Automatic glass loading machine, method and controller

Abstract

The present application provides an automatic glass loading machine, method and controller, wherein a plurality of pieces of glass to be loaded are vertically placed on a glass rack; the machine comprises: a three-dimensional motion module, comprising a first motion module and a second motion module opposite thereto; a transverse axis, comprising a first end and a second end oppositely disposed, and connected to the first motion module and the second motion module respectively; a fixed clamp, fixedly disposed under the transverse axis; a clamp moving module and a mobile clamp, disposed below the transverse axis relative to the fixed clamp; a visual acquisition module, disposed toward the glass rack, and acquiring glass image information of the glass rack; a controller, acquiring glass rack position information and glass gap information corresponding to each piece of glass according to the glass image information, so as to control the three-dimensional motion module to move the transverse axis to the top of the glass according to the glass rack position information; controlling the clamp moving module to move the position of the mobile clamp according to the glass gap information, and then controlling the three-dimensional motion module to lower the transverse axis and controlling the mobile clamp and the fixed clamp to clamp the glass, so as to complete loading.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, applied to the photovoltaic field, and in particular to an automatic glass loading machine, method and controller. Background Art

[0002] In the process of photovoltaic glass production and downstream product application, operations such as flipping, loading and short-distance transportation are essential steps. At present, most of these operations still rely on manual work, which not only increases the labor intensity of workers, but also brings many problems, seriously affecting the quality and production efficiency of glass. Among them, the existing problems include at least:

[0003] 1. Glass is easily damaged: During manual handling, the corners of glass are easily bumped, especially during flipping operations, which often require the cooperation of multiple people. During the handling process, the glass may have tiny cracks or breakages. These damages may cause the glass to burst during subsequent processing, increase the scrap rate, and reduce product quality.

[0004] 2. High labor intensity: Long-term manual handling not only consumes a lot of physical strength, but also may cause worker fatigue and increase the risk of work-related injuries. In addition, the workers' labor intensity is high and their work efficiency is low, which makes it difficult to meet the requirements of modern production lines for high efficiency and high stability.

[0005] 3. Low production efficiency: The uncertainty and slowness of manual operation make it difficult to automate and standardize the entire production process, and production efficiency is seriously restricted. Especially in large-scale production, frequent manual loading and turning operations greatly extend the production cycle and increase production costs.

[0006] 4. High operational complexity: For glass of different sizes and thicknesses, manual handling requires constant adjustment of the operation method, which requires high skills of workers. In actual production, the skill levels of workers vary, which can easily lead to operational errors and further affect production quality.

[0007] Therefore, there is an urgent need for an automatic glass loading machine to solve at least one of the above problems. Summary of the invention

[0008] The present application provides an automatic glass loading machine, method and controller, which aims to solve the problems that flipping, loading and short-distance transportation are essential steps in the current photovoltaic glass production and downstream product application process. At present, most of these operations still rely on manual work, which not only increases the labor intensity of workers, but also brings many problems, seriously affecting the quality and production efficiency of glass. Among them, the existing problems include at least glass susceptibility to damage, high labor intensity, low production efficiency and high operation complexity.

[0009] In a first aspect, the present application provides an automatic glass loading machine, wherein a plurality of glass sheets to be loaded are vertically placed on a glass rack; the machine comprises:

[0010] A three-dimensional motion module, the three-dimensional motion module comprising a first motion module and a second motion module arranged opposite to each other;

[0011] A transverse axis, the transverse axis comprising a first end and a second end arranged opposite to each other, the first end and the second end being connected to the first motion module and the second motion module respectively;

[0012] A fixed clamping plate, the fixed clamping plate is fixedly arranged under the horizontal axis;

[0013] A clamp plate moving module and a moving clamp plate, wherein the clamp plate moving module and the moving clamp plate are arranged below the horizontal axis relative to the fixed clamp plate;

[0014] A visual acquisition module, the visual acquisition module is disposed toward the glass rack and is used to acquire glass image information of the glass rack;

[0015] A controller is electrically connected to the three-dimensional motion module, the clamp moving module and the visual acquisition module, and is used to obtain the glass rack position information and the glass gap information corresponding to each piece of the glass according to the glass image information, so as to control the three-dimensional motion module to move the horizontal axis to the top of the glass according to the glass rack position information; control the clamp moving module to move the position of the mobile clamp according to the glass gap information so that the glass gap is located between the mobile clamp and the fixed clamp, and then control the three-dimensional motion module to lower the horizontal axis and control the clamp moving module to move the mobile clamp so that the mobile clamp and the fixed clamp clamp the glass, thereby completing the loading of the glass.

[0016] In a second aspect, the present application provides an automatic glass-loading method, which is applied to a controller of an automatic glass-loading machine provided in any embodiment of the present application; the method comprises:

[0017] Acquire glass image information of the glass rack to be loaded collected by the visual collection module;

[0018] Acquire the glass frame position information and the glass gap information corresponding to each piece of glass according to the glass image information;

[0019] Controlling the three-dimensional motion module to move the horizontal axis to above the glass according to the position information of the glass frame;

[0020] Control the clamping plate moving module to move the position of the movable clamping plate according to the glass gap information, so that the glass gap is located between the movable clamping plate and the fixed clamping plate;

[0021] The three-dimensional motion module is controlled to lower the horizontal axis and the clamping plate moving module is controlled to move the movable clamping plate, and the movable clamping plate and the fixed clamping plate are controlled to clamp the glass to complete the loading of the glass.

[0022] In a third aspect, the present application provides a controller, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement the steps of the automatic glass-laying method provided in any embodiment of the present application when executing the computer program.

[0023] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the automatic glass-up method provided in any embodiment of the present application.

[0024] An automatic glass loading machine, method and controller provided in the embodiment of the present application, the automatic glass loading machine realizes automatic loading of photovoltaic glass by adopting a series of technical modules, thereby reducing manual intervention and solving the problems existing in the traditional manual loading process. First of all, the modules and functions included in the glass loading machine are as follows: three-dimensional motion module: this module is responsible for controlling the movement and up and down movement of the horizontal axis, including movement in the X-axis and Y-axis directions and up and down movement in the Z-axis direction. The position and height are adjusted by different combined movements of these three axes so that the splint can accurately reach the position of the target glass. Horizontal axis: the horizontal axis is a bridge connecting two motion modules (the first motion module and the second motion module), and a fixed splint is fixedly set at one end thereof, and a movable splint moving module and a moving splint are connected at the other end. Such a design ensures that the glass is not subjected to any unnecessary distortion or damage during the process of being grasped and carried. Fixed splint and splint moving module, moving splint: the fixed splint is located under the horizontal axis and maintains a fixed position, while the splint moving module and the moving splint can move relative to each other according to instructions to match glass gaps of different widths. This design reflects the flexibility and adaptability of the equipment. Visual acquisition module: This module uses a camera or other visual sensing equipment to collect images of photovoltaic glass on the glass rack. By analyzing these images, it can accurately identify the position of each piece of glass and its gap information, preparing for subsequent automatic adjustment and grasping. Controller: It is the "brain" of the entire system, responsible for receiving data from the visual acquisition module, and calculating the position and gap information of the glass based on this, and further transmitting this information to the three-dimensional motion module and the splint movement module, commanding them to perform corresponding actions in real time. The core of the controller lies in its data analysis capabilities and response speed.

[0025] The automatic glass loading machine provided thereby has at least the following beneficial effects:

[0026] 1. Reduce manual intervention: Automated equipment replaces manual turning, loading and short-distance transportation operations, reducing the labor intensity of workers and improving safety.

[0027] 2. Improve production efficiency: Due to the efficient operation of automated equipment, the production cycle can be significantly shortened and production efficiency can be improved. In addition, the probability of human errors is reduced, and the overall effect is even more significant.

[0028] 3. Reduce the risk of product damage: Use fixed and movable splints to grab the glass, and only clamp the gap part of the glass, which greatly reduces direct contact with the glass and effectively reduces the risk of glass being scratched or broken during transportation.

[0029] 4. Simplify the operation process: The operation process of the system is fully automated and can be completed without specific skills or experience, greatly reducing the complexity of operation. Workers only need to adjust the glass on the glass rack as needed, without having to participate in the complex handling and positioning process.

[0030] 5. Improve product quality: Reduce the unstable factors in the climate caused by manual handling, and ultimately improve the quality of finished products of photovoltaic glass and its downstream application products, which helps to ensure product quality from the source.

[0031] Through the coordinated operation of these technical modules, this automatic glass loading machine has achieved the effect of reducing production costs, improving production efficiency and product quality, and is suitable for the increasing demand for automated production in the photovoltaic industry.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a structural schematic diagram of an automatic glass loading machine provided in one embodiment of the present application;

[0035] Figure 2 This is a schematic flow chart of the steps of an automatic glass-mounting method provided by an embodiment of the present application;

[0036] Figure 3 is a schematic structural diagram of an automatic glass-lifting device provided in one embodiment of the present application;

[0037] Figure 4It is a schematic block diagram of the structure of a controller provided in one embodiment of the present application.

[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

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

[0040] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0041] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0042] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0044] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] In the process of photovoltaic glass production and downstream product application, operations such as flipping, loading and short-distance transportation are essential steps. At present, most of these operations still rely on manual work, which not only increases the labor intensity of workers, but also brings many problems, seriously affecting the quality and production efficiency of glass. Among them, the existing problems include at least:

[0046] 1. Glass is easily damaged: During manual handling, the corners of glass are easily bumped, especially during flipping operations, which often require the cooperation of multiple people. During the handling process, the glass may have tiny cracks or breakages. These damages may cause the glass to burst during subsequent processing, increase the scrap rate, and reduce product quality.

[0047] 2. High labor intensity: Long-term manual handling not only consumes a lot of physical strength, but also may cause worker fatigue and increase the risk of work-related injuries. In addition, the workers' labor intensity is high and their work efficiency is low, which makes it difficult to meet the requirements of modern production lines for high efficiency and high stability.

[0048] 3. Low production efficiency: The uncertainty and slowness of manual operation make it difficult to automate and standardize the entire production process, and production efficiency is seriously restricted. Especially in large-scale production, frequent manual loading and turning operations greatly extend the production cycle and increase production costs.

[0049] 4. High operational complexity: For glass of different sizes and thicknesses, manual handling requires constant adjustment of the operation method, which requires high skills of workers. In actual production, the skill levels of workers vary, which can easily lead to operational errors and further affect production quality.

[0050] Therefore, there is an urgent need for an automatic glass loading machine to solve at least one of the above problems.

[0051] To solve the above problems, please refer to Figure 1 The present application provides an automatic glass loading machine 10, wherein a plurality of glass sheets to be loaded are vertically placed on a glass rack, and the automatic glass loading machine 10 comprises: a three-dimensional motion module 11, wherein the three-dimensional motion module 11 comprises a first motion module and a second motion module ( Figure 1 Not indicated, can be Figure 1 The left side is the first motion module, and the right side may be used. The present application does not limit the specific locations of the first motion module and the second motion module); a horizontal axis 12, the horizontal axis 12 includes a first end and a second end that are relatively arranged, and the first end and the second end are respectively connected to the first motion module and the second motion module (such as Figure 1; a fixed clamping plate 13, the fixed clamping plate 13 is fixedly arranged under the horizontal axis 12; a clamping plate moving module 14 and a moving clamping plate 15, the clamping plate moving module 14 and the moving clamping plate 15 are arranged below the horizontal axis 12 relative to the fixed clamping plate 13; a visual acquisition module, the visual acquisition module is arranged toward the glass rack and is used to collect glass image information of the glass rack; a controller, the controller is electrically connected to the three-dimensional motion module 11, the clamping plate moving module 14 and the visual acquisition module, the controller is used to obtain the glass rack position information and each according to the glass image information The three-dimensional motion module 11 controls the horizontal axis 12 to move the horizontal axis 12 to the top of the glass according to the position information of the glass frame; controls the clamping plate moving module 14 to move the position of the movable clamping plate 15 according to the glass gap information, so that the glass gap is located between the movable clamping plate 15 and the fixed clamping plate 13; then controls the three-dimensional motion module 11 to lower the horizontal axis 12 and controls the clamping plate moving module 14 to move the movable clamping plate 15 so that the movable clamping plate 15 and the fixed clamping plate 13 clamp the glass, thereby completing the loading of the glass.

[0052] Specifically, the three-dimensional motion module 11 can realize the precise movement of the horizontal axis 12 in the three directions of X, Y and Z. The first motion module and the second motion module are respectively installed at both ends of the horizontal axis 12 to ensure the stability and flatness of the horizontal axis 12. The horizontal axis 12 is a long and solid beam that connects the first motion module and the second motion module and is used to support the fixed clamping plate 13 and the movable clamping plate 15. The strength and rigidity design of the horizontal axis 12 ensure that no deformation occurs during the movement. The fixed clamping plate 13 is installed below the horizontal axis 12 and is fixed by bolts or mechanical keys to ensure that the position does not change during operation. The material of the clamping plate is usually selected from high-hardness materials, such as stainless steel or aluminum alloy, to prevent damage to the glass during the clamping process. The clamping plate moving module 14 is installed below the horizontal axis 12, and the movable clamping plate 15 is moved along the X direction on the horizontal axis 12 by driving the ball screw. The movable clamping plate 15 is arranged opposite to the fixed clamping plate 13, and the position of the movable clamping plate 15 is adjusted so that the gap between it and the fixed clamping plate 13 is aligned with the glass on the glass frame. The visual acquisition module is mainly composed of a high-resolution camera and an image processing unit. The camera can be installed above the glass rack to capture all the glass on the glass rack. The image processing unit is responsible for processing the images captured by the camera and extracting the position and gap information of the glass. The controller is the core of the entire system, usually an industrial computer or an embedded controller. The controller communicates with each module through serial communication or Ethernet connection, and controls the movement of the three-dimensional motion module 11 and the splint moving module 14 according to the information provided by the visual acquisition module to realize automatic loading of glass.

[0053] By installing a camera above the glass rack, the glass on the glass rack can be photographed in all directions. The images taken by the camera are transmitted to the controller via a data line, and the controller performs further processing. The controller uses advanced image recognition algorithms, such as edge detection and feature extraction, to accurately extract the position information and gap information of the glass from the captured images. The controller determines the specific position of the glass rack in three-dimensional space, including X, Y and Z coordinates, based on the image analysis algorithm. The controller extracts the gap position between each piece of glass, which is used for subsequent clamp positioning. The controller calculates the moving path of the horizontal axis 12 based on the position information of the glass rack. The controller controls the first motion module and the second motion module to move the horizontal axis 12 to the top of the glass along the calculated path. The controller controls the servo motor in the clamp moving module 14 based on the gap position between each piece of glass, so that the moving clamp 15 moves along the X direction to ensure that the gap between the moving clamp 15 and the fixed clamp 13 is aligned with the glass on the glass rack. The controller adjusts the distance between the moving clamp 15 and the fixed clamp 13 based on the size of the glass to ensure that the clamp can adapt to glass of different sizes. The controller controls the three-dimensional motion module 11 to make the horizontal axis 12 descend along the Z direction until the movable clamping plate 15 and the fixed clamping plate 13 contact the glass. The controller adjusts the clamping force of the clamping plate according to the thickness and material properties of the glass to ensure that the clamping force is moderate, which will not damage the glass and ensure that the glass does not slide during transportation. The controller plans the movement path of the horizontal axis 12 and the clamping plate according to the needs of the production line and moves the glass to the specified position. The controller controls the three-dimensional motion module 11 and the clamping plate moving module 14 to accurately place the clamped glass on the production line to complete the loading operation.

[0054] For example, assume that there are 10 photovoltaic glasses of different sizes and thicknesses on the glass rack on the production line, and the position of the glass rack is (100, 200, 300) mm. The specific operation steps are as follows:

[0055] The camera captures the image on the glass rack and transmits it to the controller, which identifies the position and thickness of each piece of glass, as well as the position of the gap between each piece of glass. For example, the position of the glass rack is (100, 200, 300) mm. The position of the gap between the first and second pieces of glass is (110, 210) mm. The position of the gap between the second and third pieces of glass is (120, 220) mm. And so on, until all the gap positions are extracted.

[0056] The controller confirms that the position of the glass rack is (100, 200, 300) mm. The controller confirms the position of the gap between each piece of glass and stores this position information in the memory for subsequent operations. The controller plans a path for the horizontal axis 12 to move from the current position to above (100, 200, 300) mm. The controller controls the servo motors in the first motion module and the second motion module to move the horizontal axis 12 above the glass along the planned path. Based on the extracted gap position (110, 210) mm, the controller controls the servo motor in the clamp moving module 14 to move the movable clamp 15 to the position of (110) mm along the X direction to ensure that the gap between the movable clamp 15 and the fixed clamp 13 is aligned with the first piece of glass on the glass rack. The controller adjusts the distance between the movable clamp 15 and the fixed clamp 13 according to the size of the first piece of glass to ensure that the clamp can clamp the first piece of glass. The controller controls the servo motor in the three-dimensional motion module 11 to make the horizontal axis 12 descend along the Z direction until the movable clamping plate 15 and the fixed clamping plate 13 contact the first piece of glass. The controller adjusts the clamping force of the clamping plate according to the thickness and material properties of the first piece of glass to ensure that the clamping force is moderate. The controller plans the movement path of the horizontal axis 12 and the clamping plate according to the specified position on the production line. The controller controls the three-dimensional motion module 11 and the clamping plate moving module 14 to move the clamped first piece of glass to the specified position and release it. The controller repeats the above steps to complete the loading operation of the remaining 9 pieces of glass in sequence.

[0057] Then, through the cooperation of the visual acquisition module and the controller, the position of each piece of glass can be accurately aligned, avoiding the corner bumps that are easy to occur in manual operation. The controller can adjust the clamping force of the splint according to the thickness and material properties of the glass, which will not damage the glass and ensure that the glass does not slide during transportation. The entire loading process is completed by automated equipment, and workers only need to monitor the operation of the equipment, which greatly reduces the labor intensity of workers. Automated operation avoids workers from carrying heavy objects for a long time and reduces the risk of work-related injuries. The controller can quickly calculate the position and gap position of the glass rack based on the information provided by the visual acquisition module, so that the horizontal axis 12 and the splint can be quickly and accurately moved to the specified position. The equipment can work continuously and complete the loading operation of multiple pieces of glass in sequence, greatly improving production efficiency. Automated operation reduces the uncertainty of human factors and makes the production process more stable and reliable. The controller can automatically adjust the position and clamping force of the splint according to the size and thickness of the glass, without the need for manual adjustment by workers, reducing the requirements for workers' skills. Automated operation reduces human operating errors and further improves production quality.

[0058] It should be noted that the camera selection corresponding to the visual acquisition module can be a high-resolution industrial camera with high frame rate and low latency characteristics, which can capture images on the glass rack in real time. The image processing algorithm can use edge detection algorithms (such as Canny algorithm) and feature extraction algorithms (such as HOG algorithm) to accurately extract the position of the glass and the position of the gap. It can also be equipped with an appropriate light source, such as an LED ring light, to ensure that the captured image is clear and reduce the influence of shadows and reflections. Using a high-precision servo motor, the position control accuracy can reach 0.01 mm. Using a precision ball screw to ensure the smoothness and accuracy of the movement. Equipped with a position sensor and a force sensor, the position and clamping force of the horizontal axis 12 are fed back in real time to ensure the accuracy and safety of the operation. The material of the splint is selected to be a material with high hardness and does not damage the glass, such as stainless steel, aluminum alloy or special plastic. The splint is designed with a pressure adjustment device, and the clamping force can be adjusted according to the instructions of the controller. The surface of the splint is anti-slip, such as adding a rubber pad or texture to ensure that the glass does not slide during the clamping process. Using a high-performance industrial computer or embedded controller, it has powerful computing power and real-time control capabilities. Using advanced control algorithms and machine vision technology, we develop dedicated control software to achieve precise positioning of the glass and precise control of the splint. The controller is also equipped with a touch screen human-machine interface to facilitate workers to monitor and operate the equipment.

[0059] In summary, the automatic glass loading machine 10 realizes the automatic loading of photovoltaic glass by integrating visual acquisition, three-dimensional motion control and clamping plate positioning technology, and effectively solves many problems in manual operation, such as glass damage, high labor intensity, low production efficiency and high operation complexity. This equipment not only improves production quality, but also greatly improves production efficiency and reduces production costs. It is an important innovation in photovoltaic glass production and downstream product applications.

[0060] In some embodiments, the first motion module and the second motion module both include: a base rail 111, the setting direction of the base rail 111 is perpendicular to the placement direction of the glass on the glass rack; a base slider 112, the base slider 112 is movably set on the base rail 111; a lifting hydraulic cylinder 113, one end of the lifting hydraulic cylinder 113 is set on the base slider 112, and the other end of the lifting hydraulic cylinder 113 is connected to the horizontal axis 12; wherein, the controller is used to control the base slider 112 to drive the horizontal axis 12 to move on the base rail 111, and also control the lifting hydraulic cylinder 113 to drive the horizontal axis 12 to move up and down.

[0061] In this embodiment, the setting direction of the base rail 111 is perpendicular to the placement direction of the glass on the glass rack. This means that if the glass is arranged vertically on the glass rack, the base rail 111 is arranged horizontally. This allows the horizontal axis 12 to move in the horizontal direction (Y axis) so as to align the glass in different positions. The base slider 112 is movably arranged on the base rail 111. The base slider 112 can slide on the base rail 111, thereby driving the horizontal axis 12 to move in the Y axis direction. One end of the lifting hydraulic cylinder 113 is fixed to the base slider 112, and the other end is connected to the horizontal axis 12. The lifting hydraulic cylinder 113 is responsible for controlling the lifting movement of the horizontal axis 12 in the Z axis direction so that the clamping plate can contact and clamp the glass. The controller is electrically connected to the base slider 112 and the lifting hydraulic cylinder 113, and is responsible for controlling their movement. The controller calculates the motion path and motion parameters of the base slider 112 and the lifting hydraulic cylinder 113 according to the glass position information and gap information provided by the visual acquisition module, thereby achieving precise movement of the horizontal axis 12 and clamping of the glass.

[0062] Exemplarily, the controller controls the servo motor in the clamp moving module 14 according to the extracted gap position such as (110, 210) mm, so that the movable clamp 15 moves to the position of (110) mm along the X direction, ensuring that the gap between the movable clamp 15 and the fixed clamp 13 is aligned with the first glass on the glass rack. The controller adjusts the distance between the movable clamp 15 and the fixed clamp 13 according to the size of the first glass, ensuring that the clamp can clamp the first glass. The controller controls the lifting hydraulic cylinder 113 to lower the horizontal axis 12 along the Z direction until the movable clamp 15 and the fixed clamp 13 contact the first glass. The controller adjusts the clamping force of the clamp according to the thickness and material properties of the first glass to ensure that the clamping force is moderate. The controller plans the moving path of the horizontal axis 12 and the clamp according to the specified position on the production line. The controller controls the lifting hydraulic cylinder 113 and the base slider 112 to move the clamped first glass to the specified position on the production line and release it. The controller repeats the above steps to complete the loading operation of the remaining 9 pieces of glass in sequence.

[0063] The base guide rail 111 is perpendicular to the placement direction of the glass rack, so that the movement of the horizontal axis 12 in the Y-axis direction is more precise and the lateral error is reduced. The sliding control of the base slider 112 is driven by the controller, which can achieve high-precision positioning to ensure that the horizontal axis 12 is always aligned with the correct position on the glass rack. The hydraulic cylinder has a large driving force and good stability, which can ensure that the lifting and lowering movement of the horizontal axis 12 in the Z-axis direction is smooth and reliable. The sliding of the base slider 112 on the guide rail makes the movement of the horizontal axis 12 in the Y-axis direction more stable and reduces the error caused by mechanical vibration. The ball screw has the characteristics of low friction and high efficiency, which can reduce the wear of the base slider 112 on the guide rail and extend the service life of the equipment. The hydraulic cylinder has less wear during movement and low maintenance cost, which further improves the reliability and service life of the equipment.

[0064] In summary, through specific structural designs, such as the base rail 111, the base slider 112 and the lifting hydraulic cylinder 113, and the precise control of the controller in the control system, efficient, stable and precise loading of photovoltaic glass is achieved. This embodiment not only solves the problems of glass damage, high labor intensity, low production efficiency and high operation complexity in manual operation, but also improves the reliability and service life of the equipment through high-precision positioning and clamping technology, which is an important innovation in the automation of photovoltaic glass production.

[0065] In some embodiments, it also includes: two transverse axis bearing seats 16, the two transverse axis bearing seats 16 are respectively connected to the first motion module and the second motion module, and the first end and the second end of the transverse axis 12 are connected between the two transverse axis bearing seats 16; wherein, the controller is electrically connected to the transverse axis bearing seat 16, and is used to control the transverse axis bearing seat 16 to drive the transverse axis 12 to rotate 360° to complete the flipping of the glass after loading.

[0066] In this embodiment, the automatic glass loading machine 10 adds a flipping function on the basis of the original structure, by adding two transverse axis bearing seats 16 to the first motion module and the second motion module respectively. The two bearing seats not only support the transverse axis 12, but also allow the transverse axis 12 to rotate freely within a range of 360°. The first end and the second end of the transverse axis 12 are respectively connected between the two transverse axis bearing seats 16 to ensure the support stability and rotation flexibility of the transverse axis 12. The controller is not only electrically connected to the three-dimensional motion module 11, the clamp moving module 14 and the visual acquisition module, but also electrically connected to the transverse axis bearing seat 16. The controller controls the transverse axis bearing seat 16 to drive the transverse axis 12 to rotate 360° according to the position and angle of the glass to be flipped. After completing the loading of the glass, the controller can control the transverse axis bearing seat 16 according to the needs of the production line to make the transverse axis 12 drive the glass clamped by the fixed clamp 13 and the movable clamp 15 to flip, thereby completing the glass flipping operation.

[0067] After the glass is loaded, the controller calculates the angle at which the glass needs to be flipped according to production requirements. For example, the glass needs to be flipped 180°. The controller controls the horizontal axis bearing seat 16 through electrical connection, so that the horizontal axis 12 drives the glass clamped by the fixed clamp 13 and the movable clamp 15 to flip 180°. The controller monitors the angle and speed during the flipping process in real time to ensure the safety and accuracy of the flipping operation. The controller plans the moving path of the horizontal axis 12 and the clamp according to the specified position on the production line. The controller controls the lifting hydraulic cylinder 113 and the base slider 112 to move the clamped glass to the specified position on the production line and release it. The controller repeats the above steps to complete the loading and flipping operations of the remaining 9 pieces of glass in turn.

[0068] Through the 360° rotation function of the horizontal axis bearing seat 16, the equipment can automatically complete the glass flipping operation, reducing manual participation and further reducing the labor intensity and risk of work-related injuries of workers. The controller can accurately control the rotation angle of the horizontal axis bearing seat 16, avoiding the angle deviation that may occur during manual flipping, and ensuring that each piece of glass can be accurately flipped to the predetermined position. The equipment monitors the angle and speed in real time during the flipping process to ensure the stability and safety of the flipping operation. The rapid response capability of the horizontal axis bearing seat 16 enables the glass flipping operation to be completed in a short time, further improving production efficiency. The equipment can continuously complete the loading and flipping operations, reducing the pause time in the production process, and is particularly suitable for large-scale production production lines. The controller can adjust the flipping angle of the horizontal axis bearing seat 16 according to different production needs to adapt to a variety of flipping requirements, such as 180°, 90°, etc. The equipment can not only adapt to glass of different sizes by adjusting the spacing between the splints, but also adapt to glass of different thicknesses through precise flipping control. The automatic flipping operation reduces the impact and scratches on the glass during manual flipping, further improving the quality of the glass.

[0069] In summary, by adding the horizontal axis bearing seat 16 and the flip control function of the controller, the automatic glass loading machine 10 can not only complete the glass loading operation, but also perform precise flipping operations. This improvement not only further reduces manual intervention and improves the automation level of the equipment, but also improves production efficiency and product quality, and reduces production costs and work-related injury risks. It is suitable for various flipping and loading requirements in photovoltaic glass production and downstream applications, and is an important innovation in photovoltaic glass production automation.

[0070] Exemplarily, after the loading of the glass is completed, the visual acquisition module also collects module image information of the discharge module corresponding to the glass; the controller parses the module image information to obtain module position information and module angle information corresponding to the discharge module; according to the module position information, the three-dimensional motion module 11 is controlled to drive the loaded glass to move to the discharge module, and then according to the module angle information, the horizontal axis bearing seat 16 is controlled to adjust the angle of the glass so as to place the glass in parallel in the discharge module.

[0071] In this embodiment, after the automatic glass loading machine 10 completes the glass loading, the visual recognition and angle adjustment functions of the discharge module are added, and the discharge module is set on the production line to receive and place the loaded glass. The visual acquisition module not only captures the image of the glass on the glass rack during the loading process, but also captures the image of the discharge module after the loading is completed, and extracts the position and angle information of the discharge module. The visual acquisition module captures the image of the discharge module and obtains the position and angle information of the discharge module. The controller parses the specific position of the discharge module in three-dimensional space, including X, Y and Z coordinates. The controller parses the angle information of the discharge module to ensure that the glass can be placed parallel to the discharge module. The controller controls the three-dimensional motion module 11 and the horizontal axis bearing seat 16 according to the parsed position and angle information of the discharge module, so that the loaded glass moves and adjusts to the correct angle, and finally places it in parallel in the discharge module.

[0072] For example, the controller controls the lifting hydraulic cylinder 113 to lower the horizontal axis 12 along the Z direction, and places the glass with the adjusted angle in the material discharge module. The controller controls the clamping plate moving module 14 to release the glass from the moving clamping plate 15 and the fixed clamping plate 13, and completes the glass placement operation.

[0073] By taking the image of the discharge module through the visual acquisition module, the controller can accurately obtain the position and angle information of the discharge module to ensure that the glass can be completely parallel to the discharge module when placed. The controller adjusts the angle of the horizontal axis 12 in real time according to the angle information of the discharge module, avoiding the problem of inaccurate glass placement caused by angle deviation. The equipment can accurately control the movement and placement process of the glass, reducing the damage to the glass caused by position and angle deviation. The anti-slip treatment and moderate clamping force on the surface of the splint ensure the stability of the glass during movement and placement, further reducing the risk of damage. The rapid response capability of the visual acquisition module and the controller enables the equipment to complete the loading, movement, angle adjustment and placement of the glass in a short time, thereby improving production efficiency. The equipment can continuously complete the loading and placement of multiple pieces of glass, reducing downtime, and is particularly suitable for large-scale production lines. The controller automatically adjusts the position and angle of the horizontal axis 12 and the splint according to the position and angle information of the discharge module, reducing the requirements for workers' operating skills. Automated operation reduces the influence of human factors and further improves the accuracy and reliability of operation. The equipment can identify the unloading modules at different positions and angles through the visual acquisition module, and adapt to the different unloading modules that may exist on different production lines. The 360° rotation function of the horizontal axis bearing seat 16 allows the equipment to adjust the glass to various angles to meet different production needs. The use of automated equipment makes the glass placement operation more standardized and consistent, reduces product quality fluctuations caused by human factors, and improves product stability. The high-precision control of the equipment reduces position and angle errors during operation, further improving the physical and optical properties of the product.

[0074] In summary, by adding visual recognition and angle adjustment functions to the discharge module, the automatic glass loading machine 10 can not only complete the glass loading operation, but also accurately place the glass into different discharge modules and ensure that the glass is parallel to the discharge module. This improvement further improves the automation level of the equipment, improves production efficiency and product quality, reduces dependence on workers and operation complexity, and is an important innovation in the automation of photovoltaic glass production. This technology is particularly suitable for photovoltaic glass production lines that require multi-step processing, and can significantly improve the efficiency and stability of the overall production process.

[0075] In some embodiments, the splint moving module 14 includes a splint moving ball screw 141 and a splint guide shaft 142, the splint moving ball screw 141 and the splint guide shaft 142 are connected, and the movable splint 15 is connected to the splint guide shaft 142; wherein, the controller is electrically connected to the splint moving ball screw 141, and is used to control the splint moving ball to drive the splint guide shaft 142 to move the position of the movable splint 15 according to the glass gap information, so that the glass gap is located between the movable splint 15 and the fixed splint 13, and then control the three-dimensional motion module 11 to lower the horizontal axis 12 and control the splint moving module 14 to move the movable splint 15 so that the movable splint 15 and the fixed splint 13 clamp the glass.

[0076] In this embodiment, the clamping plate moving module 14 of the automatic glass loading machine 10 is further optimized, and is electrically connected to the controller through the clamping plate moving ball screw 141, so as to accurately control the moving distance and position of the moving clamping plate 15. The clamping plate guide shaft 142 is connected to the clamping plate moving ball screw 141, so as to ensure the linear movement of the moving clamping plate 15 in the X direction, reduce friction and improve the moving accuracy. The moving clamping plate 15 is connected to the clamping plate guide shaft 142, so as to ensure that it moves smoothly on the clamping plate guide shaft 142.

[0077] The controller parses the position information of the glass gap based on the image captured by the visual acquisition module, for example, the gap between the first and second glass sheets is located at (110, 210) mm. Based on the information of the glass gap, the controller controls the clamp plate moving ball screw 141 through electrical connection to drive the clamp plate guide shaft 142 to move so that the position of the movable clamp plate 15 is aligned with the glass gap. The controller controls the three-dimensional motion module 11 to lower the horizontal axis 12 so that the clamp plate contacts the glass, and then moves the movable clamp plate 15 through the clamp plate moving module 14 so that the movable clamp plate 15 and the fixed clamp plate 13 clamp the glass.

[0078] According to the information of the glass gap, the controller controls the clamping plate moving ball screw 141 through electrical connection, so that the clamping plate guide shaft 142 drives the movable clamping plate 15 to move to a position such as (110) mm, ensuring that the gap between the movable clamping plate 15 and the fixed clamping plate 13 is aligned with the first glass on the glass frame. The clamping plate guide shaft 142 ensures that the movable clamping plate 15 moves in a straight line, reducing deviation and friction during the movement process.

[0079] Furthermore, the beneficial effects of this embodiment include: the ball screw has the characteristics of low friction and high precision, and can accurately control the moving distance and position of the moving clamp 15 to ensure the accuracy of the glass gap alignment. The clamp guide shaft 142 ensures that the moving clamp 15 moves smoothly along a straight line, reduces the error caused by friction and offset, and further improves the moving accuracy of the clamp. The design of the ball screw and the clamp guide shaft 142 reduces the friction of the moving clamp 15 during movement, extends the service life of the equipment, and reduces maintenance costs. The smooth movement of the moving clamp 15 on the clamp guide shaft 142 reduces the wear of mechanical parts and improves the reliability and stability of the equipment. By accurately controlling the position of the moving clamp 15, it is ensured that the glass gap is located between the moving clamp 15 and the fixed clamp 13, which improves the success rate of the clamping operation. The controller automatically adjusts the clamping force of the clamp according to the thickness and material properties of the glass to ensure that the clamping force will not damage the glass and can ensure that the glass does not slide during transportation. The rapid response capability of the ball screw and the clamping plate guide shaft 142 enables the clamping plate to be quickly adjusted to the correct position, thus shortening the operation time. The equipment can continuously complete the loading, clamping and placement operations of multiple pieces of glass, reducing downtime, and is particularly suitable for large-scale production lines, thereby improving production efficiency. Through the precise control of the ball screw, the equipment can adapt to glass gaps of different widths, thus improving the flexibility of the system. The rapid adjustment of the clamping plate spacing enables the equipment to quickly adapt to glass of different sizes, further enhancing the compatibility and adaptability of the system. Precise clamping plate movement and clamping control reduces glass damage caused by position deviation and improper clamping force, thus improving the quality of the glass. The use of automated equipment makes clamping plate movement and clamping operations more standardized and consistent, thus reducing quality fluctuations caused by human factors, and improving product stability.

[0080] In summary, by adding the clamping plate moving ball screw 141 and the clamping plate guide shaft 142, the structure and control method of the clamping plate moving module 14 are further optimized, so that the automatic glass loading machine 10 has higher precision and stability when the clamping plate moves and clamps the glass. This improvement not only reduces the wear of the equipment and extends its service life, but also improves production efficiency and product quality, and reduces the risk of human operation. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, and can significantly improve the reliability and stability of the overall production process.

[0081] In some embodiments, the controller performs target detection on the glass image information, obtains glass size information and glass volume information of the glass, and calculates glass weight information according to preset glass material type and glass volume information; the controller is electrically connected to the movable clamp 15 and the fixed clamp 13, and the controller generates a suction force corresponding to the glass according to the glass weight information and glass size information, so as to control the movable clamp 15 and the fixed clamp 13 to clamp the glass according to the suction force.

[0082] In this embodiment, the control system of the automatic glass loading machine 10 is further optimized, and the detection and calculation functions of the glass size, volume and weight are added, and the corresponding clamping suction force is generated according to this information. The specific structure and control method are as follows: a high-resolution camera and an image processing unit are used to capture the glass image on the glass rack and extract the corresponding information. The controller is electrically connected to the visual acquisition module, the movable clamping plate 15 and the fixed clamping plate 13, and is used to process the image information and generate corresponding control instructions. The visual acquisition module captures the glass image on the glass rack to obtain the image information of the glass. The controller performs target detection on the glass image information and extracts the size information and volume information of the glass. The controller calculates the weight information of the glass according to the preset glass material type and the extracted glass volume information. The controller generates appropriate suction according to the calculated glass weight information and size information, thereby controlling the movable clamping plate 15 and the fixed clamping plate 13 to clamp the glass.

[0083] The controller generates appropriate suction force according to the calculated glass weight information and size information. The controller controls the movable clamping plate 15 and the fixed clamping plate 13 through electrical connection to adjust their suction force so that the clamping plate can stably clamp the glass. The controller controls the lifting hydraulic cylinder 113 to lower the horizontal axis 12 along the Z direction to ensure that the clamping plate contacts the glass. The controller controls the movable clamping plate 15 and the fixed clamping plate 13 according to the generated suction force so that they clamp the glass.

[0084] Through target detection technology, the controller can accurately extract the size and volume information of each piece of glass to ensure the accuracy of subsequent suction control. According to the calculated glass weight and size information, appropriate suction is generated to avoid glass damage caused by excessive suction and glass sliding caused by insufficient suction. The controller can accurately control the suction of the splint to ensure moderate clamping force, effectively reducing glass damage caused by improper suction. The anti-slip treatment of the splint surface and moderate suction ensure the stability of the glass during transportation, further reducing the risk of damage. The fast processing capabilities of target detection and weight calculation enable the equipment to complete the glass clamping and loading operations in a short time, improving production efficiency.

[0085] In summary, by adding the target detection function of the visual acquisition module and the weight calculation function of the controller, the clamping control method of the automatic glass loading machine 10 is further optimized. This improvement enables the equipment to adjust the suction force of the clamping plate according to the size and weight information of the glass, ensuring the accuracy and stability of the clamping operation, and significantly improving production efficiency and product quality. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, and can significantly improve the reliability and stability of the overall production process. This technology not only reduces the risk of manual operation, but also improves the degree of automation of the equipment, providing strong support for large-scale production.

[0086] Exemplarily, the controller determines the suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient according to the type of splint material corresponding to the movable splint 15 and the fixed splint 13 and the type of glass material, the suction coefficient is used to characterize the suction of the movable splint 15 and the fixed splint 13 under unit weight, and the temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient are respectively used to characterize the influence coefficients of temperature, humidity and speed on the suction; the controller also obtains the ambient temperature and ambient humidity corresponding to the automatic glass loading machine 10; generates the suction corresponding to the glass according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient, the values ​​corresponding to the glass weight information and the glass size information.

[0087] The controller determines the suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient according to the material type of the movable clamping plate 15 and the fixed clamping plate 13 and the glass material type. The controller obtains the temperature and humidity information of the environment where the automatic glass loading machine 10 is located in real time through the sensor. The controller generates the suction corresponding to the glass according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient, speed sensitivity coefficient, glass weight information and glass size information.

[0088] For example, the controller performs target detection on the extracted glass image information, obtains the length, width and thickness of each piece of glass, and forms the glass size information. The controller calculates the volume of each piece of glass based on the size information of the glass. The controller presets the density information of different glass materials. The controller calculates the weight information of each piece of glass based on the volume information of the glass and the preset material density. The controller identifies the material type of the movable clamping plate 15 and the fixed clamping plate 13, as well as the material type of the glass. The controller determines the suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient based on the identified material type.

[0089] The temperature sensor collects temperature information of the environment where the automatic glass loading machine 10 is located in real time. The humidity sensor collects humidity information of the environment where the automatic glass loading machine 10 is located in real time. The speed sensor collects speed information of the movement of the clamping plate in real time.

[0090] The controller comprehensively calculates the suction force corresponding to the glass according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient, speed sensitivity coefficient, glass weight information and glass size information. The controller generates a corresponding suction control signal according to the calculation result. The controller controls the lifting hydraulic cylinder 113 to make the horizontal axis 12 descend along the Z direction to ensure that the clamping plate contacts the glass. The controller controls the moving clamping plate 15 and the fixed clamping plate 13 according to the generated suction force so that they stably clamp the glass.

[0091] By comprehensively considering factors such as ambient temperature, ambient humidity, movement speed, and material type, the controller can generate more accurate suction to ensure the stability and reliability of the splint when clamping the glass. The suction coefficient characterizes the suction of the splint under unit weight, making the calculation of suction more scientific and reasonable. The temperature sensitivity coefficient of the influence of ambient temperature on suction is taken into account to avoid the suction caused by temperature changes, thereby reducing damage to the glass. The humidity sensitivity coefficient of the influence of ambient humidity on suction is taken into account to avoid the unstable suction caused by humidity changes, further improving the suction control accuracy of the splint. The speed sensitivity coefficient of the influence of the splint movement speed on suction is taken into account to avoid insufficient or excessive suction caused by speed changes, ensuring the stability of the glass during transportation.

[0092] The controller can quickly process environmental parameters and material type information, generate appropriate suction control signals, and shorten operation time. The equipment can continuously complete the loading, clamping and placement operations of multiple pieces of glass, reducing downtime, and is particularly suitable for large-scale production lines. The controller can identify different types of plywood and glass, generate corresponding suction coefficients, and improve the adaptability of the system. By obtaining environmental temperature and humidity information in real time, the equipment can adapt to different production environments, improving the flexibility and reliability of the system. The use of automated equipment makes the control of plywood suction more standardized and consistent, reduces quality fluctuations caused by human factors, and improves product stability. The suction control signal generated by comprehensively considering multiple factors reduces the position and angle errors that may occur during the clamping process, and further improves the physical and optical properties of the product.

[0093] By precisely controlling the suction force, the glass is prevented from falling or being damaged due to improper suction force, thus enhancing the safety of operation. Real-time monitoring of environmental parameters enables the equipment to adjust the suction force in time, thus avoiding operational errors caused by environmental changes.

[0094] In summary, by comprehensively considering multiple factors such as the type of splint and glass material, ambient temperature, ambient humidity, and movement speed, a more accurate suction control signal is generated. This technology not only improves the accuracy and stability of the clamping operation and reduces glass damage, but also improves production efficiency and product quality, and enhances the adaptability and safety of the system. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, and provides strong support for large-scale production. This improvement makes the automatic glass loading machine 10 more intelligent and efficient, and further improves the performance of the equipment.

[0095] It should be noted that, in some embodiments, the expression of the suction force includes:

[0096] ;

[0097] in, is the suction force, is the suction coefficient, which is used to characterize the suction of the movable clamping plate 15 and the fixed clamping plate 13 under unit weight; is the value corresponding to the glass weight information, is the ambient temperature corresponding to the automatic glass loading machine 10, is the preset temperature, is the ambient humidity corresponding to the automatic glass loading machine 10, To preset humidity, is the corresponding moving speed of the movable clamping plate 15 and the fixed clamping plate 13, is the reference speed, is the temperature sensitivity coefficient, is the humidity sensitivity coefficient, is the speed sensitivity coefficient.

[0098] Through a specific suction calculation expression, factors such as glass weight, ambient temperature, ambient humidity and moving speed are comprehensively considered to generate a more accurate suction control signal. This improvement not only improves the accuracy and stability of the clamping operation and reduces glass damage, but also improves production efficiency and product quality, and enhances the adaptability and safety of the system. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, and provides strong support for large-scale production. This technology makes the automatic glass loading machine 10 more intelligent and efficient, and further improves the performance of the equipment.

[0099] See also Figure 2 , Figure 2 is a schematic flow chart of an automatic glass-laying method provided by an embodiment of the present application. The automatic glass-laying method can be implemented by a controller of an automatic glass-laying machine provided by any embodiment of the present application, and the controller can be a microcontroller unit (MCU). Specifically, Figure 2 As shown, the automatic glass-mounting method provided includes steps S101 to S105. The details are as follows:

[0100] Step S101. Obtaining glass image information of a glass rack to be loaded collected by a visual collection module.

[0101] Specifically, the visual acquisition module (such as a high-resolution camera) captures the image of the glass on the glass rack to be loaded. The captured image is transmitted to the controller via a data cable. The camera can obtain the image of the glass on the glass rack in real time to ensure the timeliness and accuracy of the data. Through the high-resolution image, the controller can more accurately identify the position and posture of the glass and reduce the deviation of subsequent operations. The use of the visual acquisition module makes the entire process more automated, reduces manual intervention, and improves production efficiency.

[0102] Step S102: Acquire the glass frame position information and the glass gap information corresponding to each piece of glass according to the glass image information.

[0103] Specifically, the image processing unit of the controller processes the captured glass image and extracts the position information of the glass rack and the position information of the gap of each piece of glass. Image processing algorithms (such as edge detection, template matching, etc.) are used to detect the position of the glass rack and the edge of each piece of glass, and then obtain the position information of the glass gap. The controller can accurately obtain the position of the glass rack and the gap position of each piece of glass, providing accurate data support for subsequent operations. Through image processing and target detection technology, errors caused by manual recognition can be effectively reduced. This step can adapt to glass racks and glasses of different shapes and sizes, improving the flexibility and adaptability of the system.

[0104] Step S103: Control the three-dimensional motion module to move the horizontal axis to above the glass according to the position information of the glass frame.

[0105] Specifically, the controller plans the moving path of the horizontal axis according to the position information of the glass rack. The controller generates a corresponding control signal and sends it to the three-dimensional motion module. The three-dimensional motion module drives the horizontal axis to move along the X-axis and Y-axis according to the control signal, so that the horizontal axis reaches the top of the glass accurately.

[0106] The horizontal axis can be moved precisely to the top of the glass to ensure that the clamp can accurately contact the glass. Path planning and rapid generation of control signals reduce the movement time of the horizontal axis and improve overall operation efficiency. Through precise path planning, operation failures caused by position deviation are reduced and the stability of the system is improved.

[0107] Step S104: Control the clamp moving module to move the position of the movable clamp according to the glass gap information, so that the glass gap is located between the movable clamp and the fixed clamp.

[0108] Specifically, the controller determines the position of the gap between each piece of glass based on the glass gap information. The controller generates a corresponding control signal and sends it to the clamp moving module. The clamp moving module adjusts the position of the movable clamp according to the control signal so that the glass gap is located between the movable clamp and the fixed clamp. A glass gap is left between the movable clamp and the fixed clamp to avoid interference between the clamp and the glass during movement, thereby reducing the risk of glass breakage. By accurately adjusting the position of the clamp, the clamp can clamp the glass faster and more accurately, thereby improving the operating speed. This step can adapt to glass of different sizes and thicknesses, thereby improving the versatility and adaptability of the system.

[0109] Step S105: Control the three-dimensional motion module to lower the horizontal axis and control the clamping plate moving module to move the movable clamping plate, control the movable clamping plate and the fixed clamping plate to clamp the glass, and complete the loading of the glass.

[0110] Specifically, the controller generates a control signal to drive the 3D motion module to drive the horizontal axis to descend along the Z-axis direction to ensure that the clamp contacts the glass. The controller generates the corresponding suction force according to the previously calculated suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient. The controller controls the clamp moving module to clamp the glass with the mobile clamp and the fixed clamp. After the glass is clamped, the controller controls the 3D motion module to raise the horizontal axis along the Z-axis direction, move the glass to the top of the discharge module and release it. Through the precisely generated suction force, the mobile clamp and the fixed clamp can stably clamp the glass, reducing the risk of shaking and falling of the glass during transportation. Precise clamping operation and suction control improve the safety of operation and reduce glass damage and personal injury caused by improper operation. The coordinated operation of the horizontal axis and the clamp enables the glass to quickly complete the loading process from the loading position to the discharge module, thereby improving production efficiency. Automated operation reduces manual intervention, reduces downtime and debugging time, and further improves the continuity and stability of the production line.

[0111] The automatic glass loading method realizes the automation of the whole process from obtaining glass image information, extracting position and gap information, accurately moving the horizontal axis, adjusting the position of the clamping plate to clamping and loading the glass through five steps. The technical content and beneficial effects of each step are as follows: Step S101: Real-time acquisition of glass image information by a high-resolution camera improves positioning accuracy and automation. Step S102: Accurately obtain the position and gap position information of the glass rack through image processing and target detection technology to reduce operating errors. Step S103: According to the position information of the glass rack, accurately control the horizontal axis to move above the glass to improve operating efficiency and reduce position deviation. Step S104: According to the glass gap information, adjust the position of the mobile clamping plate to avoid interference between the clamping plate and the glass, and improve clamping efficiency and adaptability. Step S105: Through precise suction control and clamping operation, the glass is stably clamped and efficiently loaded, thereby improving operational safety and production efficiency. This method not only improves the operating accuracy and stability of the automatic glass loading machine, but also enhances the flexibility and safety of the system, and is particularly suitable for large-scale, high-precision glass production processes.

[0112] In some embodiments, controlling the movable clamp and the fixed clamp to clamp the glass includes: performing target detection on the glass image information to obtain glass size information and glass volume information of the glass; calculating glass weight information according to preset glass material type and glass volume information; generating suction corresponding to the glass according to the glass weight information and glass size information, so as to control the movable clamp and the fixed clamp to clamp the glass according to the suction.

[0113] By adding the target detection function of the visual acquisition module and the weight calculation function of the controller, the clamping control method of the automatic glass loading machine is further optimized. This improvement enables the method to adjust the suction of the clamping plate according to the size and weight information of the glass, ensuring the accuracy and stability of the clamping operation, and significantly improving production efficiency and product quality. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, and can significantly improve the reliability and stability of the overall production process. This technology not only reduces the risk of human operation, but also improves the degree of automation of the equipment, providing strong support for large-scale production.

[0114] Exemplarily, the generating of the suction corresponding to the glass according to the glass weight information and the glass size information includes: determining a suction coefficient according to the type of splint material corresponding to the movable splint and the fixed splint and the type of glass material; the suction coefficient is used to characterize the suction of the movable splint and the fixed splint under unit weight; determining a temperature sensitivity coefficient, a humidity sensitivity coefficient and a speed sensitivity coefficient according to the type of splint material corresponding to the movable splint and the fixed splint and the type of glass material, respectively, the temperature sensitivity coefficient, the humidity sensitivity coefficient and the speed sensitivity coefficient being used to characterize the influence coefficients of temperature, humidity and speed on the suction, respectively; acquiring the ambient temperature and ambient humidity corresponding to the automatic glass loading machine; generating the suction corresponding to the glass according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient, the value corresponding to the glass weight information and the glass size information, the expression of the suction includes:

[0115] The expression of the suction force includes:

[0116] ;

[0117] in, is the suction force, is the suction coefficient, which is used to characterize the suction of the movable clamping plate and the fixed clamping plate under unit weight; is the value corresponding to the glass weight information, is the ambient temperature corresponding to the automatic glass loading machine, is the preset temperature, is the ambient humidity corresponding to the automatic glass loading machine, To preset humidity, are the moving speeds of the movable splint and the fixed splint respectively, is the reference speed, is the temperature sensitivity coefficient, is the humidity sensitivity coefficient, is the speed sensitivity coefficient.

[0118] The method determines the suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient according to the material type of the movable splint and the fixed splint and the type of glass material. The method obtains the temperature and humidity information of the environment where the automatic glass loading machine is located in real time through sensors. The controller generates the corresponding suction of the glass according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient, speed sensitivity coefficient, glass weight information and glass size information.

[0119] Through a specific suction calculation expression, factors such as glass weight, ambient temperature, ambient humidity and moving speed are comprehensively considered to generate a more accurate suction control signal. This improvement not only improves the accuracy and stability of the clamping operation and reduces glass damage, but also improves production efficiency and product quality, and enhances the adaptability and safety of the system. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, providing strong support for large-scale production. This technology makes the automatic glass loading machine more intelligent and efficient, and further improves the performance of the equipment.

[0120] In summary, by comprehensively considering multiple factors such as the type of splint and glass material, ambient temperature, ambient humidity, and movement speed, a more accurate suction control signal is generated. This technology not only improves the accuracy and stability of the clamping operation and reduces glass damage, but also improves production efficiency and product quality, and enhances the adaptability and safety of the system. It is particularly suitable for photovoltaic glass production lines that require high precision and high efficiency, providing strong support for large-scale production. This improvement makes the automatic glass loading machine more intelligent and efficient, and further improves the performance of the equipment.

[0121] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the automatic glass-loading method described above and the specific working process of each step can refer to the corresponding process in the automatic glass-loading machine embodiments described in the above embodiments, and will not be repeated here.

[0122] See also Figure 3 As shown, Figure 31 is a schematic diagram of the structure of the automatic glass-entering device 200 provided in an embodiment of the present application. The automatic glass-entering device 200 is used to execute the steps of the automatic glass-entering method shown in the above embodiments. The automatic glass-entering device 200 can be a single server or a server cluster, or the automatic glass-entering device 200 can be a terminal, and the terminal can be a handheld terminal, a laptop computer, a wearable device, a robot, etc.

[0123] like Figure 3 As shown, the automatic glass-opening device 200 includes:

[0124] The information acquisition unit 201 is used to acquire the glass image information of the glass rack to be loaded acquired by the visual acquisition module;

[0125] A position acquisition unit 202, configured to acquire the position information of the glass frame and the glass gap information corresponding to each piece of the glass according to the glass image information;

[0126] A three-dimensional control unit 203, used for controlling the three-dimensional motion module to move the horizontal axis to the top of the glass according to the position information of the glass frame;

[0127] A clamp control unit 204, configured to control the clamp moving module to move the position of the movable clamp according to the glass gap information, so that the glass gap is located between the movable clamp and the fixed clamp;

[0128] The clamping control unit 205 is used to control the three-dimensional motion module to lower the horizontal axis and control the clamping plate moving module to move the movable clamping plate, and control the movable clamping plate and the fixed clamping plate to clamp the glass to complete the loading of the glass.

[0129] It should be noted that technical personnel in the relevant field can clearly understand that, for the convenience and conciseness of description, the specific working process of the automatic glass-opening device and each module described above can refer to the corresponding process in the automatic glass-opening method embodiments described in the above embodiments, and will not be repeated here.

[0130] The above automatic glass method can be implemented in the form of a computer program. Figure 3 Run on the device shown.

[0131] See also Figure 4 , Figure 4 : is a schematic block diagram of the structure of a controller provided in an embodiment of the present application. The controller includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0132] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the automatic glass-laying methods.

[0133] The processor is used to provide computing and control capabilities and support the operation of the entire controller.

[0134] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the automatic glass-laying methods.

[0135] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0136] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0137] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0138] Acquire glass image information of the glass rack to be loaded collected by the visual collection module;

[0139] Acquire the glass frame position information and the glass gap information corresponding to each piece of glass according to the glass image information;

[0140] Controlling the three-dimensional motion module to move the horizontal axis to above the glass according to the position information of the glass frame;

[0141] Control the clamping plate moving module to move the position of the movable clamping plate according to the glass gap information, so that the glass gap is located between the movable clamping plate and the fixed clamping plate;

[0142] The three-dimensional motion module is controlled to lower the horizontal axis and the clamping plate moving module is controlled to move the movable clamping plate, and the movable clamping plate and the fixed clamping plate are controlled to clamp the glass to complete the loading of the glass.

[0143] The present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the automatic glass-mounting method as described in any embodiment of the present application.

[0144] The computer-readable storage medium may be an internal storage unit of the controller described in the foregoing embodiment, such as a hard disk or memory of the controller. The computer-readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the controller.

[0145] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An automatic glass loading machine, characterized in that: Multiple pieces of glass to be loaded are placed vertically on the glass rack; including: A three-dimensional motion module, the three-dimensional motion module comprising a first motion module and a second motion module arranged opposite to each other; A transverse axis, the transverse axis comprising a first end and a second end arranged opposite to each other, the first end and the second end being connected to the first motion module and the second motion module respectively; Two transverse axis bearing seats, the two transverse axis bearing seats are connected to the first motion module and the second motion module respectively, and the first end and the second end of the transverse axis are connected between the two transverse axis bearing seats; A fixed clamping plate, the fixed clamping plate is fixedly arranged under the horizontal axis; A clamp plate moving module and a moving clamp plate, wherein the clamp plate moving module and the moving clamp plate are arranged below the horizontal axis relative to the fixed clamp plate; A visual acquisition module, the visual acquisition module is disposed toward the glass rack and is used to acquire glass image information of the glass rack; A controller, the controller is used to obtain glass frame position information and glass gap information corresponding to each piece of glass according to the glass image information, so as to control the three-dimensional motion module to move the horizontal axis to the top of the glass according to the glass frame position information; control the clamping plate moving module to move the position of the mobile clamping plate according to the glass gap information, so that the glass gap is located between the mobile clamping plate and the fixed clamping plate, and then control the three-dimensional motion module to lower the horizontal axis and control the clamping plate moving module to move the mobile clamping plate so that the mobile clamping plate and the fixed clamping plate clamp the glass, including: performing target detection on the glass image information, obtaining glass size information and glass volume information, and calculating glass weight information according to preset glass material type and glass volume information, generating suction corresponding to the glass according to the glass weight information and glass size information, so as to control the mobile clamping plate and the fixed clamping plate to clamp the glass according to the suction; completing the loading of the glass; the controller is electrically connected to the horizontal axis bearing seat, and is used to control the horizontal axis bearing seat to drive the horizontal axis to rotate 360° to complete the flipping of the loaded glass; The controller determines the suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient according to the types of the splint materials corresponding to the movable splint and the fixed splint and the type of the glass material. The suction coefficient is used to characterize the suction of the movable splint and the fixed splint under unit weight. The temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient are used to characterize the influence coefficients of temperature, humidity and speed on the suction respectively. The controller also obtains the ambient temperature and ambient humidity corresponding to the automatic glass loading machine. The suction corresponding to the glass is generated according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient, the value corresponding to the glass weight information and the glass size information. The expression of the suction includes: ； in, is the suction force, is the suction coefficient, which is used to characterize the suction of the movable clamping plate and the fixed clamping plate under unit weight; is the value corresponding to the glass weight information, is the ambient temperature corresponding to the automatic glass loading machine, is the preset temperature, is the ambient humidity corresponding to the automatic glass loading machine, To preset humidity, are the moving speeds of the movable splint and the fixed splint respectively, is the reference speed, is the temperature sensitivity coefficient, is the humidity sensitivity coefficient, is the speed sensitivity coefficient.

2. The automatic glass loading machine according to claim 1, characterized in that: The first motion module and the second motion module both include: A base rail, wherein the base rail is arranged in a direction perpendicular to the placement direction of the glass on the glass rack; A base slider, the base slider is movably arranged on the base guide rail; A lifting hydraulic cylinder, one end of which is disposed on the base slider, and the other end of which is connected to the horizontal axis; Wherein, the controller is used to control the base slider to drive the horizontal axis to move on the base guide rail, and also controls the lifting hydraulic cylinder to drive the horizontal axis to move up and down.

3. The automatic glass loading machine according to claim 1, characterized in that: After the loading of the glass is completed, the visual acquisition module also collects module image information of the discharge module corresponding to the glass; the controller parses the module image information to obtain module position information and module angle information corresponding to the discharge module; according to the module position information, the three-dimensional motion module is controlled to drive the loaded glass to move to the discharge module, and then according to the module angle information, the horizontal axis bearing seat is controlled to adjust the angle of the glass to place the glass in parallel in the discharge module.

4. The automatic glass loading machine according to claim 1, characterized in that: The clamp plate moving module comprises a clamp plate moving ball screw and a clamp plate guide shaft, the clamp plate moving ball screw is connected to the clamp plate guide shaft, and the movable clamp plate is connected to the clamp plate guide shaft; Among them, the controller is electrically connected to the clamp plate moving ball screw, and is used to control the clamp plate moving ball to drive the clamp plate guide shaft to move the position of the movable clamp plate according to the glass gap information, so that the glass gap is located between the movable clamp plate and the fixed clamp plate, and then control the three-dimensional motion module to lower the horizontal axis and control the clamp plate moving module to move the movable clamp plate so that the movable clamp plate and the fixed clamp plate clamp the glass.

5. An automatic glass-mounting method, characterized in that: A controller for an automatic glass loading machine according to any one of claims 1 to 4; the method comprising: Acquire glass image information of the glass rack to be loaded collected by the visual collection module; Acquire the glass frame position information and the glass gap information corresponding to each piece of glass according to the glass image information; Controlling the three-dimensional motion module to move the horizontal axis to above the glass according to the position information of the glass frame; Control the clamping plate moving module to move the position of the movable clamping plate according to the glass gap information, so that the glass gap is located between the movable clamping plate and the fixed clamping plate; Control the three-dimensional motion module to lower the horizontal axis and control the clamp moving module to move the mobile clamp, and control the mobile clamp and the fixed clamp to clamp the glass, including: performing target detection on the glass image information to obtain glass size information and glass volume information of the glass; calculating glass weight information according to preset glass material type and glass volume information; generating suction corresponding to the glass according to the glass weight information and glass size information, so as to control the mobile clamp and the fixed clamp to clamp the glass according to the suction; completing the loading of the glass, and also controlling the horizontal axis bearing seat to drive the horizontal axis to rotate 360° to complete the flipping of the loaded glass; generating the suction corresponding to the glass according to the glass weight information and glass size information, including: The suction coefficient is determined according to the type of splint material corresponding to the fixed splint and the type of glass material; the suction coefficient is used to characterize the suction of the movable splint and the fixed splint under unit weight; the temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient are determined according to the type of splint material corresponding to the movable splint and the fixed splint and the type of glass material, respectively, and the temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient are used to characterize the influence coefficients of temperature, humidity and speed on the suction respectively; the ambient temperature and ambient humidity corresponding to the automatic glass loading machine are obtained; the suction corresponding to the glass is generated according to the ambient temperature, ambient humidity, suction coefficient, temperature sensitivity coefficient, humidity sensitivity coefficient and speed sensitivity coefficient, the value corresponding to the glass weight information and the glass size information, and the expression of the suction includes: ； in, is the suction force, is the suction coefficient; is the value corresponding to the glass weight information, is the ambient temperature corresponding to the automatic glass loading machine, is the preset temperature, is the ambient humidity corresponding to the automatic glass loading machine, To preset humidity, are the moving speeds of the movable splint and the fixed splint respectively, is the reference speed, is the temperature sensitivity coefficient, is the humidity sensitivity coefficient, is the speed sensitivity coefficient.

6. A controller, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the method as claimed in claim 5 when executing the computer program.

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