Grabbing device and grabbing method thereof

Abstract

The invention provides a grabbing device and a grabbing method thereof.The grabbing device comprises a bearing platform used for bearing a screen body, and the bearing platform comprises a bearing face used for bearing the screen body and a non-bearing face opposite to the bearing face; the suction nozzle assembly is positioned on one side of the bearing surface and is used for adsorbing the screen body; the light reflecting unit is arranged on the bearing surface; the photoelectric sensing unit is positioned on one side of the bearing surface and is used for emitting incident light to the light reflecting unit and receiving reflected light reflected by the light reflecting unit; the photoelectric sensing unit is configured as follows: when the suction position of the suction nozzle assembly on the screen body is correct, the screen body shields a light path emitted to the light reflecting unit by the photoelectric sensing unit; when the adsorption position deviates, the light path is not shielded; and the control unit is electrically connected with the photoelectric sensing unit and is used for judging whether the adsorption position deviates or not according to whether the photoelectric sensing unit receives the reflected light or not. The photoelectric sensing unit and the light reflecting unit are arranged in the grabbing device, so that real-time and non-contact automatic monitoring of the suction position of the suction nozzle assembly on the screen body is achieved.

Description

Technical Field

[0001] This application relates to the field of display technology, and in particular to a gripping device and gripping method thereof. Background Technology

[0002] Currently, advancements in flexible screen technology have led to its widespread application in modern electronic devices, especially foldable screen devices such as foldable phones, tablets, and wearable devices. Foldable screen devices can provide a larger display area by bending the screen while maintaining portability. This technology not only enhances the user experience but also brings about entirely new product designs and application scenarios. The manufacturing process of flexible screens requires work to be completed at multiple spaced-out workstations, and the movement of the flexible screen between these workstations is typically accomplished using gripping devices.

[0003] However, the performance of this gripping device needs improvement. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a gripping device and gripping method, which is beneficial to improving the performance of the gripping device.

[0005] To achieve the above objectives, one embodiment of this application provides a gripping device, comprising: a support platform for supporting a screen, including a support surface for supporting the screen and an opposing non-support surface; a suction nozzle assembly located on one side of the support surface for adsorbing the screen; a reflective unit disposed on the support surface; a photoelectric sensing unit located on one side of the support surface for emitting incident light to the reflective unit and receiving reflected light reflected by the reflective unit; the photoelectric sensing unit is configured such that: when the suction nozzle assembly is correctly positioned on the screen, the screen blocks the light path emitted by the photoelectric sensing unit to the reflective unit; when the adsorption position is deviated, the light path is not blocked; and a control unit electrically connected to the photoelectric sensing unit for determining whether the adsorption position is deviated based on whether the photoelectric sensing unit receives the reflected light.

[0006] In some embodiments, the gripping device further includes an alarm unit; the alarm unit is electrically connected to the control unit; when the control unit determines that the adsorption position has deviated, it sends an alarm command to the alarm unit; the alarm unit responds to the alarm command and triggers an alarm.

[0007] In some implementations, when the control unit determines that the adsorption position is deviated, the control unit controls the nozzle assembly to stop operating.

[0008] In some embodiments, the gripping device further includes a fixing bracket; the fixing bracket is located on one side of the bearing surface and is used to fix the suction nozzle assembly and the photoelectric sensing unit.

[0009] In some embodiments, the reflective unit includes at least two reflectors located on either side of the screen placement area of ​​the bearing surface.

[0010] In some embodiments, the distance between the nozzle assembly and the photoelectric sensing unit is greater than 10 mm.

[0011] In some embodiments, a portion of the reflector is embedded in the support platform, and the side of the reflector furthest from the non-supporting surface is exposed outside the support platform.

[0012] One embodiment of this application provides a grasping method, which is applied to any of the grasping devices described above, comprising: placing the screen on the bearing surface; the photoelectric sensing unit emitting incident light to the reflective unit; the control unit determining whether the adsorption position is deviated based on whether the photoelectric sensing unit receives the reflected light; and the control unit being electrically connected to the photoelectric sensing unit.

[0013] In some embodiments, the step of the control unit determining whether the adsorption position has deviated based on whether the photoelectric sensing unit receives the reflected light includes: if the photoelectric sensing unit receives the reflected light, the control unit determines that the adsorption position has deviated; if the photoelectric sensing unit does not receive the reflected light, the control unit determines that the adsorption position is correct.

[0014] In some embodiments, the grasping method further includes: if the control unit determines that the adsorption position is deviated, the control unit sends an alarm command to the alarm unit, and the alarm unit responds to the alarm command and triggers an alarm; the control unit is electrically connected to the alarm unit; if the control unit determines that the adsorption position is correct, the control unit controls the suction nozzle assembly to adsorb and transport the screen.

[0015] Compared with the prior art, the gripping device provided in one embodiment of this application has the following advantages: by setting a photoelectric sensing unit and a reflective unit in the gripping device, real-time, non-contact, automated monitoring of the adsorption position of the suction nozzle assembly on the screen is realized, which solves the technical problem of relying on manual shutdown measurement and difficulty in real-time early warning in the prior art, improves the automation level and real-time performance of detection, and avoids quality defects and production capacity loss caused by position deviation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of a related gripping device is provided for one embodiment of this application; Figure 2 A schematic diagram of the structure of a related gripping device is provided for one embodiment of this application; Figure 3 A schematic diagram of the structure of a related gripping device is provided for one embodiment of this application; Figure 4 A schematic diagram of the structure of a related gripping device is provided for one embodiment of this application; Figure 5 A flowchart of a related crawling method provided for one embodiment of this application.

[0018] Marker explanation: 100. Gripping device; 110. Support platform; 111. Support surface; 112. Non-support surface; 120. Suction nozzle assembly; 130. Reflecting unit; 131. Reflector; 140. Photoelectric sensing unit; 150. Control unit; 160. Alarm unit; 170. Fixing bracket; 200. Screen body. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0020] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] In related technologies, due to the lack of effective real-time monitoring methods, it is difficult to detect in a timely manner whether the adsorption position of the nozzle assembly meets the process specifications (such as the minimum distance requirement between the adsorption point and the edge of the screen). This problem is mainly reflected in two aspects: First, continuous, online automated detection of the adsorption position cannot be carried out during the production process; it can only rely on manual periodic checks or spot checks after shutdown, resulting in significant monitoring blind spots and time lags. Second, even if manual inspection is arranged, it is difficult to accurately quantify the actual deviation value because the detection position is usually far from the equipment observation port and the accuracy of visual judgment is limited. Therefore, when the adsorption position of the nozzle assembly deviates due to mechanical vibration, alignment error, or component wear, this abnormal state cannot be automatically identified and alarmed by the system in a timely manner. This directly leads to the inability to effectively identify and contain product quality risks such as screen damage, alignment misalignment, or poor bonding caused by improper adsorption position at the beginning. These risks often cannot be discovered until subsequent processes or even final inspection, which not only increases rework and scrap costs but also poses a continuous challenge to the overall production yield and process stability.

[0022] Please see Figure 1To address the aforementioned problems, one embodiment of this application provides a gripping device 100, comprising: a support platform 110 for supporting a screen 200, including a support surface 111 for contacting the screen 200 and an opposing non-support surface 112; a suction nozzle assembly 120 located on one side of the support surface 111 for adsorbing the screen 200; a reflective unit 130 disposed on the support surface 111; a photoelectric sensing unit 140 located on one side of the support surface 111 for emitting incident light to the reflective unit 130 and receiving reflected light reflected by the reflective unit 130; the photoelectric sensing unit 140 is configured such that: when the suction nozzle assembly 120 is correctly positioned on the screen 200, the screen 200 blocks the light path emitted by the photoelectric sensing unit 140 to the reflective unit 130; when the adsorption position deviates, the light path is not blocked; and a control unit 150 electrically connected to the photoelectric sensing unit 140 for determining whether the adsorption position has deviated based on whether the photoelectric sensing unit 140 receives reflected light.

[0023] In this embodiment, the gripping device 100 is an automated device used to perform picking, handling, or positioning operations during the manufacturing process of a display panel, particularly in the manufacturing process of the flexible screen 200. The gripping device 100 may include a support platform 110, a suction nozzle assembly 120, a reflector unit 130, a photoelectric sensing unit 140, and a control unit 150. The support platform 110 has a support surface 111 for supporting the screen 200, the suction nozzle assembly 120 is located on one side of the support surface 111, the reflector unit 130 is disposed on the support surface 111, and the photoelectric sensing unit 140 is located on one side of the support surface 111.

[0024] The support platform 110 can be a structural component used for temporarily placing and positioning the screen 200 to be processed. The support platform 110 may include a support surface 111 for contacting the screen 200, and a non-support surface 112 opposite to the support surface 111. The support surface 111 is used to directly support the screen 200, and the flatness and positional accuracy of the support surface 111 are precision machined to ensure accurate positioning of the screen 200 before subsequent gripping operations. Specifically, the support platform 110 may be made of rigid material and may integrate auxiliary structures such as vacuum holes or positioning pins to enhance the stable support of the screen 200.

[0025] The reflective unit 130 can be a component capable of reflecting light of a specific wavelength. For example, it can be a highly reflective mirror reflector 131. The reflective unit 130 is positioned at a specific location on the support surface 111. This location is precisely calibrated and associated with the standard placement position of the screen 200. For example, the reflective unit 130 can be fixed by embedding or attaching, so that its reflective surface is flush with or in a specific relationship with the support surface 111. By integrating the reflective unit 130 into the support surface 111 of the support platform 110, the relative positional relationship between the edge of the screen 200 and the reflective unit 130 after placement is determined, providing a precise physical reference for subsequent optical detection to determine whether the nozzle adsorption position has deviated.

[0026] The suction nozzle assembly 120 is located on one side of the support surface 111 and is used to adsorb the screen 200. Specifically, the suction nozzle assembly 120 may include one or more vacuum nozzles, which generate suction force through negative pressure to grasp the screen 200 in a non-contact or micro-contact manner. The suction nozzle assembly 120 is located on one side of the support surface 111, that is, the suction nozzle assembly 120 can be suspended in space above the support platform 110.

[0027] The photoelectric sensing unit 140 is located on one side of the supporting surface 111 and is used to emit incident light to the reflector unit 130 and receive reflected light from the reflector unit 130. Specifically, the photoelectric sensing unit 140 can be a specular reflection type photoelectric sensor that integrates a light source (such as an infrared LED) and a light receiver (such as a phototransistor). It is mounted in a fixed position relative to the nozzle assembly 120, with its optical axis facing the reflector unit 130 on the supporting platform 110. The photoelectric sensing unit 140 is configured such that when the nozzle assembly 120 is correctly positioned on the screen 200, the screen 200 exactly blocks the light path between the photoelectric sensing unit 140 and the reflector unit 130. When the position deviates, the screen 200 cannot completely block the light path, and the light can reach the reflector unit 130 and be reflected back to the photoelectric sensing unit 140.

[0028] The control unit 150 is electrically connected to the photoelectric sensing unit 140 and is used to determine whether the adsorption position is deviated based on whether the photoelectric sensing unit 140 receives reflected light. Specifically, if the photoelectric sensing unit 140 emits incident light and receives reflected light from the reflector unit 130, the control unit 150 determines that the adsorption position of the nozzle on the screen 200 is deviated. If the photoelectric sensing unit 140 emits incident light but does not receive reflected light from the reflector unit 130, the control unit 150 determines that the adsorption position of the nozzle on the screen 200 is correct.

[0029] In this embodiment, the gripping device 100 achieves real-time, non-contact automated monitoring of the adsorption position through the synergistic effect of the photoelectric sensing unit 140 and the reflective unit 130. This solves the technical problem of relying on manual shutdown for measurement and difficulty in real-time early warning in related technologies, improves the automation level and real-time performance of the detection, and avoids quality defects and production capacity loss caused by position deviation.

[0030] Please see Figure 2 In some embodiments, the gripping device 100 further includes an alarm unit 160; the alarm unit 160 is electrically connected to the control unit 150; when the control unit 150 determines that the adsorption position has deviated, it sends an alarm command to the alarm unit 160; the alarm unit 160 responds to the alarm command and triggers an alarm.

[0031] In this embodiment, the gripping device 100 may further include an alarm unit 160. The alarm unit 160 is electrically connected to the control unit 150. When the control unit 150 determines, based on the signal from the photoelectric sensing unit 140, that the adsorption position has deviated, it immediately generates and sends an alarm command to the alarm unit 160. Upon receiving the alarm command, the alarm unit 160 immediately responds and triggers an alarm. Specifically, the alarm command can be a digital signal or a voltage transition signal. The alarm unit 160 can be an audible and visual alarm. For example, after responding to the alarm command, the alarm unit 160 will emit a buzzer sound and illuminate a red warning light to alert on-site personnel to intervene promptly.

[0032] By setting up an alarm unit 160 and working in conjunction with the control unit 150, a closed loop is achieved from automatic detection of deviation to proactive warning of personnel, which shortens the abnormal response time, avoids batch quality problems that may be caused by personnel failing to detect the position deviation in time, and further ensures the reliability and safety of the production process.

[0033] In some implementations, when the control unit 150 determines that the adsorption position is deviated, the control unit 150 controls the nozzle assembly 120 to stop operating.

[0034] In this embodiment, when the control unit 150 determines that the adsorption position is deviated, the control unit 150 can also directly control the nozzle assembly 120 to stop operating. Specifically, after determining that the adsorption position is deviated, the control unit 150 may trigger an alarm and send a stop signal to the air circuit solenoid valve or lifting motor driving the nozzle assembly 120 to immediately interrupt the current adsorption or conveying action, thereby preventing subsequent operations from being performed in the wrong position. This fundamentally avoids damage to the screen 200 or production accidents that may be caused by incorrect adsorption position, and realizes active safety protection of the equipment.

[0035] Please see Figure 3In some embodiments, the gripping device 100 further includes a fixing bracket 170; the fixing bracket 170 is located on one side of the bearing surface 111 and is used to fix the nozzle assembly 120 and the photoelectric sensing unit 140.

[0036] In this embodiment, the gripping device 100 may further include a fixed bracket 170. The fixed bracket 170 is located on one side of the bearing surface 111 and is used to fix the nozzle assembly 120 and the photoelectric sensing unit 140. Specifically, the fixed bracket 170 can be a gantry or cantilever structure, with its lower end connected to the equipment frame, and its upper end or crossbeam portion used to install the drive cylinder of the nozzle assembly 120 and the mounting base of the photoelectric sensing unit 140. The fixed bracket 170 ensures that the relative positional relationship between the nozzle assembly 120 and the photoelectric sensing unit 140 in three-dimensional space remains constant, which is the mechanical basis for achieving stable and reliable detection. For example, the photoelectric sensing unit 140 can be mounted on the fixed bracket 170 using a finely adjustable clamp, allowing its optical path to be precisely aligned with the reflective unit 130 below.

[0037] In some embodiments, the reflective unit 130 includes at least two reflectors 131 located on both sides of the screen 200 placement area on the bearing surface 111.

[0038] In this embodiment, the reflective unit 130 may include at least two reflectors 131. These two reflectors 131 are located on opposite sides of the screen 200 placement area on the support surface 111. Specifically, the screen 200 placement area is a region on the support platform 110 specifically used for positioning the screen 200. By setting two or more reflectors 131, multiple parallel detection points can be constructed. For example, one reflector 131 can be set at each of the left and right edges of the screen 200 placement area. Thus, when the nozzle assembly 120 adsorbs the screen 200, if a lateral (e.g., left-right) positional deviation occurs, at least one reflector 131 in one direction will be exposed and detected by the corresponding photoelectric sensing unit 140. This arrangement enhances the detection capability for positional deviations in different directions, improving the robustness and detection coverage of the system.

[0039] Please see Figure 4 In some embodiments, a photoelectric sensing unit 140 is paired with a suction nozzle assembly 120. To maintain the balance of the screen 200 when gripping it, the gripping device 100 may include multiple suction nozzle assemblies 120, which may be evenly distributed on both sides of the screen 200. One suction nozzle assembly 120 corresponds to one photoelectric sensing unit 140. Specifically, the gripping device 100 may include two suction nozzle assemblies 120, which are respectively disposed on both sides of the screen 200.

[0040] In some embodiments, the distance between the nozzle assembly 120 and the photoelectric sensing unit 140 is greater than 10 mm.

[0041] In this embodiment, the distance between the nozzle assembly 120 and the photoelectric sensing unit 140 is greater than 10 mm. Specifically, due to process requirements, the position of the nozzle adsorbing the screen 200 should be greater than 10 mm from the edge of the screen 200. The detection point of the photoelectric sensing unit 140 (i.e., the point where the incident light falls) is set at a position greater than 10 mm from the adsorption center of the nozzle assembly 120, so that the detection point is exactly outside the theoretical edge of the screen 200. Specifically, if the screen 200 fails to completely cover the outer edge area due to a change in its position on the support platform, the light path that should have been blocked by the screen 200 will be exposed, indicating that the adsorption position of the nozzle assembly 120 on the screen 200 has deviated.

[0042] Specifically, the distance between the nozzle assembly 120 and the photoelectric sensing unit 140 may include 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm, 21 mm, 22 mm, 23 mm, 24 mm, or 25 mm.

[0043] In the gripping device 100, if the distance between the suction nozzle assembly 120 and the photoelectric sensing unit 140 is less than 10 mm, the detection point of the photoelectric sensing unit 140 will be located within 10 mm of the edge of the screen 200. This will cause the actual adsorption position of the suction nozzle assembly 120 to deviate inward. As long as the deviation does not exceed this distance of less than 10 mm, the edge of the screen 200 may still block the light path between the photoelectric sensing unit 140 and the reflective unit 130, preventing the photoelectric sensing unit 140 from receiving the reflected light. Consequently, the control unit 150 will make a false judgment that the adsorption position is correct. This situation violates the process specifications, causing the system to miss the detection of the illegal adsorption state, thus losing the core early warning function of the detection device. Undetected improper adsorption is highly likely to cause product quality defects such as edge damage, microcracks, out-of-tolerance alignment, or bonding bubbles in subsequent handling, alignment, or bonding processes due to stress concentration or unstable gripping. This not only fails to improve yield but also masks the actual process risks due to the system's erroneous safety signals, posing a potential threat to product quality and production reliability.

[0044] In some embodiments, a portion of the reflector 131 is embedded in the support platform 110, and the side of the reflector 131 away from the non-support surface 112 is exposed outside the support platform 110.

[0045] In this embodiment, a portion of the reflector 131 can be embedded in the support platform 110. Furthermore, the side of the reflector 131 furthest from the non-supporting surface 112 is exposed outside the support platform 110. Specifically, a groove can be formed on the support platform 110. The main body of the reflector 131 is embedded in this groove, but its reflective side (i.e., the side furthest from the non-supporting surface 112 and facing the photoelectric sensing unit 140) is flush with or slightly raised above the support surface 111 of the support platform 110, ensuring that it can reflect light normally without being blocked by the support platform 110 itself. This embedded design effectively protects the reflector 131 from scratches and damage during the handling of the screen 200, and also makes the support surface 111 of the support platform 110 flatter, avoiding uneven placement or stress on the screen 200 caused by protrusions.

[0046] In some embodiments, the reflector 131 can be detachably mounted on the support surface 111. Specifically, the reflector 131 can be magnetically attached to the support surface 111. When corresponding to screens 200 of different sizes, the relative position of the reflector 131 on the support surface 111 can be adjusted to accommodate screens 200 of different sizes.

[0047] Please see Figure 5 One embodiment of this application provides a grasping method, which is applied to any of the grasping devices 100 described above, and may include the following steps: Step S110: Place the screen 200 on the support surface 111.

[0048] In this embodiment, the screen 200 is placed on the support surface 111 of the support platform 110. The screen 200 specifically refers to a flexible display panel or flexible display module to be transported or processed. During placement, it must be ensured that the screen 200 is in a predetermined standard position on the support surface 111 of the support platform 110. For example, its edges should be aligned with preset physical blocks or visual positioning marks on the support platform 110. This standard position, along with the theoretical adsorption position of the subsequent suction nozzle assembly 120 and the placement position of the reflective unit 130 on the support surface 111, together constitutes a spatial reference for determining whether the adsorption position is correct. This initial placement action provides stable and repeatable detection conditions for subsequent real-time detection of the adsorption position based on the optical blocking principle, and is the starting step of the entire automated gripping and detection process.

[0049] Step S120: The photoelectric sensing unit 140 emits incident light to the reflective unit 130.

[0050] In this embodiment, following the placement step of the screen 200, the following step is performed: the photoelectric sensing unit 140 emits incident light to the reflective unit 130 disposed on the bearing surface 111 of the bearing platform 110. Specifically, the photoelectric sensing unit 140 is powered on, and its internal integrated light source, for example, may include an infrared light-emitting diode, is illuminated and emits incident light of a specific wavelength and angle. This incident light travels along a preset optical path toward the reflective unit 130. Specifically, the reflective unit 130 may be a highly reflective mirror reflector 131, which reflects the incident light according to the law of reflection after receiving it. This step is a key action to activate the entire optical detection circuit, enabling the photoelectric sensing unit 140 to indirectly sense the relative relationship between the edge of the screen 200 and the theoretical adsorption position by monitoring whether the reflected light emitted by itself and reflected back by the reflective unit 130 is blocked, thereby converting the positional information of the physical space into an electrical signal that can be processed by the control unit 150.

[0051] Step S130: The control unit 150 determines whether the adsorption position is deviated based on whether the photoelectric sensing unit 140 receives reflected light; the control unit 150 is electrically connected to the photoelectric sensing unit 140.

[0052] In this embodiment, the control unit 150 determines whether the suction position of the nozzle assembly 120 on the screen 200 has deviated based on whether the photoelectric sensing unit 140 receives reflected light from the reflective unit 130. This determination relies on the electrical connection established between the control unit 150 and the photoelectric sensing unit 140. For example, a physical connection via a signal cable or industrial bus allows the electrical signal generated by the photoelectric sensing unit 140 to be transmitted to the control unit 150 in real time and accurately. Specifically, the control unit 150 can be a programmable logic controller that continuously collects the output state of the photoelectric sensing unit 140. If the photoelectric sensing unit 140 does not receive reflected light, it outputs a first state signal indicating "light path blocked," and the control unit 150 determines that the suction position is correct because the screen 200 is precisely blocking the light path between the photoelectric sensing unit 140 and the reflective unit 130. Conversely, if the photoelectric sensing unit 140 receives reflected light, it outputs a second state signal indicating "light path unobstructed," and the control unit 150 determines that the suction position has deviated. This step enables the automatic and real-time conversion of optical detection signals into logical judgments about the adsorption position, completing the key information conversion from physical phenomena to control decisions, and providing direct judgment basis for subsequent alarms or process control.

[0053] In some embodiments, the step of the control unit 150 determining whether the adsorption position has deviated based on whether the photoelectric sensing unit 140 receives reflected light includes: if the photoelectric sensing unit 140 receives reflected light, the control unit 150 determines that the adsorption position has deviated; if the photoelectric sensing unit 140 does not receive reflected light, the control unit 150 determines that the adsorption position is correct.

[0054] In this embodiment, the step of the control unit 150 determining whether the adsorption position has deviated based on whether the photoelectric sensing unit 140 receives reflected light specifically includes the following explicit logical decision branches: The first decision branch is that if the photoelectric sensing unit 140 receives a reflected light signal from the reflective unit 130, the control unit 150 immediately determines that the adsorption position of the nozzle assembly 120 on the screen 200 has deviated. This situation corresponds to the screen 200 failing to completely block the light path between the photoelectric sensing unit 140 and the reflective unit 130, causing the incident light to reach the reflective unit 130 and be reflected back to the photoelectric sensing unit 140.

[0055] The second decision branch is that if the photoelectric sensing unit 140 does not receive a reflected light signal, the control unit 150 determines that the adsorption position is correct. This situation corresponds to the screen 200 completely and accurately blocking the light path, preventing the incident light from reaching the reflective unit 130, and therefore no reflected light signal is returned. These two logical decision branches together constitute the complete decision logic for the control unit 150 to determine the position status. This logic is clear, definite, and unambiguous, ensuring the reliability of the automated judgment result.

[0056] By implementing this step, the optical physical signals (presence or absence of reflected light) are directly and one-to-one mapped to a clear control logic state (deviation or correctness), thereby providing the core decision-making basis for the intelligent operation of the entire grasping device 100.

[0057] In some embodiments, the grasping method further includes: if the control unit 150 determines that the adsorption position is deviated, the control unit 150 sends an alarm command to the alarm unit 160, and the alarm unit 160 responds to the alarm command and triggers an alarm; the control unit 150 and the alarm unit 160 are electrically connected; if the control unit 150 determines that the adsorption position is correct, the control unit 150 controls the suction nozzle assembly 120 to adsorb and transport the screen 200.

[0058] In this embodiment, after the control unit 150 determines whether the adsorption position has deviated, it executes corresponding subsequent control actions based on the determination result. The grasping method also includes two distinct branch steps: the first branch is that if the control unit 150 determines that the adsorption position has deviated, the control unit 150 will send an alarm command to the alarm unit 160 electrically connected to it. Upon receiving the alarm command, the alarm unit 160 will immediately respond and trigger an alarm. Specifically, the alarm command can be a specific digital control signal, and the alarm unit 160 can be an audible and visual alarm, which triggers the alarm by emitting a continuous buzzing sound and flashing warning lights, aiming to immediately and conspicuously notify on-site operators to intervene.

[0059] The second branch involves the control unit 150 determining that the adsorption position is correct. If the control unit 150 determines the adsorption position is correct, it will control the suction nozzle assembly 120 to perform its core gripping function. This involves activating the vacuum adsorption mechanism to firmly adsorb the screen 200 and controlling its drive mechanism (such as a cylinder or motor) to transport the screen 200 to the preset next workstation or processing position. Through these two logically clear and mutually exclusive branch steps, the results of automatic detection are seamlessly integrated into specific equipment responses and production process control, constructing a complete "perception-judgment-execution" closed loop. This not only enables immediate alarms for abnormal situations, preventing continued operation in erroneous states, but more importantly, it ensures that critical handling operations are only performed when the adsorption position is verified to be correct. This fundamentally eliminates subsequent processing defects or product damage caused by positional deviations, improving the intelligence level, safety, and first-pass yield of the final product in the production process.

[0060] It should be noted that some embodiments of this application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0061] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the above embodiments of this application, which are not provided in detail for the sake of brevity.

[0062] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A gripping device, characterized in that, include: A support platform for supporting a screen, comprising a support surface for supporting the screen and an opposing non-support surface; A suction nozzle assembly, located on one side of the bearing surface, is used to adsorb the screen body; A reflective unit is disposed on the bearing surface; A photoelectric sensing unit, located on one side of the bearing surface, is used to emit incident light to the reflective unit and receive reflected light from the reflective unit. The photoelectric sensing unit is configured such that when the suction nozzle assembly is correctly positioned on the screen, the screen blocks the light path emitted by the photoelectric sensing unit to the reflective unit; when the suction position is deviated, the light path is not blocked. The control unit is electrically connected to the photoelectric sensing unit and is used to determine whether the adsorption position has deviated based on whether the photoelectric sensing unit receives the reflected light.

2. The gripping device according to claim 1, characterized in that, The gripping device also includes an alarm unit; the alarm unit is electrically connected to the control unit; when the control unit determines that the adsorption position has deviated, it sends an alarm command to the alarm unit; the alarm unit responds to the alarm command and triggers an alarm.

3. The gripping device according to claim 1, characterized in that, When the control unit determines that the adsorption position is deviated, the control unit controls the nozzle assembly to stop operating.

4. The gripping device according to claim 1, characterized in that, The gripping device also includes a fixing bracket; the fixing bracket is located on one side of the bearing surface and is used to fix the suction nozzle assembly and the photoelectric sensing unit.

5. The gripping device according to claim 1, characterized in that, The reflective unit includes at least two reflectors, which are located on both sides of the screen placement area of ​​the bearing surface.

6. The gripping device according to claim 1, characterized in that, The distance between the nozzle assembly and the photoelectric sensing unit is greater than 10 mm.

7. The gripping device according to claim 5, characterized in that, Part of the reflector is embedded in the support platform, and the side of the reflector away from the non-support surface is exposed outside the support platform.

8. A grasping method, characterized in that, The grasping method is applied to the grasping device according to any one of claims 1 to 7, comprising: Place the screen on the support surface; The photoelectric sensing unit emits incident light to the reflective unit; The control unit determines whether the adsorption position has deviated based on whether the photoelectric sensing unit receives the reflected light; the control unit is electrically connected to the photoelectric sensing unit.

9. The grasping method according to claim 8, characterized in that, The step of the control unit determining whether the adsorption position has deviated based on whether the photoelectric sensing unit receives the reflected light includes: If the photoelectric sensing unit receives the reflected light, the control unit determines that the adsorption position has deviated; If the photoelectric sensing unit does not receive the reflected light, the control unit determines that the adsorption position is correct.

10. The grasping method according to claim 9, characterized in that, The grasping method further includes: if the control unit determines that the adsorption position is deviated, the control unit sends an alarm command to the alarm unit, and the alarm unit responds to the alarm command and triggers an alarm; the control unit and the alarm unit are electrically connected. If the control unit determines that the adsorption position is correct, the control unit controls the suction nozzle assembly to adsorb and transport the screen.

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