Positioning device and method for feeding glass sheets

Abstract

The application belongs to the technical field of product feeding, and discloses a positioning device and method for glass sheet feeding. The positioning device for glass sheet feeding comprises a loading table, a first angle adjusting part, a mounting seat, a visual positioning mechanism and a second angle adjusting part. Under the action of the loading table and the first angle adjusting part, the cleaning basket can be arranged at a preset inclination angle, so that the glass sheets in the cleaning basket are in the same inclined state under the action of gravity. Under the action of the mounting seat and the second angle adjusting part, the visual positioning mechanism can be arranged perpendicularly to the surface of the opening of the cleaning basket, so that the visual positioning mechanism can accurately obtain the position information of each glass sheet, thereby improving the positioning accuracy and positioning efficiency of the glass sheets in the feeding process.

Description

Technical Field

[0001] This invention relates to the field of product feeding technology, and in particular to a positioning device and method for feeding glass sheets. Background Technology

[0002] During the glass slide cleaning process, the glass slides are typically placed in a cleaning basket. To prevent friction between the slides during handling and cleaning, the cleaning basket has multiple support structures inside. Adjacent support structures form cavities to hold the glass slides, with each slide placed in a separate cavity. Because the gaps between the cavities are larger than the thickness of the glass slide, the cleaning solution (such as water or chemical solvents) can flow smoothly across all surfaces of the glass slide, thereby carrying away contaminants.

[0003] However, in practice, glass sheets are mostly placed manually, and there are always slight and unavoidable deviations in their position and angle each time they are placed. Over time, these deviations cause the entire basket of glass sheets to appear messy and disordered, which is not conducive to the accurate positioning of individual glass sheets during subsequent loading processes.

[0004] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a positioning device and method for feeding glass sheets, so as to improve the positioning accuracy and positioning efficiency of glass sheets during the feeding process.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A positioning device for feeding glass slides, comprising:

[0008] The stage is configured to hold a cleaning basket containing multiple rows of glass slides;

[0009] The first angle adjustment component is connected to the platform and is configured to adjust and fix the platform to a preset tilt angle so that each glass sheet is attached to the support structure of the cleaning basket under the action of gravity, thereby being in the same tilt state.

[0010] Mounting base;

[0011] A visual positioning mechanism is disposed on the mounting base and configured to position each glass piece;

[0012] The second angle adjustment component is disposed between the mounting base and the visual positioning mechanism, and is configured to adjust the shooting angle of the visual positioning mechanism so that the shooting direction of the visual positioning mechanism is perpendicular to the surface where the opening of the cleaning basket is located.

[0013] Preferably, the first angle adjustment component includes:

[0014] The base has an arc-shaped guide rail;

[0015] A connecting seat is connected to the platform and has a slider that is adapted to slide along the arc-shaped guide rail;

[0016] A locking element is disposed between the base and the connecting seat and is used to lock the connecting seat.

[0017] Preferably, the visual positioning mechanism includes a mirror base, which is rotatably mounted on the mounting base;

[0018] The second angle adjustment component includes an angle adjustment bolt, which is obliquely disposed between the mirror base and the mounting base and is screwed to one of the mirror base and the mounting base, and abuts against the other. The length of the angle adjustment bolt between the mirror base and the mounting base is configured to adjust the tilt angle of the visual positioning mechanism.

[0019] Preferably, the positioning device for loading glass sheets further includes a driving mechanism arranged along a first direction, and the platform is disposed at the moving end of the driving mechanism, so that the platform has an installation position for mounting the cleaning basket and a loading position facing the visual positioning mechanism.

[0020] Preferably, one of the carrier platforms and one of the driving mechanisms constitute a set of feeding structures, and multiple sets of feeding structures are arranged side by side along a second direction perpendicular to the first direction;

[0021] The positioning device for loading glass sheets further includes a frame and a drive unit disposed on the frame. The drive unit is arranged along a second direction and is configured to drive the mounting base to move along the second direction so that the visual positioning mechanism can be aligned with each loading structure.

[0022] Preferably, the glass sheet loading positioning device further includes a positioning mechanism, which is disposed on the platform and used to position the cleaning basket.

[0023] Preferably, the washing basket includes two side plates and a positioning shaft located between the two side plates;

[0024] The positioning mechanism includes:

[0025] Two blocks are located on either side of the platform and can abut against the two side plates respectively;

[0026] Two limiting blocks are located on the other two sides of the platform and have limiting grooves that conform to the positioning axis.

[0027] Preferably, the positioning mechanism further includes a positioning cylinder disposed on the platform and connected to one of the stops, the positioning cylinder being configured to push the stop against the cleaning basket.

[0028] The positioning method for loading glass slides includes the following steps:

[0029] A cleaning basket containing multiple rows of glass slides is placed on an adjustable platform, and the platform is adjusted to a preset tilt angle so that each glass slide adheres to the support structure of the cleaning basket under the action of gravity, thereby being in the same tilt state.

[0030] Adjust the shooting angle of a visual positioning mechanism so that its shooting direction is perpendicular to the surface where the opening of the cleaning basket is located, and acquire images of the multi-row glass slides through the visual positioning mechanism;

[0031] Identify the first and last rows of glass plates located on the outermost side of the image, and measure the total distance between these two rows of glass plates in the image;

[0032] Based on the total spacing and the total number of rows of glass plates identified by the image, the theoretical spacing between two adjacent rows of glass plates is calculated.

[0033] Using the first row of glass sheets as a reference, the theoretical position information of the remaining rows of glass sheets is calculated based on the theoretical spacing and transmitted to the feeding mechanism.

[0034] Preferably, before acquiring images of the multiple rows of glass slides, the positioning method for loading the glass slides further includes:

[0035] A double-circle concentric calibration plate is provided on the opening side of the cleaning basket;

[0036] The visual positioning mechanism acquires an image of the double-circle concentric calibration plate and determines whether the two circles within it are concentric.

[0037] If they are not concentric, adjust the tilt angle of the visual positioning mechanism and / or the washing basket until the two circles in the double-circle concentric calibration plate are concentric.

[0038] The beneficial effects of this invention are:

[0039] The positioning device and method for glass sheet loading proposed in this invention, under the action of the platform and the first angle adjustment component, enables the cleaning basket to be set at a preset tilt angle, thereby ensuring that the glass sheets in the cleaning basket are in the same tilt state under the action of gravity. Under the action of the mounting base and the second angle adjustment component, the visual positioning mechanism can be set perpendicular to the opening of the cleaning basket, so that the visual positioning mechanism can accurately obtain the position information of each glass sheet, thereby improving the positioning accuracy and positioning efficiency of the glass sheets during the loading process. Attached Figure Description

[0040] Figure 1 This is a structural diagram of the washing basket;

[0041] Figure 2 This is a schematic diagram of the positioning device for feeding glass sheets in this invention;

[0042] Figure 3 This is one of the structural schematic diagrams of the platform, the first angle adjustment component, and the cleaning basket in this invention;

[0043] Figure 4 This is the second schematic diagram of the structure of the platform, the first angle adjustment component, and the cleaning basket in this invention;

[0044] Figure 5 This is a schematic diagram of the installation mechanism in this invention.

[0045] In the picture:

[0046] 100. Cleaning basket; 110. Base plate; 120. Side plate; 130. Top cover; 140. Connecting shaft; 150. Beads; 160. Positioning shaft; 200. Glass plate; 300. Double-circle concentric calibration plate;

[0047] 11. Platform; 12. First angle adjustment component; 121. Base; 122. Connecting seat; 123. Locking component; 1231. Locking bolt; 1232. Locking block; 12321. Fixing part; 12322. Locking part; 12323. Screw;

[0048] 2. Positioning mechanism; 21. Stop block; 22. Limit block; 23. Positioning cylinder;

[0049] 31. Mounting base; 32. Second angle adjustment component; 33. Frame; 34. Drive component;

[0050] 4. Visual positioning mechanism; 41. Mirror mount; 42. Visual positioning component; 43. Light source;

[0051] 5. Drive mechanism. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0053] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0056] like Figure 1As shown, the cleaning basket 100 includes a base plate 110, two side plates 120, a top cover 130, four connecting shafts 140, and multiple beads 150. The two side plates 120 are arranged opposite each other, and the four connecting shafts 140 are disposed between the two side plates 120, with two connecting shafts 140 located at the lower part of the side plates 120 and the other two at the upper part. Multiple beads 150 are provided on each connecting shaft 140, and a groove for accommodating a glass sheet 200 is formed between adjacent beads 150. The grooves on different connecting shafts 140 collectively constitute a support structure for supporting the same glass sheet 200: the two lower grooves abut against the bottom edge of the glass sheet 200, and the two upper grooves abut against the sides of the glass sheet 200. The base plate 110 is disposed at the bottom of the two side plates 120 to provide stable support; the side opposite the base plate 110 forms an opening of the cleaning basket 100 for placing and removing the glass sheet 200. The top cover 130 closes to the opening to prevent the glass sheet 200 from detaching from the cleaning basket 100 during transportation. After cleaning, the glass sheet 200 needs to be removed from the cleaning basket 100 for loading. Since the glass sheets 200 in the cleaning basket 100 are in a disordered state, it is not conducive to accurate positioning of individual glass sheets 200 during subsequent loading. Therefore, this embodiment proposes a positioning device for loading glass sheets, aiming to improve the positioning accuracy and efficiency of the glass sheet 200 during the loading process.

[0057] Specifically, please refer to Figures 1 to 5 The positioning device for loading glass slides includes a platform 11, a first angle adjustment member 12, a mounting base 31, a visual positioning mechanism 4, and a second angle adjustment member 32. The platform 11 is configured to support a cleaning basket 100 containing multiple rows of glass slides 200. The first angle adjustment member 12 is connected to the platform 11 and is configured to adjust and fix the platform 11 to a preset tilt angle so that each glass slide 200 adheres to the support structure of the cleaning basket 100 under the action of gravity, thereby being in the same tilt state. The mounting base 31 and the visual positioning mechanism 4 are disposed on the mounting base 31 and are configured to position each glass slide 200. The second angle adjustment member 32 is disposed between the mounting base 31 and the visual positioning mechanism 4 and is configured to adjust the shooting angle of the visual positioning mechanism 4 so that the shooting direction of the visual positioning mechanism 4 is perpendicular to the opening of the cleaning basket 100.

[0058] Understandably, after the cleaning basket 100 is placed on the platform 11, the tilt angle of the platform 11 is adjusted by the first angle adjustment component 12. During the adjustment process, the glass sheets 200 inside the cleaning basket 100 will tilt along with the cleaning basket 100. As the tilt angle increases, each glass sheet 200 can be in the same tilt state, that is, along the tilt direction of the cleaning basket 100, each glass sheet 200 is arranged in parallel. The tilt angle of the platform 11 needs to be adjusted according to different types of cleaning baskets, and no specific restrictions are made here. Under the action of the second angle adjustment component 32, the tilt angle of the visual positioning mechanism 4 can be adjusted so that the shooting direction of the visual positioning mechanism 4 is always perpendicular to the opening of the cleaning basket 100, so that the visual positioning mechanism 4 can accurately obtain the position information of each glass sheet 200, thereby improving the positioning accuracy and positioning efficiency of the glass sheet 200 during the loading process.

[0059] The first angle adjustment component 12 includes a base 121, a connecting seat 122, and a locking component 123. The base 121 has an arc-shaped guide rail; the connecting seat 122 is connected to the platform 11 and has a slider that slides along the arc-shaped guide rail; the locking component 123 is disposed between the base 121 and the connecting seat 122 and is used to lock the connecting seat 122. It can be understood that by manually adjusting the position of the slider within the arc-shaped guide rail, the tilt angle of the platform 11 is adjusted. Once all the glass sheets 200 are in the same tilt state, the locking component 123 can lock the connecting seat 122, thereby ensuring that the posture of the glass sheets 200 does not change during the loading process.

[0060] Among them, the locking component 123 is the locking bolt 1231, which is screwed to the base 121 and can penetrate the base 121 to abut against the side wall of the slider. The connecting seat 122 is locked by the friction between the locking bolt 1231 and the slider.

[0061] Furthermore, the locking component 123 also includes a locking block 1232, which is disposed on the base 121 and located at the front end of the platform 11. The front end refers to the lower side of the platform 11 when it is tilted. After the locking bolt 1231 locks the connecting seat 122, the locking block 1232 can lock the platform 11 a second time, further ensuring that the glass sheet 200 does not change its posture during the feeding process.

[0062] The locking block 1232 includes a fixing part 12321, a locking part 12322, and a screw 12323. The fixing part 12321 is fixed on the base 121. The locking part 12322 is connected to the fixing part 12321 through the screw 12323. The locking part 12322 has a notch that conforms to the front end of the platform 11. After the locking bolt 1231 locks the connecting seat 122, the screw 12323 is rotated to move the locking part 12322, which acts as a nut, closer to the front end so that the notch fits with the front end, thus completing the secondary locking.

[0063] In this embodiment, the visual positioning mechanism 4 includes a mirror base 41, a visual positioning component 42, and a light source 43. The mirror base 41 is rotatably mounted on the mounting base 31 via a rotating shaft. The visual positioning component 42 is mounted on the mirror base 41, and the length direction of the visual positioning component 42 is parallel to the length direction of the mirror base 41. The visual positioning component 42 is preferably a CCD camera in the prior art. The light source 43 is mounted on the mirror base 41 and surrounds the visual positioning component 42. Both the visual positioning component 42 and the light source 43 face the stage 11.

[0064] The second angle adjustment component 32 is an angle adjustment bolt. The angle adjustment bolt is obliquely positioned between the mirror base 41 and the mounting base 31, and is screwed to one of the two, while the other abuts against it. Preferably, the angle adjustment bolt is screwed onto the mirror base 41 to facilitate rotation by the operator. The length of the angle adjustment bolt between the mirror base 41 and the mounting base 31 is configured to adjust the tilt angle of the visual positioning mechanism 4. It is understood that the angle adjustment bolt is located below the rotating shaft; by rotating the angle adjustment bolt, the length between the mirror base 41 and the mounting base 31 can be shortened, thereby allowing adjustment of the tilt angle of the mirror base 41.

[0065] In this embodiment, the positioning device for loading glass sheets further includes a drive mechanism 5, which is arranged along a first direction. A platform 11 is disposed at the moving end of the drive mechanism 5, so that the platform 11 has an installation position for mounting the cleaning basket 100 and a loading position directly opposite the visual positioning mechanism 4. This arrangement facilitates the worker placing the cleaning basket 100 on the platform 11 at the loading position and adjusting the angle of the platform 11.

[0066] Furthermore, a platform 11 and a drive mechanism 5 constitute a feeding structure. Multiple feeding structures are arranged side by side along a second direction perpendicular to the first direction. Preferably, there are two groups. When the platform 11 in one feeding structure is in the feeding position, the platform 11 in the other feeding structure can be placed in the installation position under the action of the drive mechanism 5. With this arrangement, the installation of the next cleaning basket 100 can be completed during the feeding process, thereby improving the feeding efficiency.

[0067] Correspondingly, the positioning device for glass sheet loading also includes a frame 33 and a drive member 34 mounted on the frame 33. The drive member 34 is arranged along a second direction and is configured to drive the mounting base 31 to move along the second direction so that the visual positioning mechanism 4 can be aligned with each loading structure. It is understood that the frame 33 allows the mounting base 31 to be positioned obliquely above the stage 11, facilitating the positioning of the visual positioning mechanism 4 in positioning the glass sheet 200. Under the action of the drive member 34, the position of the visual positioning mechanism 4 can be adjusted along the second direction, thereby aligning the visual positioning mechanism 4 with the cleaning basket 100 on different loading structures. The drive member 34 is preferably a linear cylinder as used in the prior art.

[0068] In this embodiment, the positioning device for loading glass sheets further includes a positioning mechanism 2, which is disposed on the platform 11 and used to position the cleaning basket 100. The positioning mechanism 2 prevents positional deviations when the cleaning basket 100 is on the inclined platform 11, thus ensuring the accuracy of the visual positioning mechanism 4 in positioning the glass sheets.

[0069] Specifically, the positioning mechanism 2 includes two stops 21 and two limiting blocks 22. The two stops 21 are located on both sides of the platform 11 and can abut against the two side plates 120 respectively. The cleaning basket 100 also includes a positioning shaft 160 located between the two side plates 120, with the positioning shaft 160 and the base plate 110 on the same reference plane; the two limiting blocks 22 are located on the other two sides of the platform 11 and have limiting grooves that conform to the positioning shaft 160. When placing the cleaning basket 100, the two positioning shafts 160 are aligned with the limiting grooves, and the two side plates 120 abut against the two stops 21 respectively to complete the positioning of the cleaning basket 100.

[0070] Furthermore, the positioning mechanism 2 also includes a positioning cylinder 23, which is disposed on the platform 11 and connected to one of the stops 21. The positioning cylinder 23 is configured to push the stop 21 against the cleaning basket 100. Under the action of the positioning cylinder 23, the distance between the two stops 21 can be adjusted to accommodate different models of cleaning baskets 100. Preferably, the positioning cylinder 23 is connected to the stop 21 located at the rear end, so that the stop 21 can abut against the cleaning basket 100 and complete the clamping.

[0071] It should be noted that different models of cleaning basket 100 refer to cleaning baskets 100 with different lengths.

[0072] Based on the above, this embodiment also proposes a positioning method for glass sheet loading, which includes:

[0073] The cleaning basket 100 containing multiple rows of glass slides 200 is placed on an adjustable platform 11, and the platform 11 is adjusted to a preset tilt angle so that each glass slide 200 is attached to the support structure of the cleaning basket 100 under the action of gravity, thereby being in the same tilt state.

[0074] Adjust the shooting angle of the visual positioning mechanism 4 so that its shooting direction is perpendicular to the surface where the opening of the cleaning basket 100 is located, and acquire images of multiple rows of glass slides 200 through the visual positioning mechanism 4.

[0075] Identify the first and last rows of glass plates 200 located on the outermost side of the image, and measure the total distance between the two rows of glass plates 200 in the image;

[0076] Based on the total spacing and the total number of rows of glass sheets 200 identified through the image, the theoretical spacing between two adjacent rows of glass sheets 200 is calculated.

[0077] Using the first row of glass sheets 200 as a reference, the theoretical position information of the remaining rows of glass sheets 200 is calculated based on the theoretical spacing and transmitted to the feeding mechanism.

[0078] It is understood that the visual positioning mechanism 4 is electrically connected to the feeding mechanism, which is preferably a robotic arm in the prior art. Under the action of the visual positioning mechanism 4, the total distance between the first row of glass sheets 200 and the last row of glass sheets 200 can be obtained, and the theoretical distance between two adjacent glass sheets 200 can be calculated. The theoretical distance is then transmitted to the feeding mechanism. When picking up the sheets, the feeding mechanism only needs to position the first row of glass sheets 200 or the last row of glass sheets 200. After picking up the first glass sheet 200, it only needs to move a fixed distance to be aligned with the next glass sheet 200. The fixed distance is the theoretical distance.

[0079] Furthermore, for different models of cleaning baskets 100, after the tilt angle of the platform 11 is changed, the tilt angle of the corresponding visual positioning mechanism 4 also needs to be adjusted to ensure the alignment accuracy between the two. In this embodiment, before acquiring images of multiple rows of glass slides 200, the positioning method for loading the glass slides further includes:

[0080] A double-circle concentric calibration plate 300 is provided on the opening side of the cleaning basket 100;

[0081] The visual positioning mechanism 4 acquires an image of the double-circle concentric calibration plate 300 and determines whether the two circles within it are concentric.

[0082] If they are not concentric, adjust the tilt angle of the visual positioning mechanism 4 and / or the cleaning basket 100 until the two circles within the double-circle concentric calibration plate 300 are concentric.

[0083] Understandably, after the cleaning basket 100 is placed on the platform 11, the double-circle concentric calibration plate 300 is placed on the top cover 130. Then, the visual positioning mechanism 4 acquires an image of the double-circle concentric calibration plate 300 and determines whether the two circles inside are concentric. If they are not concentric, the visual positioning mechanism 4 and / or the tilt angle of the cleaning basket 100 are adjusted. During this process, the two circles inside the double-circle concentric calibration plate 300 are observed through the visual positioning mechanism 4 until the two circles are set concentrically, which proves that the visual positioning mechanism 4 is set perpendicular to the top cover 130. Then, the top cover 130 is removed, and the visual positioning mechanism 4 positions the glass plate 200.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A positioning method for loading glass sheets, characterized in that, A positioning device for feeding glass sheets, the positioning device for feeding glass sheets includes: The stage (11) is configured to carry a cleaning basket (100) containing multiple rows of glass slides (200); The first angle adjustment member (12) is connected to the platform (11) and is configured to adjust and fix the platform (11) to a preset tilt angle so that each of the glass pieces (200) is attached to the support structure of the cleaning basket (100) under the action of gravity, thereby being in the same tilt state. Mounting base (31); A visual positioning mechanism (4) is disposed on the mounting base (31) and configured to position each glass piece (200); The second angle adjustment member (32) is disposed between the mounting base (31) and the visual positioning mechanism (4) and is configured to adjust the shooting angle of the visual positioning mechanism (4) so ​​that the shooting direction of the visual positioning mechanism (4) is perpendicular to the surface where the opening of the cleaning basket (100) is located. The positioning device for loading glass sheets also includes a drive mechanism (5), which is arranged along a first direction, and the platform (11) is disposed at the moving end of the drive mechanism (5) so that the platform (11) has an installation position for installing the cleaning basket (100) and a loading position facing the visual positioning mechanism (4). One of the carriers (11) and one of the drive mechanisms (5) constitute a set of feeding structures, and multiple sets of the feeding structures are arranged side by side along a second direction perpendicular to the first direction; The glass sheet loading positioning device further includes a frame (33) and a drive member (34) disposed on the frame (33). The drive member (34) is arranged along a second direction and is configured to drive the mounting base (31) to move along the second direction so that the visual positioning mechanism (4) can be aligned with each loading structure. The glass sheet loading positioning device further includes a positioning mechanism (2), which is disposed on the platform (11) and used to position the cleaning basket (100); The cleaning basket (100) includes two side plates (120) and a positioning shaft (160) located between the two side plates (120); The positioning mechanism (2) includes: Two stops (21) are located on both sides of the platform (11) and can abut against the two side plates (120) respectively; Two limiting blocks (22) are located on the other two sides of the platform (11) and have limiting grooves that conform to the positioning axis (160); The positioning mechanism (2) further includes a positioning cylinder (23), which is disposed on the platform (11) and connected to one of the stops (21). The positioning cylinder (23) is configured to push the stop (21) against the cleaning basket (100). The positioning method for loading glass sheets includes the following steps: The cleaning basket (100) containing multiple rows of glass slides (200) is placed on an adjustable platform (11), and the platform (11) is adjusted to a preset tilt angle so that each glass slide (200) is attached to the support structure of the cleaning basket (100) under the action of gravity, thereby being in the same tilt state. Adjust the shooting angle of the visual positioning mechanism (4) so ​​that its shooting direction is perpendicular to the surface where the opening of the cleaning basket (100) is located, and acquire the image of the multi-row glass plate (200) through the visual positioning mechanism (4); Identify the first and last rows of glass plates (200) located on the outermost side of the image, and measure the total distance between the two rows of glass plates (200) in the image; Based on the total spacing and the total number of rows of glass sheets (200) identified by the image, the theoretical spacing between two adjacent rows of glass sheets (200) is calculated; Based on the first row of glass sheets (200) as a reference, the theoretical position information of the remaining rows of glass sheets (200) is calculated based on the theoretical spacing and transmitted to the feeding mechanism.

2. The positioning method for glass sheet loading according to claim 1, characterized in that, The first angle adjustment component (12) includes: The base (121) has an arc-shaped guide rail; The connecting seat (122) is connected to the platform (11) and has a slider that is adapted to slide with the arc-shaped guide rail; A locking element (123) is disposed between the base (121) and the connecting seat (122) and is used to lock the connecting seat (122).

3. The positioning method for glass sheet loading according to claim 1, characterized in that, The visual positioning mechanism (4) includes a mirror base (41), which is rotatably mounted on the mounting base (31); The second angle adjustment member (32) includes an angle adjustment bolt, which is obliquely disposed between the mirror base (41) and the mounting base (31) and screwed to one of the mirror base (41) and the mounting base (31), and abutting against the other. The length of the angle adjustment bolt between the mirror base (41) and the mounting base (31) is configured to adjust the tilt angle of the visual positioning mechanism (4).

4. The positioning method for glass sheet loading according to claim 1, characterized in that, Before acquiring images of the multi-row glass slides (200), the positioning method for loading the glass slides further includes: A double-circle concentric calibration plate (300) is provided on the opening side of the cleaning basket (100); The visual positioning mechanism (4) acquires an image of the double-circle concentric calibration plate (300) and determines whether the two circles within it are concentric. If they are not concentric, adjust the tilt angle of the visual positioning mechanism (4) and / or the cleaning basket (100) until the two circles in the double-circle concentric calibration plate (300) are concentric.

Images