Substrate glass breakage detection device and method based on thermal imaging technology

Abstract

The invention belongs to the field of glass detection, and particularly relates to a substrate glass damage detection device and method based on a thermal imaging technology, and the device comprises a heating background plate, a glass transfer mechanism, and a thermal imaging mechanism. The glass transfer mechanism is arranged on one side of the heating background plate and is used for lifting and / or transferring a glass substrate; the thermal imaging mechanism is used for identifying the temperature of the glass substrate surface and the heating background plate and forming an image. According to the detection device, the heating background plate is used as a heat source, an obvious temperature difference exists between the heating background plate and the glass substrate, the complete outline of the glass substrate can be accurately recognized through the thermal imaging mechanism, a digital image is formed, whether the edge of the glass substrate in the digital image and the boundary of the heating background plate are straight or not can be easily judged, if yes, the glass substrate is qualified, and if not, the glass substrate is qualified. If the glass substrate is not flat, the glass substrate is unqualified, whether the glass substrate has obvious appearance defects after being taken out or not is judged, the glass substrate without defects enters the subsequent process, and the glass substrate with defects is moved out and scrapped.

Description

Technical Field

[0001] The present application belongs to the field of glass detection, and specifically relates to a substrate glass breakage detection device and method based on thermal imaging technology. Background Art

[0002] Substrate glass is an indispensable key material in liquid crystal display devices. As an important component material in liquid crystal display devices, it plays a very important role in electronic products. With the continuous development of flat panel display devices, the demand for glass is also increasing. At present, the glass production process mainly includes: kiln, channel, semi-finished product processing, semi-finished product packaging, cold end glass input, cold end precision cutting and grinding, cleaning and other processes. Among these process links, cold end glass input is a key production process. Since the cold end input is mainly responsible for the task of semi-finished product input, and the edges of semi-finished glass are not ground and polished, it is very easy to produce corner loss, edge loss and broken pieces during the glass packaging and input and extraction process. When the incomplete glass enters the precision cutting machine, it will cause the entire cold end production line to stop. In order to improve the online detection rate during the cold end glass input and loading process and avoid situations that cannot be observed during manual inspection, the cold end glass input and loading process is monitored in real time.

[0003] At present, the cold end glass in the market is mainly inspected by manual inspection or by adding a stable conveyor belt with a 90-degree turn and a row of high-definition cameras on the four sides during loading. For example, the glass is inspected manually by naked eye. However, the inspection rate is low due to the influence of workers' experience and personal quality. Although the solution of adding conveyor belts and ordinary optical cameras can detect damage, it will also increase the contact between glass and equipment and increase the risk of scratching the glass. The solution of ordinary optical cameras requires the use of multiple sets of high-definition industrial cameras when dealing with large-size glass, and has huge performance requirements for the processor, complex device structure and high device cost.

[0004] At present, there are some substrate glass breakage detection devices based on thermal imaging technology. However, in order for the thermal imaging camera to distinguish the damaged location on the glass, the substrate glass needs to be evenly heated, which is relatively inefficient. Moreover, after heating, the substrate glass is moved out of the heating device to the outside world and is easily affected by the environment. Before passing through the thermal imaging camera, the temperature drops unevenly, which has an adverse effect on the accuracy of the detection. In addition, the direct heating of the glass may cause the cracks in the glass itself to be aggravated, and the physical properties such as stress to change, affecting product quality.

[0005] Application Contents The technical problem to be solved by the present application is to provide a substrate glass breakage detection device and method based on thermal imaging technology, which has a simple structure, low cost, higher efficiency, is not easily affected by the environment, and has high accuracy.

[0006] The present application provides a substrate glass breakage detection device based on thermal imaging technology, comprising: Heating background board; A glass transfer mechanism is disposed on one side of the heating background plate and is used to lift and / or transfer the glass substrate; The thermal imaging mechanism is used to identify the temperature of the glass substrate surface and the heating background plate and form an image.

[0007] Optionally, the heating background plate includes a plurality of heating bottom plates, and the heating bottom plates are laid on the ground.

[0008] Optionally, the heating base plate includes a heat conducting plate and a heating element disposed on the heat conducting plate.

[0009] Optionally, the heating base plate further comprises a heat preservation plate arranged on a side of the heating element away from the heat conducting plate; And / or, the heat conducting plate is a metal plate; And / or, the heating element includes one or more of an electric heating wire, a heating film, a carbon crystal heating plate and a silica gel heating plate.

[0010] Optionally, the glass transfer mechanism includes an industrial robot and a suction cup frame arranged on the execution end of the industrial robot, the industrial robot is arranged in the area where the bottom plate is located, and the suction cup frame is used to suck the glass substrate so that the glass substrate does not exceed the area where the bottom plate is located; The thermal imaging mechanism comprises a thermal imaging camera, and the thermal imaging camera is arranged above the glass transfer mechanism.

[0011] Optionally, the suction cup rack includes a frame structure, a plurality of suction cups arranged on the frame structure, and a plurality of telescopic suction cup assemblies arranged on the frame structure, the plurality of telescopic suction cup assemblies are divided into two groups distributed in a straight line, and the plurality of suction cups are distributed between the two groups of telescopic suction cup assemblies.

[0012] Optionally, the suction cup 1 is a vacuum suction cup; And / or, the telescopic suction cup assembly includes a linear expander and a suction cup 2 arranged on the execution end of the linear expander, and the linear expander is fixed on the frame structure.

[0013] Optionally, the thermal imaging mechanism further includes an industrial computer, and the industrial computer is communicatively connected with the thermal imaging camera; And / or, the detection device further comprises an A-frame for placing the glass substrate and a glass loading platform for transferring the glass substrate, and the glass transfer mechanism takes the glass substrate to be tested from the A-frame and transfers it to the glass loading platform after testing.

[0014] Optionally, the industrial computer is connected to an alarm.

[0015] A glass substrate damage detection method based on thermal imaging technology comprises the following steps: S1. Using the heating background plate as the reference background of thermal imaging, fix the glass substrate to be tested in the positive projection area of ​​the heating background plate, sense and record the infrared radiation intensity of the glass substrate and the heating background plate through thermal imaging technology, and convert the infrared radiation into a digital image. The area blocked by the glass substrate is low temperature blue in the digital image, and the area with only the heating background plate is high temperature red in the digital image; S2. Use a computer program or manually determine whether the edge of the glass substrate and the boundary line of the heating background plate in the digital image are straight. If they are straight, it is qualified; if they are not straight, it is unqualified.

[0016] The beneficial effect of the present application is that the detection device of the present application uses the heating background plate as a heat source, and there is an obvious temperature difference between the heating background plate and the glass substrate. The complete outline of the substrate glass can be accurately identified through the thermal imaging mechanism to form a digital image. It is easy to judge whether the edge of the glass substrate and the boundary line of the heating background plate in the digital image are straight. If they are straight, it is qualified, and if they are not straight, it is unqualified. Then, it can be judged whether there are obvious appearance defects after the glass substrate is taken out. If there are no defects, it will enter the subsequent process, and if there are defects, it will be removed and scrapped.

[0017] The glass substrate damage detection method of the present application uses a heating background plate as the reference background of thermal imaging, and can quickly and accurately identify the edge contour of the glass substrate without heating the glass, so that it is easy to determine whether the edge of the glass substrate is qualified, and prevent unqualified ones from flowing into the production line. It can also avoid the adverse effects of directly heating the glass substrate on its quality, and at the same time, it can also avoid the uneven surface temperature of the glass substrate affecting the recognition degree, which makes it difficult to accurately determine the edge contour of the glass substrate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the detection device in use of the present application; Figure 2 For this application Figure 1 A top view of the detection device; Figure 3 This is a schematic diagram of the structure of the heating base plate of this application; Figure 4 This is a schematic diagram of the structure of the suction cup frame for this application; Figure 5 for Figure 4 A magnified view of area A in; Figure 6 This is a flow chart of glass substrate breakage detection in this application.

[0019] In the figure: 1a, glass substrate; 100, heating background plate; 110, heating bottom plate; 111, heat conducting plate; 112, heating element; 113, insulation plate; 200, glass transfer mechanism; 210, industrial robot; 220, suction cup frame; 221, frame structure; 222, suction cup one; 223, telescopic suction cup assembly; 2231, linear telescope; 2232, suction cup two; 224, mounting base; 310, thermal imaging camera; 320, industrial computer; 321, alarm; 330, bracket; 400, A-frame; 500, glass loading platform. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] First, as Figure 1-5 As shown, the present application provides a substrate glass breakage detection device based on thermal imaging technology, comprising: a heating background plate 100, a glass transfer mechanism 200, and a thermal imaging mechanism; wherein the glass transfer mechanism 200 is arranged on one side of the heating background plate 100, for lifting and / or transferring the glass substrate 1a; the thermal imaging mechanism is used to identify the surface temperature of the glass substrate 1a and the heating background plate 100 and form an image.

[0022] The detection device of the present application uses the heating background plate 100 as a heat source, and there is an obvious temperature difference with the glass substrate 1a. The thermal imaging mechanism can accurately identify the complete outline of the substrate glass to form a digital image. It can easily determine whether the edge of the glass substrate 1a in the digital image and the boundary line of the heating background plate 100 are straight. If they are straight, they are qualified, and if they are not straight, they are unqualified. Then, it is determined whether there are obvious appearance defects after the glass substrate 1a is taken out. If there are no defects, they will enter the subsequent process, and if there are defects, they will be removed and scrapped. This does not need to heat the glass substrate 1a, which reduces the waiting time for the glass substrate 1a to be heated and evenly heated, and also avoids the problem of heating affecting the quality of the glass substrate 1a. Therefore, the detection device has the advantages of simple structure, low cost, higher efficiency, not easily affected by the environment, and high accuracy.

[0023] In addition, even if the temperature of the glass substrate 1a is uniform when being heated in the prior art, the temperature at different positions in the environmental background is different, and it is difficult to identify the structure of the edge of the glass substrate 1a through a thermal imaging device.

[0024] In one embodiment, the heating background plate 100 includes a plurality of heating base plates 110, and the heating base plates 110 are laid on the ground. Specifically, the edges of the plurality of heating base plates 110 are attached and arranged in a row to form a plane area with a relatively uniform heating temperature. The small size of a single heating base plate 110 is also convenient for installation and replacement. It should be noted that the location for installing other components such as the glass transfer mechanism 200 can be designed with a hole. Of course, if the structural strength of the heating base plate 110 is large enough, it can also be directly installed on the heating base plate 110.

[0025] In one embodiment, the heating base plate 110 includes a heat conducting plate 111 and a heating element 112 disposed on the heat conducting plate 111. Specifically, the heat conducting plate 111 is a metal plate, and the material includes but is not limited to steel and aluminum alloy. The heating element 112 can be fixed on the back of the heat conducting plate 111, or can be embedded in the heat conducting plate 111, or can be sandwiched between two heat conducting plates 111. The heating element 112 is electrically heated, and the heat is transferred to the heat conducting plate 111, which has the effect of equalizing the heat, so that the heating base plate 110 presents a more uniform color in the thermal imaging camera 310, which is beneficial to improve the recognition of the edge of the glass substrate 1a.

[0026] In one embodiment, the heating base plate 110 further includes a heat preservation plate 113 disposed on the side of the heating element 112 away from the heat conducting plate 111. Specifically, the material of the heat preservation plate 113 includes but is not limited to polyurethane, polyurethane fiber reinforced composite material, ceramic plate, and hollow metal plate. The heat preservation plate 113 is used to reduce heat loss and energy consumption.

[0027] In one embodiment, the heating element 112 includes one or more of an electric heating wire, a heating film, a carbon crystal heating plate, and a silicone heating plate.

[0028] In one embodiment, the heat conducting plate 111 and the heating element 112 are bonded and fixed, or the heat conducting plate 111 and the heat insulating plate 113 are connected by screws or bonded and clamped to the heating element 112 .

[0029] In one embodiment, the glass transfer mechanism 200 includes an industrial robot 210 and a suction cup frame 220 disposed on the execution end of the industrial robot 210. The industrial robot 210 is disposed in the area where the bottom plate is located. The suction cup frame 220 is used to suck the glass substrate 1a, and the glass substrate 1a does not exceed the area where the bottom plate is located. The industrial robot 210 can not only manipulate the suction cup frame 220 to pick up materials, but also flip the suction cup frame 220 to transfer the inspected glass substrate 1a to the glass loading platform 500 or other platforms, thereby improving the efficiency of transferring the glass substrate 1a and being able to transfer qualified and unqualified glass substrates 1a separately.

[0030] In one embodiment, the thermal imaging mechanism includes a thermal imaging camera 310, and the thermal imaging camera 310 is disposed above the glass transfer mechanism 200. In this way, only one thermal imaging camera 310 is needed to cover a sufficient area, thereby reducing equipment costs.

[0031] In one embodiment, the suction cup frame 220 includes a frame structure 221, a plurality of suction cups 222 disposed on the frame structure 221, and a plurality of telescopic suction cup assemblies 223 disposed on the frame structure 221. The plurality of telescopic suction cup assemblies 223 are divided into two groups distributed in a straight line, and the plurality of suction cups 222 are distributed between the two groups of telescopic suction cup assemblies 223. Specifically, the frame structure 221 is a rectangular frame and has a mounting seat 224 for connecting to the execution end of the industrial robot 210. When multiple glass substrates 1a are stacked, the adjacent glass substrates 1a are closely attached and difficult to separate due to atmospheric pressure. When in use, the industrial robot 210 controls the suction cup frame 220 to approach the glass substrate 1a, and the suction cup 222 and the telescopic suction cup assembly 223 are adsorbed on the surface of the glass substrate 1a. The telescopic suction cup assembly 223 contracts slightly, so that the two sides of the glass substrate 1a are appropriately bent, so that air enters the gap, so that the glass substrates 1a are easily separated, and the stability of the film-taking action is ensured.

[0032] In one embodiment, the suction cup 222 is a vacuum suction cup.

[0033] In one embodiment, the telescopic suction cup assembly 223 includes a linear expander 2231 and a suction cup 2232 disposed on the execution end of the linear expander 2231, and the linear expander 2231 is fixed on the frame structure 221. Specifically, the linear expander 2231 is an electric cylinder or a pneumatic cylinder, and the linear expander 2231 is vertically mounted on the suction cup frame 220, and the suction cup 2 2232 is coaxially fixedly connected to the execution end of the linear expander 2231. There are 6-10 telescopic suction cup assemblies 223 evenly distributed in a line shape near both sides of the suction cup frame 220, and the position of the suction cup 2 2232 relative to the suction cup 1 222 is adjusted by the linear expander 2231. When the suction ends of the suction cup 1 222 and the suction cup 2 2232 are flush, under the control of the industrial robot 210, the suction cup 1 222 and the suction cup 2 2232 are both adsorbed on the surface of the glass substrate 1a. Then, the execution ends of the linear retractors 2231 on both sides shrink synchronously, driving all the suction cups 2232 to bend the two sides of the glass substrate 1a appropriately, allowing air to enter the gap and easily separating the glass substrates 1a. Then, the execution ends of the linear retractors 2231 extend, making the adsorption ends of the suction cups 1 222 and 2232 flush again. Then, the industrial robot 210 controls the center of the glass substrate 1a to face the thermal imaging camera 310, taking thermal imaging photos, and judging whether there are defects on the edge of the glass substrate 1a through the photos. The judgment process can be manual, or the system can prompt the staff after completion.

[0034] In one embodiment, the thermal imaging mechanism further includes an industrial computer 320, which is in communication connection with the thermal imaging camera 310; the industrial computer 320 is responsible for controlling the thermal imaging camera 310, processing and storing thermal imaging information, and displaying and recording detection results.

[0035] In one embodiment, the industrial computer 320 is connected to an alarm 321. When a device failure occurs or a defect is detected on the edge of the glass substrate 1a, the alarm 321 is triggered, and the staff can promptly handle and troubleshoot the failure and promptly remove the defective glass substrate 1a with tools.

[0036] In one embodiment, the testing device further includes an A-frame 400 for placing the glass substrate 1a, a glass loading platform 500 for transferring the glass substrate 1a, and the glass transfer mechanism 200 takes the glass substrate 1a to be tested from the A-frame 400, and transfers it to the glass loading platform 500 after testing. Specifically, the A-frame 400, the glass transfer mechanism 200 and the glass loading platform 500 are distributed in a triangle, and the glass transfer mechanism 200 takes the glass substrate from the A-frame 400 and then performs testing. After the testing is completed, the glass substrate 1a is transferred to the glass loading platform 500 and flows into the subsequent processing position, and the unqualified ones are taken away.

[0037] The specific operation process of using the detection device is as follows: Figure 6 shown.

[0038] In one embodiment, the thermal imaging mechanism also includes a bracket 330, which is fixed on the foundation and can pass through the heating background plate 100. The structural strength of the heating background plate 100 is large enough, and the bracket 330 can also be fixed on the heating background plate 100. The bracket 330 is an L-shaped structure, and the thermal imaging camera 310 is installed on the top of the bracket 330.

[0039] In a second aspect, a method for detecting damage to a glass substrate based on thermal imaging technology comprises the following steps: S1. Using the heating background plate 100 as the reference background of thermal imaging, fix the glass substrate 1a to be tested in the orthographic projection area of ​​the heating background plate 100, sense and record the infrared radiation intensity of the glass substrate 1a and the heating background plate 100 by thermal imaging technology, and convert the infrared radiation into a digital image. The area blocked by the glass substrate 1a is low-temperature blue in the digital image, and the area only with the heating background plate 100 is high-temperature red in the digital image; S2. Determine whether the edge of the glass substrate 1a and the boundary line of the heating background plate 100 in the digital image are straight by computer program or manually. If they are straight, it is qualified; otherwise, it is unqualified.

[0040] By using the heating background plate 100 as the reference background of thermal imaging, the edge contour of the glass substrate 1a can be quickly and accurately identified without heating the glass, so that it is easy to determine whether the edge of the glass substrate 1a is qualified, and to prevent unqualified products from flowing into the production line. It can also avoid the adverse effects of directly heating the glass substrate 1a on its quality, and at the same time, it can also avoid the uneven surface temperature of the glass substrate 1a affecting the recognition degree, which makes it difficult to accurately determine the edge contour of the glass substrate 1a.

[0041] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0042] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A substrate glass breakage detection device based on thermal imaging technology, characterized in that: include: Heating background plate (100); A glass transfer mechanism (200), arranged on one side of the heating background plate (100), and used for lifting and / or transferring the glass substrate (1a); A thermal imaging mechanism is used to identify the temperature of the surface of a glass substrate (1a) and a heating background plate (100) and to form a digital image.

2. The detection device according to claim 1, characterized in that: The heating background plate (100) comprises a plurality of heating bottom plates (110), and the heating bottom plates (110) are laid on the ground.

3. The detection device according to claim 2, characterized in that: The heating base plate (110) comprises a heat conducting plate (111) and a heating element (112) arranged on the heat conducting plate (111).

4. The detection device according to claim 3, characterized in that: The heating base plate (110) further comprises a heat-insulating plate (113) arranged on a side of the heating element (112) facing away from the heat-conducting plate (111); And / or, the heat conducting plate (111) is a metal plate; And / or, the heating element (112) includes one or more of an electric heating wire, a heating film, a carbon crystal heating plate, and a silica gel heating plate.

5. The detection device according to claim 1, characterized in that: The glass transfer mechanism (200) comprises an industrial robot (210) and a suction cup frame (220) arranged on an execution end of the industrial robot (210); the industrial robot (210) is arranged in an area where a bottom plate is located; the suction cup frame (220) is used to suck a glass substrate (1a) so that the glass substrate (1a) does not exceed the area where the bottom plate is located; The thermal imaging mechanism comprises a thermal imaging camera (310), and the thermal imaging camera (310) is arranged above the glass transfer mechanism (200).

6. The detection device according to claim 5, characterized in that: The suction cup frame (220) comprises a frame structure (221), a plurality of suction cups (222) arranged on the frame structure (221), and a plurality of telescopic suction cup assemblies (223) arranged on the frame structure (221); the plurality of telescopic suction cup assemblies (223) are divided into two groups distributed in a straight line, and the plurality of suction cups (222) are distributed between the two groups of telescopic suction cup assemblies (223).

7. The detection device according to claim 6, characterized in that: The suction cup 1 (222) is a vacuum suction cup; And / or, the telescopic suction cup assembly (223) comprises a linear telescope (2231) and a suction cup 2 (2232) arranged on the execution end of the linear telescope (2231), and the linear telescope (2231) is fixed on the frame structure (221).

8. The detection device according to claim 5, characterized in that: The thermal imaging mechanism further comprises an industrial computer (320), wherein the industrial computer (320) is communicatively connected to the thermal imaging camera (310); And / or, the detection device further comprises an A-shaped frame (400) for placing a glass substrate (1a), and a glass loading platform (500) for transferring the glass substrate (1a), wherein the glass transfer mechanism (200) takes the glass substrate (1a) to be tested from the A-shaped frame (400) and transfers it to the glass loading platform (500) after testing.

9. The detection device according to claim 8, characterized in that: The industrial computer (320) is connected to an alarm (321).

10. A glass substrate damage detection method based on thermal imaging technology, characterized in that: The following steps are involved: S1, using the heating background plate (100) as the reference background of thermal imaging, fixing the glass substrate (1a) to be tested in the positive projection area of ​​the heating background plate (100), sensing and recording the infrared radiation intensity of the glass substrate (1a) and the heating background plate (100) by means of thermal imaging technology, and converting the infrared radiation into a digital image, wherein the area blocked by the glass substrate (1a) appears as a low-temperature blue in the digital image, and the area only exposed to the heating background plate (100) appears as a high-temperature red in the digital image; S2. Using a computer program or manually determining whether the edge of the glass substrate (1a) and the boundary line of the heating background plate (100) in the digital image are straight; if they are straight, it is qualified; if they are not straight, it is unqualified.

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