, a storage station, a picking station and a transfer platform arranged on the side of the robot away from the placement station. The storage station is used to accommodate a plurality of the display modules stacked; the picking station is used to accommodate a display module to be sorted; the second manipulator and the transfer platform are arranged between the storage station and the picking station and are communicatively connected to the control module. The second manipulator is used to transfer the display module to be sorted from the storage station to the transfer platform, and the transfer platform transfers the display module to be sorted to the picking station.

[0018] In one embodiment, the automatic blanking system further includes a first detection station, and a third image acquisition component is arranged at the first detection station. The third image acquisition component is communicatively connected to the control module and is used to collect and transmit the appearance of the lower surface of the display module to be sorted. The control module is used to control the second manipulator to transfer the display module to be sorted from the storage station to the first detection station, and after detection, control the second manipulator to transfer the display module to be sorted from the first detection station to the transfer platform.

[0019] In one embodiment, the automatic blanking system further includes a fourth image acquisition component. The fourth image acquisition component is arranged on the side of the picking station away from the robot and is communicatively connected to the control module, and is used to collect and transmit the appearance of the upper surface of the display module to be sorted. The transfer platform is slidably arranged below the fourth image acquisition component.

[0020] In one embodiment, the automatic blanking system further includes an NG station, and the NG station is used to accommodate the display modules to be sorted with NG appearance. The control module is used to control the first manipulator to transfer the robotic arm to the NG station when the appearance of the display module is NG. Description of the Drawings

[0021] Figure 1 It is a side view of the automatic blanking system according to the embodiment of the present invention;

[0022] Figure 2 It is a logic flow chart of the automatic blanking system according to the embodiment of the present invention.

[0023] The corresponding numbers of the relevant components in the figure are as follows:

[0024] 10. Automatic blanking system; 101. Base; X. First direction;

[0025] 100. Robot; 110. Manipulator arm; 120. Base;

[0026] 210. Placing station; 220. Transfer station; 230. Vacant station; 240. Material storage station; 250. Material picking station; 260. Transfer platform; 270. First detection station; 280. NG station; 290. Flipping station;

[0027] 310. First image acquisition component; 320. Second image acquisition component; 330. Third image acquisition component; 340. Fourth image acquisition component;

[0028] 410. First manipulator; 420. Second manipulator. Detailed implementation manners

[0029] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0032] In the present invention, unless otherwise clearly specified or defined, terms such as "installed", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified or defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0034] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0035] The following will describe the preferred embodiments of the present invention with reference to the accompanying drawings.

[0036] As Figure 1 and Figure 2 shown, the present invention provides an automatic blanking system 10, which is connected to automatic feeding of manual feeding or an AGV cart before material distribution, and can also be connected to automatic blanking of manual blanking and an AGV cart after material distribution, for realizing automatic sorting of display modules and automatic positioning in a container. The automatic blanking system 10 includes a robot 100, a plurality of placement stations 210, a first image acquisition member 310, and a second image acquisition member 320. These parts of the automatic blanking system 10 can be directly set at the working position. The automatic blanking system 10 may also include a base 101, and these parts are installed on the base 101, and then the automatic blanking system 10 can be conveniently and quickly placed at the working position by moving the base 101. Among them:

[0037] The robot 100 includes a robotic arm 110, a control module, and a base 120. The robotic arm 110 is movably mounted on the base 120, and the control module is mounted on the base 120. The control module and the robotic arm 110 are communicatively connected. The base 120 is mounted on the base station 101 or directly placed at the working position. In specific settings, the control module can be an image algorithm unit or other structures that can meet the requirements.

[0038] A plurality of placement stations 210 are arranged on one side of the robot 100, and the plurality of placement stations 210 correspond to display modules of multiple grades. Display modules of different grades are placed in different placement stations 210. The placement stations 210 are used to carry the containers and display modules placed by the robotic arm 110. In specific settings, the number of placement stations 210 can be two, three, four, five, or more than five. Different placement stations 210 correspond to different containers. The placement stations 210 can be placement platforms, placement frames, or other structures that can meet the requirements.

[0039] The first image acquisition component 310 is arranged close to the placement station 210. The first image acquisition component 310 is communicatively connected to the control module. The first image acquisition component 310 is used to acquire a first image, and after acquisition, the first image acquisition component 310 transmits the first image to the control module. The first image is an image of the container at the placement station 210, which can characterize the grade of the display module corresponding to the container and the placement station 210, the positional relationship between the container and the placement station 210, and the spatial information inside the container. In specific settings, the first image acquisition component 310 can be a large-field camera, but is not limited thereto. One first image acquisition component 310 can acquire images of multiple placement stations 210 to simplify the acquisition process. One first image acquisition component 310 can also correspond to only one placement station 210. By correspondingly arranging multiple first image acquisition components 310 and multiple placement stations 210, the first image can be acquired more accurately.

[0040] The second image acquisition component 320 is arranged on the other side of the robot 100. The second image acquisition component 320 is communicatively connected to the control module. The second image acquisition component 320 is used to acquire a second image, and after acquisition, the second image acquisition component 320 transmits the second image to the control module. The second image is an image of the display module grabbed by the robotic arm 110, which can characterize the current positional information of the display module relative to the placement station 210. In specific settings, the second image acquisition component 320 can be an alignment camera, but is not limited thereto. The second image acquisition component 320 can be arranged directly opposite the grabbing position of the robotic arm 110, or the control module controls the robotic arm 110 to move to be directly opposite the second image acquisition component 320.

[0041] The control module is pre-set with a first standard image and a second standard image internally. The first standard image is the standard image of the container at the placement station 210, and in this standard image, the container is placed standardly relative to the placement station 210. The second standard image is the standard image of the display module inside the container, and in this standard image, the display module is placed standardly with high precision relative to the container. The control module is used to control the movement of the robotic arm 110 according to the first image, the second image, the first standard image, and the second standard image, and the robotic arm 110 places the display module at the set position inside the container.

[0042] When the above automatic blanking system 10 is in use, after different containers reach the designated position of the placement station 210, the first image acquisition component 310 acquires the first image of the container at the placement station 210 and transmits the first image to the control module. After the robotic arm 110 grabs the display module, the second image acquisition component 320 acquires the second image of the display module and transmits the second image to the control module. After receiving these two communication signals, the control module obtains the set position of the target container that the display module is to reach according to the first image, the second image, the first standard image of the container at the placement station 210 preset inside it, and the second standard image of the display module inside the container. And the control module controls the robotic arm 110 to place the grabbed display module at the set position of the target container. Since the first image is compared with the first standard image, and the second image is compared with the second standard image, it is possible to control the display module to be placed inside the target container with high precision, and it is possible to perform sorting judgment to achieve automatic material separation and blanking. Therefore, through the above automatic blanking system 10, automatic sorting of the display module according to its grade and high-precision positioning into the corresponding general-purpose container or special-purpose container can be realized.

[0043] In a preferred implementation, the processing method of the control module for the first image is image analysis and image comparison. By comparing the first image with the first standard image, the first offset value and the vacant position are obtained. The first offset value is the offset amount of the container relative to the standard position of its placement station 210. The vacant position includes the grade number of the placement station 210, the idle row position number, and the idle column position number. When specifically setting, the control module analyzes the size information of the container in the first image and compares it with the size information of different containers in the first standard image, so as to be able to accurately and conveniently determine the grade of the container and the display module corresponding to the placement station 210. The control module analyzes the three-dimensional coordinate information of the container relative to the placement station 210 in the first image and compares it with the standard position information of the container relative to the placement station 210 in the first standard image, so as to be able to accurately and conveniently determine the first offset value. The control module analyzes the existing display modules and the idle areas inside the container in the first image and compares them with the internal information of the container in the first standard image, so as to be able to accurately and conveniently determine the vacant position.

[0044] Specifically, the control module processes the second image for image analysis and comparison. Based on the second image and the vacant position, it obtains the placement position, and obtains the second offset value by comparing the second image with the second standard image. The placement position is the grade number, row position number, and column position number of the display module. The second offset value is the offset of the display module relative to its standard position at the placement station 210. When specifically setting, the control module selects one from the vacant positions according to the pre-stored or externally input grade of the display module, further determines the placement position of the display module. The control module analyzes the position information of the display module in the second image relative to the second image acquisition member 320. Since the second image acquisition member 320 is fixed in position relative to the placement station 210, it can more accurately and conveniently determine the position information of the display module relative to the placement station 210, and compare it with the standard position information of the display module relative to the placement station 210 in the second standard image, so as to more accurately and conveniently determine the second offset value.

[0045] More specifically, the control module is used to find the grade number of the placement station 210 that is the same as the grade number of the display module, the idle row position number that is the same as the row position number, and the idle column position number that is the same as the column position number according to the grade number, row position number, and column position number information of the display module corresponding to the analyzed placement position, so as to more conveniently and accurately determine the vacant position where the display module is to be placed, and determine the corresponding first offset value according to this vacant position. The control module processes the data of the first offset value and the second offset value to determine the moving terminal coordinate value of the robotic arm 110. The control module controls the robotic arm 110 to move to the moving terminal.

[0046] For the convenience of description, the working process of the above automatic blanking system 10 is introduced by way of example below: The first image acquisition component 310 acquires and transmits the first image. The control module determines that there are no display modules at the 3rd column of the 2nd row, the 4th column of the 2nd row, and the 4th column of the 3rd row of the placement station 210 labeled 1. At this time, the robotic arm 110 grabs a display module and moves the display module to the second image acquisition component 320 for alignment. The second image acquisition component 320 acquires and transmits the second image. The control module analyzes that the placement position of the display module in the second image is at the 3rd column of the 2nd row of the placement station 210 labeled 1. The control module analyzes the offset between the position information of the display module in the second image and the position information of the 3rd column of the 2nd row of the placement station 210 labeled 1 in the second standard image to obtain the second offset value. At this time, the control module analyzes the offset between the position information of the container at the 3rd column of the 2nd row of the placement station 210 labeled 1 in the first image and the position information of the container at the 3rd column of the 2nd row of the placement station 210 labeled 1 in the second standard image to obtain the first offset value. The control module calculates the coordinate value of the mobile terminal as (X:100.000 Y:101.000 R:10.000) through the first offset value and the second offset value. The robotic arm 110 holds the display module of grade 1 and moves to the position of (X:100.000 Y:101.000 R:10.000), that is, above the 3rd column of the 2nd row of the placement station 210 labeled 1, and accurately places the display module.

[0047] For the convenience of placing the container, in a preferred embodiment, as Figure 1 well as Figure 2 shown, a plurality of placement stations 210 are arranged at intervals along the first direction X, and a transfer station 220 is respectively arranged at both ends of the plurality of placement stations 210. The transfer station 220 is used to carry the container. The control module compares the size information of different containers in the first image with the first standard image to determine which placement station 210 has no container, so as to determine the placement station 210 corresponding to the container on the transfer station 220. The control module controls the robotic arm 110 to move the container to its corresponding placement station 210, so as to conveniently, quickly, and accurately place different containers on the corresponding placement stations 210, improving the automation degree and fluency of the entire operation process of the automatic blanking system 10.

[0048] Specifically, as Figure 1 well as Figure 2As shown, the automatic blanking system 10 further includes a first manipulator 410 and a plurality of vacant workstations 230. The plurality of vacant workstations 230 are arranged on the side of the placing workstation 210 away from the robot 100, and the plurality of vacant workstations 230 are arranged at intervals along the first direction X. The sum of the number of the vacant workstations 230 is the same as that of the placing workstation 210. The vacant workstations 230 are used to accommodate fully loaded containers. The first manipulator 410 is arranged between the vacant workstations 230 and the placing workstation 210, and the first manipulator 410 is communicatively connected to the control module, and is used to move the fully loaded container from the placing workstation 210 to the vacant workstation 230 under the logical control of the control module after the container is filled with the display module. In specific settings, the vacant workstation 230 can also be arranged corresponding to the transfer workstation 220. At this time, this vacant workstation 230 is used to accommodate idle containers. The first manipulator 410 is communicatively connected to the control module, and can also be used to move the idle container from the vacant workstation 230 to the transfer workstation 220 under the logical control of the control module after the container on the intermediate workstation is grabbed and moved by the robotic arm 110. According to the number of the vacant workstations 230, one first manipulator 410 can be set, or multiple first manipulators 410 can be set. During the working process, the control module determines that there is no container on the transfer workstation 220 according to the first image. At this time, the control module sends an action signal to the first manipulator 410, and the first manipulator 410 moves the idle container from the vacant workstation 230 to the transfer workstation 220. The control module determines that the container is full according to the first image. At this time, the control module sends an action signal to the first manipulator 410, and the first manipulator 410 moves the fully loaded container from the placing workstation 210 to the vacant workstation 230, improving the automation degree and fluency of the entire operation process of the automatic blanking system 10. In addition, the first image acquisition component 310 can be arranged on the side of the placing workstation 210 away from the vacant workstation 230 and close to the robotic arm 110, and the first image acquisition component 310 can also be arranged between the placing workstation 210 and the vacant workstation 230.

[0049] For the convenience of loading the display module, in a preferred embodiment, as Figure 1 and Figure 2As shown, the automatic blanking system 10 further includes a second manipulator 420, a storage station 240, a picking station 250, and a transfer platform 260. The second manipulator 420, the storage station 240, the picking station 250, and the transfer platform 260 are arranged on the side of the robot 100 away from the placement station 210. The storage station 240 is used to accommodate a plurality of display modules stacked thereon. The picking station 250 is used to accommodate a display module to be sorted. The second manipulator 420 is arranged between the storage station 240 and the picking station 250, and the second manipulator 420 is communicatively connected to the control module for transferring the display module to be sorted from the storage station 240 to the transfer platform 260. The transfer platform 260 is arranged between the storage station 240 and the picking station 250, and the second manipulator 420 is communicatively connected to the control module for carrying the display module to be sorted and transferring the display module to be sorted to the picking station 250.

[0050] During specific setting, after the robotic arm 110 grabs the display module, the control module sends an action signal to the second manipulator 420. The second manipulator 420 moves to the storage station 240, grabs a display module to be sorted from the storage station 240, transfers the display module to be sorted to the transfer platform 260, and is transferred to the picking station 250 through the transfer platform 260, so as to facilitate, quickly and accurately realize the loading of the display module at the picking station 250. In addition, the automatic blanking system 10 further includes a decoupling station, where the decoupling operation of a plurality of stacked display modules is performed. The decoupling station and the storage station 240 are connected by a belt conveyor to further improve the automation level. An acquisition module can also be externally connected to the storage station 240. The acquisition module is used to acquire the image information of this batch of display modules and transmit the image information to the control module. The control module analyzes information such as the size and coding of the liquid crystal modules in the acquisition module to accurately and conveniently determine the grade of the liquid crystal module and pre-store this grade information. A processing module can also be externally connected to the storage station 240. The processing module acquires and analyzes the image information of this batch of display modules to determine the grade of the liquid crystal module and transmits this grade information to the control module.

[0051] For the convenience of appearance inspection of the display module, specifically, such as Figure 1 and Figure 2As shown, the automatic blanking system 10 further includes a first inspection station 270. The first inspection station 270 is provided with a third image acquisition member 330. The third image acquisition member 330 is communicatively connected to the control module and is used to acquire the lower surface appearance of the display module to be sorted and transmit the acquired lower surface appearance condition of the display module to be sorted to the control module. The control module is used to control the second manipulator 420 to transfer the display module to be sorted from the storage station 240 to the first inspection station 270, and the control module controls the second manipulator 420 to transfer the display module to be sorted from the first inspection station 270 to the transfer platform 260. Specifically, the third image acquisition member 330 can be an industrial camera. The third image acquisition member 330 can be embedded in the first inspection station 270, or can be other structural forms and setting methods that can meet the requirements. During the working process, after the robotic arm 110 grabs the display module, the control module performs a preset inspection operation, the control module sends an action signal to the second manipulator 420, the second manipulator 420 moves to the storage station 240, grabs a display module to be sorted from the storage station 240, and transfers the display module to be sorted to the first inspection station 270. The third image acquisition member 330 acquires and transmits the lower surface appearance condition of the display module to be sorted to the control module. The control module compares it with the standard lower surface appearance of the display module preset therein. When the two are basically the same, it is determined that the lower surface appearance of the display module is good. When the two are inconsistent, it is determined that the lower surface appearance of the display module is bad. And the control module sends an action signal to the second manipulator 420, and the second manipulator 420 transfers the display module to be sorted from the first inspection station 270 to the transfer platform 260.

[0052] Specifically, as Figure 1 and Figure 2As shown, the automatic blanking system 10 further includes a transfer platform 260 and a fourth image acquisition component 340. The fourth image acquisition component 340 is arranged on the side of the material taking station 250 away from the robot 100, and the fourth image acquisition component 340 is communicatively connected to the control module, and is used for acquiring the upper surface appearance of the display module to be sorted and transmitting the acquired upper surface appearance condition of the display module to be sorted to the control module. The transfer platform 260 is slidably arranged below the fourth image acquisition component 340. Specifically, the fourth image acquisition component 340 can be an industrial camera or other structural forms that can meet the requirements. During the working process, after the manipulator 110 grabs the display module, the control module performs a preset detection operation, the control module sends an action signal to the second manipulator 420, the second manipulator 420 moves to the storage station 240, grabs a display module to be sorted from the storage station 240, transfers the display module to be sorted to the transfer platform 260, the transfer platform 260 drives the display module to pass below the fourth image acquisition component 340, the fourth image acquisition component 340 acquires and transmits the upper surface appearance condition of the display module to be sorted to the control module, the control module compares it with the standard upper surface appearance of the display module preset therein, and determines that the upper surface appearance of the display module is good when the two are basically the same, and determines that the upper surface appearance of the display module is bad when the two are inconsistent; the control module controls the transfer platform 260 to continue moving to the material taking station 250. In addition, the automatic blanking system 10 further includes a flipping station 290, the flipping station 290 is arranged beside the material taking station 250 and has a flipping arm, the flipping arm is communicatively connected to the control module, when flipping is needed, the control module controls the flipping arm to grab the display module to be sorted from the material taking station 250 and perform flipping, and directly transfers the display module to be sorted to the manipulator 110 after flipping or puts it back to the material taking station 250.

[0053] For the convenience of recycling, more specifically, as Figure 1 and Figure 2As shown, the automatic blanking system 10 further includes an NG station 280 for accommodating the display modules to be sorted with NG appearance. The control module is used to control the robotic arm 110 to transfer the display module to the NG station 280 when the appearance of the display module is NG and other custom functions are met. Specifically, the control module compares the lower surface appearance of the display module to be sorted with the standard lower surface appearance of the display module preset therein. When the two are inconsistent, it determines that the lower surface appearance of the display module is defective, and sends an action signal to the robotic arm 110. The robotic arm 110 transfers the display module to be sorted from the loading station 250 to the NG station 280. The control module compares the upper surface appearance of the display module to be sorted with the standard upper surface appearance of the display module preset therein. When the two are inconsistent, it determines that the upper surface appearance of the display module is defective, and sends an action signal to the robotic arm 110. The robotic arm 110 transfers the display module to be sorted from the loading station 250 to the NG station 280 for subsequent recycling to keep the entire automatic blanking system 10 clean and tidy.

[0054] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0055] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. An automatic blanking system, characterized in that, it includes: A robot, including a robotic arm and a control module communicatively connected to the robotic arm; A plurality of placement stations provided on one side of the robot and corresponding to a plurality of levels of display modules, the placement stations being used to carry the containers and the display modules placed by the robotic arm; A first image acquisition component, provided near the placement station, communicatively connected to the control module, and used to acquire and transmit a first image of the container at the placement station; A second image acquisition component provided on the other side of the robot, communicatively connected to the control module, and used to acquire and transmit a second image of the display module grabbed by the robotic arm; The control module is used to control the robotic arm to place the display module at a set position inside the container according to the first image, the second image, and the preset first standard image of the container at the placement station and the second standard image of the display module inside the container. The control module is used to compare the first image and the first standard image to obtain a first offset value and a vacant position. The first offset value is the offset amount of the container relative to its standard position at the placement station, and the vacant position includes the level number, the idle row position number, and the idle column position number of the placement station.

2. The automatic blanking system according to claim 1, characterized in that, The control module is used to obtain a placement position according to the second image and the vacant position, and compare the second image and the second standard image to obtain a second offset value. The placement position is the level number, the row position number, and the column position number of the display module, and the second offset value is the offset amount of the display module relative to its standard position at the placement station.

3. The automatic blanking system according to claim 2, characterized in that, The control module is used to determine the vacant position where the display module is to be placed and the corresponding first offset value according to the placement position, and determine the moving terminal coordinate value of the robotic arm according to the first offset value and the second offset value, and control the robotic arm to move to the moving terminal.

4. The automatic blanking system according to claim 1, characterized in that, The plurality of placement stations are arranged at intervals in a first direction, and a transfer station is respectively provided at both ends. The transfer station is used to carry the container. The control module obtains the placement station corresponding to the container according to the first image, and controls the robotic arm to move the container to its corresponding placement station.

5. The automatic blanking system according to claim 4, characterized in that, It further includes a first manipulator and a plurality of vacant stations. The plurality of vacant stations are arranged at intervals in the first direction on the side of the placement station away from the robot. The vacant stations are used to accommodate the full containers; the first manipulator is arranged between the vacant station and the placement station, and is communicatively connected to the control module, and is used to move the full container from the placement station to the vacant station.

6. The automatic blanking system according to claim 1, It is characterized in that it further includes a second manipulator, a storage station, a picking station and a transfer platform arranged on the side of the robot away from the placing station. The storage station is used for accommodating a plurality of the display modules arranged in a stacked manner. The picking station is used for accommodating a display module to be sorted. The second manipulator and the transfer platform are arranged between the storage station and the picking station and are communicatively connected to the control module. The second manipulator is used for transferring the display module to be sorted from the storage station to the transfer platform, and the transfer platform transfers the display module to be sorted to the picking station.

7. The automatic blanking system according to claim 6 It is characterized in that it further includes a first detection station. The first detection station is provided with a third image acquisition member. The third image acquisition member is communicatively connected to the control module and is used for collecting and transmitting the appearance of the lower surface of the display module to be sorted. The control module is used for controlling the second manipulator to transfer the display module to be sorted from the storage station to the first detection station, and after detection, controlling the second manipulator to transfer the display module to be sorted from the first detection station to the transfer platform.

8. The automatic blanking system according to claim 7 It is characterized in that it further includes a fourth image acquisition member. The fourth image acquisition member is arranged on the side of the picking station away from the robot and is communicatively connected to the control module and is used for collecting and transmitting the appearance of the upper surface of the display module to be sorted. The transfer platform is slidably arranged below the fourth image acquisition member.

9. The automatic blanking system according to claim 7 or 8 It is characterized in that it further includes an NG station. The NG station is used for accommodating the display modules to be sorted with NG appearance. The control module is used for controlling the robotic arm to transfer the display module to the NG station when the appearance of the display module is NG.

10. The automatic blanking system according to claim 1 It is characterized in that the first image acquisition member is a large-field camera.

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