Substrate glass precision handling device and handling method

Abstract

The application discloses a kind of substrate glass precision handling device and handling method, and the image of substrate glass is collected by visual positioning module, and the laser scanning position of substrate glass is positioned, laser scanning is carried out based on the coordinates of the laser scanning position of substrate glass by laser scanning module, the height of substrate glass and substrate glass inclination angle are obtained, and the extension length of gripper and the adjustment of the clamping angle of gripper are determined according to the height of substrate glass and substrate glass inclination angle size, the positioning accuracy when substrate glass is handled is improved, the parameter data of clamping process is collected by data processing module, clamping fitness comprehensive calculation is carried out, clamping fitness coefficient is obtained, and compared with the preset clamping fitness standard range, clamping force is adjusted, the function of self-adaptive adjustment clamping force is realized, and the lossless clamping of substrate glass is ensured.

Description

Technical Field

[0001] This invention belongs to the field of liquid crystal glass production technology, and relates to a substrate glass handling device, specifically a precision substrate glass handling device and handling method. Background Technology

[0002] In the TFT-LCD manufacturing field, the substrate glass, as the core carrier of the display panel, is directly affected by the handling operations during its processing, impacting production efficiency and product yield. Modern TFT-LCD production lines are developing towards ultra-large and ultra-thin substrate glass, with conventional sizes reaching G8.5 and thicknesses of only 0.5mm or even thinner, placing extremely high demands on handling equipment.

[0003] Currently, the industry commonly uses two main handling methods: one is pneumatic suction cup handling, which transfers the substrate glass through vacuum adsorption, but it suffers from problems such as adsorption marks, particulate contamination, and limited positioning accuracy; the other is mechanical clamping handling, which uses rigid grippers to hold the edges of the substrate glass, but this is prone to stress concentration, leading to micro-cracks or breakage of the substrate glass, especially before the grinding process, any damage to the surface of the substrate glass will directly affect the quality of subsequent processes. In addition, existing handling equipment mostly uses pneumatic or ordinary motor drives, resulting in low positioning accuracy and large repeatability errors, which cannot meet the requirements of modern precision manufacturing processes. During the transfer of substrate glass, due to the lack of precise coordinated control, accidents such as collisions and scratches are prone to occur, and sometimes the clamping force of the substrate glass is not precisely controlled, resulting in unstable clamping of the substrate glass or wear on the edges of the substrate glass. Summary of the Invention

[0004] To address the shortcomings mentioned in the background art, the present invention provides a precision handling device and method for substrate glass, which can improve the positioning accuracy when handling substrate glass and adaptively adjust the clamping force according to real-time conditions.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] This invention provides an adaptive control system for grippers used to transport substrate glass, comprising:

[0007] The vision positioning module acquires images of the substrate glass, locates the laser scanning position of the substrate glass using the images, and sends the coordinates of the laser scanning position of the substrate glass to the laser scanning module.

[0008] The laser scanning module performs laser scanning based on the laser scanning position coordinates of the substrate glass to obtain the height and tilt angle of the substrate glass, and then sends them to the control center.

[0009] The control center compares the height and tilt angle of the substrate glass with the initial extension length and initial tilt angle of the gripper, and dynamically adjusts the extension length and gripping angle of the gripper.

[0010] The data processing module collects parameter data during the gripper's gripping process, performs comprehensive calculations of gripping adaptability, obtains the gripper's gripping adaptability coefficient, and sends the gripping adaptability coefficient to the control center.

[0011] The control center compares the clamping adaptability coefficient with the preset clamping adaptability standard range. When the clamping adaptability coefficient is not equal to the clamping adaptability standard range, the clamping force of the gripper is adjusted; otherwise, no adjustment is required, so as to achieve adaptive control of the gripper.

[0012] Furthermore, the visual positioning module has a global coarse positioning camera, and the process of the visual positioning module acquiring images of the substrate glass includes:

[0013] A global image of the substrate glass is acquired by a global coarse positioning camera and preprocessed to obtain a processed global image of the substrate glass. The contour of the substrate glass is obtained by contour detection based on the edge detection algorithm. Based on the contour of the substrate glass, the center point and rotation angle of the substrate glass are determined by the minimum bounding rectangle algorithm.

[0014] Furthermore, the visual positioning module also includes a local fine positioning camera. The process by which the visual positioning module locates the laser scanning position of the substrate glass through the substrate glass image includes:

[0015] The position of the substrate glass is determined by a local precision positioning camera based on the center point and rotation angle of the substrate glass. The coordinates of the marked points on the substrate glass are then accurately acquired based on the position of the substrate glass, and the coordinates of the marked points are used as the coordinates of the laser scanning position of the substrate glass. The local precision positioning camera uses a sub-pixel method to find the marked points on the substrate glass based on the position of the center area of ​​the field of view.

[0016] Furthermore, the gripper adaptive control system also includes a motion execution module, wherein the process by which the control center adjusts the extension length and gripping angle of the gripper includes:

[0017] Initial extension length of the gripper Height of the substrate glass collected When comparing, = At this time, the height of the substrate glass is equal to the initial extension length of the gripper, and no control signal needs to be sent. > At that time, a control signal for the elongation length is sent to the motion execution module. < At that time, a control signal to shorten the length is sent to the motion execution module;

[0018] Initial tilt angle of the gripper Inclination angle with the substrate glass collected When comparing, = At this time, the tilt angle of the substrate glass is the same as the initial tilt angle of the grippers, and no control signal needs to be sent. ≠ At the same time, a control signal for adjusting the angle is sent to the motion execution module to adjust the gripper tilt angle to match the tilt angle of the substrate glass;

[0019] The motion execution module dynamically adjusts the extension length and gripping angle of the gripper based on the control signals sent by the control center.

[0020] Furthermore, the initial extension length of the gripper A preset height threshold is used, wherein the preset height threshold is obtained by calculating the weighted average of the heights of multiple substrate glass after obtaining multiple substrate glass heights multiple times;

[0021] The initial tilt angle of the gripper A preset tilt angle threshold is used, which is obtained by calculating the weighted average of multiple substrate glass tilt angles after obtaining multiple substrate glass tilt angles multiple times.

[0022] Furthermore, the data processing module collects parameter data during the gripper gripping process, including: gripper contact force data, substrate glass deformation data, ambient temperature data, and ambient humidity data.

[0023] Furthermore, the process of the data processing module performing a comprehensive calculation of clamping fitness includes:

[0024] The parameter data of the gripper grasping process are marked, and the gripper contact force data is marked as follows: The substrate glass deformation data is marked as Mark the ambient temperature data as Mark the ambient humidity data as In the formula, This is a label indicating the number of times the data processing module performs periodic data collection according to a preset time interval. , This represents the total number of times the data processing module collected the data.

[0025] Using formula

[0026] The clamping adaptability coefficient was calculated. ;

[0027] in, To preset the standard gripper contact force coefficient, The deformation coefficient of the pre-set standard substrate glass is used. To preset the standard ambient temperature coefficient, The preset standard ambient humidity coefficient; This is the coefficient of influence of the gripper contact force. The coefficient representing the influence of substrate glass deformation is denoted as . This is the temperature influence coefficient. Humidity influence coefficient;

[0028] The control center compares the clamping adaptability coefficient with the preset clamping adaptability standard range. When the clamping adaptability coefficient exceeds the clamping adaptability standard range, the clamping force of the gripper is adjusted; otherwise, no adjustment is required, thus achieving adaptive control of the gripper.

[0029] Furthermore, the process by which the control center compares the clamping fitness coefficient with a preset clamping fitness standard range includes:

[0030] like > At that time, a control signal to reduce the clamping force is sent to the motion execution module;

[0031] like < At that time, a control signal to increase the clamping force is sent to the motion execution module;

[0032] By adjusting the clamping force multiple times, until ≤ ≤ until;

[0033] like ≤ ≤ At this time, no control signal needs to be sent;

[0034] in, The preset clamping adaptability standard range is related to the size and weight of the substrate glass and can be obtained through a preset lookup table.

[0035] Furthermore, the present invention also provides a precision handling device for substrate glass, comprising: a frame, grippers, a first driver, a second driver, and a third driver. The grippers are mounted on the frame. The first driver uses a linear motor driven in conjunction with a grating ruler for feedback to drive the grippers to move and adjust the extension length of the grippers. The second driver uses a servo motor driven in conjunction with an absolute encoder to drive the grippers to rotate and adjust the gripping angle of the grippers. The third driver uses an electric cylinder in conjunction with a force sensor to drive the grippers to clamp and adjust the clamping force of the grippers. The first driver, the second driver, and the third driver are all controlled by a gripper adaptive control system.

[0036] Furthermore, the handling method of the precision handling device for the substrate glass includes the following steps:

[0037] Acquire images of the substrate glass, locate the laser scanning position of the substrate glass based on the images, obtain the coordinates of the laser scanning position of the substrate glass, perform laser scanning based on the coordinates of the laser scanning position of the substrate glass, and obtain the height and tilt angle of the substrate glass.

[0038] The preset height threshold is compared with the height of the substrate glass, and the extension length of the gripper is determined based on the comparison result. The preset tilt angle threshold is compared with the tilt angle of the substrate glass, and the gripping angle of the gripper is determined based on the comparison result.

[0039] Based on the extension length and gripping angle of the grippers, the first and second drivers control the grippers to perform gripping operations on the substrate glass.

[0040] Collect parameter data during the gripper's grasping process, and calculate the gripping adaptability coefficient by comprehensively analyzing the parameter data.

[0041] The preset clamping adaptability standard range is compared with the clamping adaptability coefficient. If the clamping adaptability coefficient is not equal to the clamping adaptability standard range, the clamping force is adjusted by the third driver. Otherwise, no adjustment is required to achieve adaptive control of the gripper.

[0042] The beneficial effects of this invention are:

[0043] The precision handling device and method for substrate glass provided by this invention acquires images of the substrate glass through a vision positioning module and locates the laser scanning position of the substrate glass. A laser scanning module performs a laser scan based on the coordinates of the laser scanning position of the substrate glass to obtain the height and tilt angle of the substrate glass. The control center determines the extension length of the grippers and the gripping angle of the grippers based on the height and tilt angle of the substrate glass, thereby improving the positioning accuracy when handling the substrate glass. The data processing module collects parameter data of the gripper gripping process, performs comprehensive calculation of the gripping adaptability, obtains the gripping adaptability coefficient, and compares it with a preset gripping adaptability standard range to adjust the gripping force, achieving adaptive adjustment of the gripping force and ensuring non-destructive gripping of the substrate glass. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the gripper adaptive control system of the present invention.

[0046] Figure 2 This is a flowchart illustrating the handling method of the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] This invention provides a precision handling device for substrate glass, comprising: a frame, grippers, a first driver, a second driver, and a third driver. The grippers are mounted on the frame, which is a box-beam structure made of aerospace aluminum alloy material and precision machined by CNC. It has the characteristics of being lightweight and having good rigidity. The gripping surface of the grippers is covered with a special silicone rubber material with a hardness of Shore A 30-40.

[0049] The first driver uses a linear motor with feedback from a grating ruler to move the gripper and adjust its extension length. The second driver uses a servo motor with an absolute encoder to rotate the gripper and adjust its gripping angle. The third driver uses an electric cylinder with a force sensor to clamp the gripper and adjust its gripping force. All three drivers are controlled by a gripper adaptive control system that supports EtherCAT industrial Ethernet communication for coordinated control of the drivers.

[0050] like Figure 1 As shown, the gripper adaptive control system includes: a vision positioning module, a laser scanning module, a data processing module, a motion execution module, and a control center.

[0051] The visual positioning module is used to acquire images of the substrate glass, locate the laser scanning position of the substrate glass using these images, and send the coordinates of the laser scanning position of the substrate glass to the laser scanning module. Specifically, the visual positioning module has a global coarse positioning camera and a local fine positioning camera.

[0052] The process by which the visual positioning module acquires images of the substrate glass is as follows:

[0053] A global image of the substrate glass is acquired using a global coarse positioning camera and preprocessed to obtain a processed global image of the substrate glass. An edge detection algorithm is then used to detect the contour of the substrate glass, yielding its contour. Based on this contour, the minimum bounding rectangle algorithm is employed to determine the center point and rotation angle of the substrate glass. In this embodiment, to improve the accuracy and efficiency of the substrate glass contour detection, the Canny operator's edge detection method is used.

[0054] The process by which the visual positioning module locates the laser scanning position of the substrate glass using the image of the substrate glass is as follows:

[0055] The local precision positioning camera determines the position of the substrate glass based on its center point and rotation angle. The coordinates of marked points on the substrate glass are then precisely acquired based on this position and used as the coordinates for the laser scanning position of the substrate glass. In this embodiment, the local precision positioning camera uses a sub-pixel method to locate marked points based on the position of the substrate glass in the central region of the field of view.

[0056] After receiving the laser scanning position coordinates of the substrate glass from the vision positioning module, the laser scanning module performs a laser scan on the substrate glass at that laser scanning position to obtain the height and tilt angle of the substrate glass, and then sends them to the control center.

[0057] The laser scanning module performs laser scanning on the substrate glass as follows:

[0058] The distance between the substrate glass surface and the laser displacement sensor surface at the laser scanning position is collected by a laser displacement sensor and used as the substrate glass height, which is then marked as follows: And the local tilt angle of the substrate glass at the laser scanning position, as the substrate glass tilt angle, is marked as... The height of the substrate glass and substrate glass tilt angle The data is sent to the control center. Specifically, the local tilt angle of the substrate glass at the laser scanning position is obtained by acquiring the normal vector using a laser displacement sensor.

[0059] The control center is used to monitor the height of the received substrate glass. and substrate glass tilt angle The analysis compares the height and tilt angle of the substrate glass with the initial extension length and initial tilt angle of the gripper, and outputs control signals to the motion execution module to dynamically adjust the extension length and gripping angle of the gripper.

[0060] The process by which the control center adjusts the extension length of the gripper is as follows:

[0061] Initial extension length of the gripper Height of the substrate glass collected Compare the results and adjust the extension length of the grippers accordingly: when > When this occurs, it indicates that the height of the substrate glass exceeds the initial extension length of the gripper, and the control center sends a control signal for the extension length to the motion execution module; when = When the height of the substrate glass is equal to the initial extension length of the gripper, no control signal needs to be sent; when < When this occurs, it indicates that the height of the substrate glass is lower than the initial extension length of the gripper, and the control center sends a control signal to shorten the length to the motion execution module. Specifically, the initial extension length of the gripper... A preset height threshold is used, which is obtained by calculating the weighted average of multiple substrate glass heights after obtaining multiple substrate glass heights multiple times.

[0062] The process of adjusting the gripper angle in the control center is as follows:

[0063] Initial tilt angle of the gripper Inclination angle with the substrate glass collected Compare the grippers and adjust their gripping angle based on the comparison results: when = When the substrate glass tilt angle is the same as the initial tilt angle of the grippers, no control signal needs to be sent; when ≠ At this time, the control center sends a control signal to the motion execution module to adjust the gripper tilt angle to match the tilt angle of the substrate glass. Specifically, the initial tilt angle of the gripper... A preset tilt angle threshold is used, which is obtained by calculating the weighted average of multiple substrate glass tilt angles after obtaining multiple substrate glass tilt angles multiple times.

[0064] The motion execution module is communicatively connected to the first, second, and third drivers, respectively. Upon receiving control signals from the control center, it adjusts the extension length and gripping angle of the grippers according to the instructions of the control signals to perform a gripping operation on the substrate glass. When the motion execution module controls the grippers to contact the substrate glass surface, it sends a processing signal to the data processing module.

[0065] After receiving the processing signal sent by the motion execution module, the data processing module collects the parameter data of the gripper's gripping process, performs a comprehensive calculation of the gripping adaptability based on the parameter data, obtains the gripping adaptability coefficient of the gripper, and sends the gripping adaptability coefficient to the control center.

[0066] The data processing module collects parameter data during the gripper's grasping process, including gripper contact force data, substrate glass deformation data, ambient temperature data, and ambient humidity data. Specifically, gripper contact force data is acquired by force sensors placed at the gripper positions. Substrate glass deformation data is acquired by emitting laser light; specifically, a reference beam is superimposed with the measurement light reflected from the measured surface, and the shape, density, and size of the interference fringes formed by the two beams are determined to ascertain the substrate glass deformation data. Changes in ambient humidity and ambient temperature data affect the frictional force at the contact point between the gripper and the substrate glass. Changes in ambient temperature affect the material at the contact point, thus affecting the coefficient of friction. Changes in ambient humidity affect the generation of moisture at the contact point, thereby reducing friction.

[0067] The data processing module performs the comprehensive calculation of clamping fitness as follows:

[0068] The parameter data of the gripper grasping process are marked, and the gripper contact force data is marked as follows: The substrate glass deformation data is marked as Mark the ambient temperature data as Mark the ambient humidity data as In the formula, This is a label indicating the number of times the data processing module performs periodic data collection according to a preset time interval. , This represents the total number of times the data processing module collected the data.

[0069] Based on the marked parameter data, a comprehensive calculation of clamping adaptability is performed to obtain the clamping adaptability coefficient. The calculation formula is as follows:

[0070] ;

[0071] in, To preset the standard gripper contact force coefficient, The deformation coefficient of the pre-set standard substrate glass is used. To preset the standard ambient temperature coefficient, The preset standard ambient humidity coefficient; This is the coefficient of influence of the gripper contact force. The coefficient representing the influence of substrate glass deformation is denoted as . This is the temperature influence coefficient. The humidity influence coefficient is used; in the specific implementation process, the standard gripper contact force coefficient is preset. Preset standard substrate glass deformation coefficient Preset standard ambient temperature coefficient and preset standard ambient humidity coefficient The gripper contact force influence coefficient is determined through multiple simulations and data acquisition, based on daily data collection of gripper contact force, substrate glass deformation, ambient temperature, and ambient humidity. In this embodiment, the gripper contact force influence coefficient is... Influence coefficient of substrate glass deformation Temperature influence coefficient and humidity influence coefficient This application is based on a comprehensive evaluation and calculation of external factors when acquiring data on gripper contact force, substrate glass deformation, ambient temperature, and ambient humidity in daily operations. These factors include human factors, machine inspection, and environmental factors. Human factors are those caused by improper human operation or scanning.

[0072] The data processing module will calculate the clamping fitness coefficient. The data is sent to the control center, which will then hold the fitness coefficients. Compatibility with preset clamping standards Compare and determine whether the clamping force of the grippers needs to be adjusted, when the clamping adaptability coefficient is... When the clamping force is outside the standard range, it is necessary to continuously adjust the clamping force of the grippers multiple times until... ≤ ≤ This is to achieve adaptive control of the grippers. The standard range of gripping adaptability is related to the size and weight of the substrate glass and can be obtained through a preset lookup table.

[0073] Among them, the control center will hold the fitness coefficient. Compatibility with preset clamping standards The comparison process is as follows: If > If the clamping force of the gripper exceeds the tolerance range of the substrate glass, the control center sends a control signal to the motion execution module to reduce the clamping force; if ≤ ≤ If the gripper's clamping force is normal, the control center does not need to send a signal; otherwise... < If the clamping force is insufficient to clamp the substrate glass, and the substrate glass may fall off if the clamping force is not increased, the control center sends a control signal to the motion execution module to increase the clamping force.

[0074] like Figure 2 As shown, the present invention also provides a method for handling substrate glass using a precision handling device, comprising the following steps:

[0075] S101: Acquire an image of the substrate glass, locate the laser scanning position of the substrate glass based on the image, obtain the coordinates of the laser scanning position of the substrate glass, perform laser scanning based on the coordinates of the laser scanning position of the substrate glass, and obtain the height and tilt angle of the substrate glass.

[0076] S102: Compare the preset height threshold with the height of the substrate glass, determine the extension length of the gripper based on the comparison result, compare the preset tilt angle threshold with the tilt angle of the substrate glass, and determine the gripping angle of the gripper based on the comparison result.

[0077] S103, based on the extension length and gripping angle of the gripper, the first driver and the second driver control the gripper to perform a gripping operation on the substrate glass.

[0078] S104: Collect parameter data during the gripper's gripping process, and calculate the gripping adaptability coefficient by comprehensively analyzing the parameter data.

[0079] S105: Compare the preset clamping adaptability standard range with the clamping adaptability coefficient. If the clamping adaptability coefficient exceeds the clamping adaptability standard range, adjust the clamping force through the third driver. Otherwise, no adjustment is required to achieve adaptive control of the gripper.

[0080] The formulas mentioned above in this application are all numerical calculations with dimensions removed. The formulas are obtained by software simulation based on a large amount of data and are closest to the real situation. The preset parameters and preset thresholds in the formulas are set by those skilled in the art according to the actual situation or obtained by simulation based on a large amount of data.

[0081] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. An adaptive control system for grippers used to transport substrate glass, characterized in that, include: The vision positioning module acquires images of the substrate glass, locates the laser scanning position of the substrate glass using the images, and sends the coordinates of the laser scanning position of the substrate glass to the laser scanning module. The laser scanning module performs laser scanning based on the laser scanning position coordinates of the substrate glass to obtain the height and tilt angle of the substrate glass, and then sends them to the control center. The control center compares the height and tilt angle of the substrate glass with the initial extension length and initial tilt angle of the gripper, and dynamically adjusts the extension length and gripping angle of the gripper. The data processing module collects parameter data during the gripper's gripping process, performs comprehensive calculations of gripping adaptability, obtains the gripper's gripping adaptability coefficient, and sends the gripping adaptability coefficient to the control center. The data processing module collects parameter data during the gripper grasping process, including: gripper contact force data, substrate glass deformation data, ambient temperature data, and ambient humidity data; the data processing module performs a comprehensive calculation of gripping adaptability, including: The parameter data of the gripper grasping process are marked, and the gripper contact force data is marked as follows: The substrate glass deformation data is marked as Mark the ambient temperature data as Mark the ambient humidity data as In the formula, This is a label indicating the number of times the data processing module performs periodic data collection according to a preset time interval. , This represents the total number of times the data processing module collected the data. Using formula The clamping adaptability coefficient was calculated. ; in, To preset the standard gripper contact force coefficient, The deformation coefficient of the pre-set standard substrate glass is used. To preset the standard ambient temperature coefficient, The preset standard ambient humidity coefficient; This is the coefficient of influence of the gripper contact force. The coefficient representing the influence of substrate glass deformation is denoted as . This is the temperature influence coefficient. Humidity influence coefficient; The control center compares the clamping adaptability coefficient with the preset clamping adaptability standard range. When the clamping adaptability coefficient exceeds the clamping adaptability standard range, the clamping force of the gripper is adjusted; otherwise, no adjustment is required, thus achieving adaptive control of the gripper.

2. The gripper adaptive control system according to claim 1, characterized in that, The visual positioning module has a global coarse positioning camera. The process of the visual positioning module acquiring images of the substrate glass includes: A global image of the substrate glass is acquired by a global coarse positioning camera and preprocessed to obtain a processed global image of the substrate glass. The contour of the substrate glass is obtained by contour detection based on the edge detection algorithm. Based on the contour of the substrate glass, the center point and rotation angle of the substrate glass are determined by the minimum bounding rectangle algorithm.

3. The gripper adaptive control system according to claim 2, characterized in that, The visual positioning module also includes a local fine positioning camera. The process by which the visual positioning module locates the laser scanning position of the substrate glass using the substrate glass image includes: The position of the substrate glass is determined by a local precision positioning camera based on the center point and rotation angle of the substrate glass. The coordinates of the marked points on the substrate glass are then accurately acquired based on the position of the substrate glass, and the coordinates of the marked points are used as the coordinates of the laser scanning position of the substrate glass. The local precision positioning camera uses a sub-pixel method to find the marked points on the substrate glass based on the position of the center area of ​​the field of view.

4. The gripper adaptive control system according to claim 1, characterized in that, It also includes a motion execution module, wherein the process of the control center adjusting the extension length of the gripper and the gripping angle of the gripper includes: Initial extension length of the gripper Height of the substrate glass collected When comparing, = At this time, the height of the substrate glass is equal to the initial extension length of the gripper, and no control signal needs to be sent. > At that time, a control signal for the elongation length is sent to the motion execution module. < At that time, a control signal to shorten the length is sent to the motion execution module; Initial tilt angle of the gripper Inclination angle with the substrate glass collected When comparing, = At this time, the tilt angle of the substrate glass is the same as the initial tilt angle of the grippers, and no control signal needs to be sent. ≠ At the same time, a control signal for adjusting the angle is sent to the motion execution module to adjust the gripper tilt angle to match the tilt angle of the substrate glass; The motion execution module dynamically adjusts the extension length and gripping angle of the gripper based on the control signals sent by the control center.

5. The gripper adaptive control system according to claim 4, characterized in that, The initial extension length of the gripper A preset height threshold is used, wherein the preset height threshold is obtained by calculating the weighted average of the heights of multiple substrate glass after obtaining multiple substrate glass heights multiple times; The initial tilt angle of the gripper A preset tilt angle threshold is used, which is obtained by calculating the weighted average of multiple substrate glass tilt angles after obtaining multiple substrate glass tilt angles multiple times.

6. The gripper adaptive control system according to claim 1, characterized in that, The process by which the control center compares the clamping fitness coefficient with a preset clamping fitness standard range includes: like > At that time, a control signal to reduce the clamping force is sent to the motion execution module; like < At that time, a control signal to increase the clamping force is sent to the motion execution module; By adjusting the clamping force multiple times, until ≤ ≤ until; like ≤ ≤ At this time, no control signal needs to be sent; in, The preset clamping adaptability standard range is related to the size and weight of the substrate glass and can be obtained through a preset lookup table.

7. A precision handling device for substrate glass, characterized in that, include: The device comprises a frame, grippers, a first driver, a second driver, and a third driver. The grippers are mounted on the frame. The first driver uses a linear motor with feedback from a grating ruler to move the grippers and adjust their extension length. The second driver uses a servo motor with an absolute encoder to rotate the grippers and adjust their gripping angle. The third driver uses an electric cylinder with a force sensor to clamp the grippers and adjust their clamping force. The first, second, and third drivers are all controlled by the gripper adaptive control system described in any one of claims 1-6.

8. A method for handling substrate glass using a precision handling device as described in claim 7, characterized in that, Includes the following steps: Acquire images of the substrate glass, locate the laser scanning position of the substrate glass based on the images, obtain the coordinates of the laser scanning position of the substrate glass, perform laser scanning based on the coordinates of the laser scanning position of the substrate glass, and obtain the height and tilt angle of the substrate glass. The preset height threshold is compared with the height of the substrate glass, and the extension length of the gripper is determined based on the comparison result. The preset tilt angle threshold is compared with the tilt angle of the substrate glass, and the gripping angle of the gripper is determined based on the comparison result. Based on the extension length and gripping angle of the grippers, the first and second drivers control the grippers to perform gripping operations on the substrate glass. Collect parameter data during the gripper's grasping process, and calculate the gripping adaptability coefficient by comprehensively analyzing the parameter data. The preset clamping adaptability standard range is compared with the clamping adaptability coefficient. If the clamping adaptability coefficient is not equal to the clamping adaptability standard range, the clamping force is adjusted by the third driver. Otherwise, no adjustment is required to achieve adaptive control of the gripper.

Images