A compliant vacuum stringing apparatus for ultrathin glass reconditioning and control method

Abstract

The application discloses a compliant vacuum stringing equipment and control method for ultrathin glass re-inspection, which comprises a feeding and carrying module, a double-stage carrying module, an NG feeding and discharging module, four detection modules, two turnover modules, two transfer carrying arms, a discharging and carrying module, an ATPU carrying suction plate, a vacuum control assembly and a controller. The controller schedules the workstations and selects the vacuum partition according to the product size, defect level, workstation state and vacuum state, and establishes the vacuum, attenuates and determines the pressure difference of the partition through the pressure sensor. The warped product is progressively adsorbed from the center to the periphery, the load detection and vacuum breaking and re-taking are performed on the risk of taking off the sheet, when the double-sided re-inspection is performed, the 180-degree turnover is completed in the order of first establishing the vacuum on the receiving side and obtaining the vacuum in place signal, then releasing the vacuum on the releasing side, and the defect coordinate mapping and result rewriting of the A / B surface are performed. The application can reduce the risk of broken pieces, scratches and taking off the sheet, improve the multi-specification compatibility and re-inspection coordination efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of automated conveying, vacuum adsorption, and defect re-judgment equipment for ultra-thin glass, specifically to a compliant vacuum wiring device and control method for re-judgment of ultra-thin glass. Background Technology

[0002] Ultra-thin glass is characterized by its thinness, low rigidity, flexibility, and susceptibility to surface damage, and is widely used in displays, flexible electronics, and optical devices. In the automated production process of ultra-thin glass products, it is usually necessary to use automated optical inspection equipment to detect defects on the product surface and classify the products according to the inspection results. For products with defects or requiring further confirmation, manual or physical re-inspection is also required to determine the defect type, defect level, and whether the product can continue to flow into subsequent processes.

[0003] In existing production methods, re-judgment equipment is often independently located outside the main production line. After products undergo preliminary testing, they need to be transferred from the main production line to the re-judgment area manually or using additional handling equipment. After re-judgment, they are then moved back to the subsequent production station. This method not only increases the need for loading and unloading equipment, manual handling, and intermediate buffering, but also easily leads to increased product waiting time and complicates the correspondence between test results, product identification information, and the actual re-judged products. Therefore, there is a significant practical need to directly connect the re-judgment equipment between upstream testing equipment and downstream processes, enabling different grades of products to undergo pass-through, re-judgment, sampling inspection, or handling according to processing requirements.

[0004] On the other hand, existing glass handling equipment typically uses rigid suction plates or ordinary vacuum suction cups to pick up glass products. For ultra-thin glass products, when the rigid suction surface is in direct contact with the product, large local suction forces and local bending stresses can easily be generated near the vacuum hole. For products with a certain degree of warping, when the suction areas cannot be simultaneously aligned, problems such as local air leakage, unstable suction, or the product being forcibly flattened may occur. For products of different sizes, if the same large-area vacuum suction area is used directly, problems such as large ineffective suction areas, increased airflow disturbance, and the need to change fixtures when changing shapes can easily occur.

[0005] Furthermore, in assembly lines with multiple re-inspection stations, there are often shared relationships between inspection modules, flipping modules, and transfer mechanisms. If tasks are assigned only according to fixed stations or a fixed sequence, when multiple products simultaneously require B-side re-inspection, competition for the same flipping or transfer mechanism can easily arise, causing waiting at inspection stations and mainline congestion. After a product is flipped 180° by the flipping module, the coordinates of the defects on the A-side given by the original inspection system will also undergo a mirror transformation with the observed coordinates after flipping. It is necessary to establish a correspondence between the product flipping direction, product size, and the A / B-side defect coordinates.

[0006] Inadequacy of existing technology 1. The re-judgment process has low efficiency in connecting with the main production line. The existing offline re-judgment method requires additional processes such as product removal, transfer, caching, and re-entry, which increases the number of equipment and manual handling, and can easily lead to a backlog of products awaiting re-judgment, affecting continuous production on the main line.

[0007] 2. Existing vacuum adsorption methods are not well-suited for ultra-thin glass. Rigid suction plates or fixed vacuum areas can easily cause localized stress concentrations in ultra-thin glass. For products of different sizes or with warping, problems such as localized air leakage, unstable adsorption, scratches, breakage, and the need for frequent replacement of adsorption fixtures can easily occur.

[0008] 3. Lack of closed-loop judgment and abnormal recovery mechanism for adsorption state. Existing vacuum pick-and-place mechanisms usually only perform actions based on the vacuum opening or closing state, lacking detection of vacuum build-up time, pressure decay, and regional pressure difference in each vacuum zone. They also lack progressive adsorption for warped products, load judgment for sheet risk, and vacuum breakage re-removal process.

[0009] 4. Lack of dynamic scheduling between multiple inspection stations and shared flipping resources. When multiple inspection stations share the flipping module and transfer arm, if only a fixed allocation method is used, it is easy for one station to wait for the shared mechanism while other stations are idle, making the inspection station a bottleneck in the overall production line cycle time.

[0010] 5. The defect location and reassessment data lack a synchronization mechanism after the product is flipped. After the product is flipped 180°, the defect coordinates on side A and the observation coordinates on side B change. If the coordinate mapping, defect identification binding, and reassessment result writing cannot be completed synchronously, it is easy to cause errors in the reassessment location or data that does not correspond to the actual product. Summary of the Invention

[0011] To address the aforementioned issues, this invention provides a compliant vacuum wire-connecting device and control method for the re-inspection of ultra-thin glass, thereby resolving the problems of adsorption damage risk, insufficient compatibility with multiple specifications, low scheduling efficiency of multiple inspection stations and shared flipping resources, and difficulty in synchronizing A / B surface defect data during the wire-connecting re-inspection process of ultra-thin glass.

[0012] A compliant vacuum line-connecting device for ultra-thin glass re-judgment is provided, comprising a dual-platform handling module (1), a loading and handling module (2), two NG loading and unloading modules (3), two transfer handling arms (4), two flipping modules (5), four detection modules (6), an unloading and handling module (7), multiple ATPU handling suction plates (8), a vacuum control component, and a controller; The loading and handling module (2) is located on the product input side and a loading barcode reader (23) is located near the product picking position. The unloading and handling module (7) is located on the product output side. The dual-platform handling module (1) extends from the product input side to the product output side to form a main conveying channel. The dual-platform handling module (1) includes an OK platform (11), an NG platform (12), and two sets of linear drive mechanisms (13) that drive the OK platform (11) and the NG platform (12) to move along the main conveying channel. The OK platform (11) and the NG platform (12) are staggered in the vertical direction, and the movement plane of the OK platform (11) is lower than the movement plane of the NG platform (12), so that the OK platform (11) can pass under the NG platform (12). The four detection modules (6) are distributed on both sides of the main conveying channel. Each detection module (6) includes a rectangular plate-shaped detection suction plate (61), a detection X-axis lead screw module (62), a detection servo motor (63), a detection reducer (64), and a detection vacuum pressure switch. The detection suction plate (61) is installed on the moving end of the detection X-axis lead screw module (62). The detection servo motor (63) is connected to the detection suction plate (61) via the detection reducer (64) to drive the detection suction plate (61) to rotate around the horizontal axis. The detection vacuum pressure switch is set on the vacuum inlet pipe of the detection suction plate (61). The two NG loading and unloading modules (3) are respectively set between the NG platform (12) and the corresponding detection area. Each NG loading and unloading module (3) includes a horizontal linear motor (31), a vertical screw module (32) installed at the moving end of the horizontal linear motor (31), and an ATPU conveying suction plate (8) installed at the lower end of the vertical screw module (32). The four detection modules (6) are divided into two detection resource groups according to their spatial adjacency. Each detection resource group includes two detection modules (6) and corresponds to a flipping module (5) and a transfer and handling arm (4). The flipping module (5) includes a flipping suction plate (58), a flipping X-axis linear motor (51), a flipping auxiliary slide rail (52), two Z-axis platforms (53) spaced apart along the rotation axis, a rotation axis (56), a rotation support bearing seat (57), and a flipping servo motor (54) and a flipping reducer (55) that are connected to the rotation axis (56). The two Z-axis platforms (53) are mounted on the moving end of the flipping X-axis linear motor (51) and guided to move along the flipping auxiliary slide rail (52). The two ends of the rotation axis (56) are respectively mounted on the two Z-axis platforms (53) through the rotation support bearing seat (57). The flipping suction plate (58) is fixed to the rotation axis (56) so that it can be driven by the flipping servo motor (54) to flip 180° via the flipping reducer (55). The transfer handling arm (4) is positioned between the corresponding flipping module (5) and the detection resource group, and includes a horizontal drive mechanism (41), a vertical lifting mechanism (42), and an ATPU handling suction plate (8) positioned at the lower end of the vertical lifting mechanism (42); the product contact ends of the loading handling module (2), the NG loading and unloading module (3), the transfer handling arm (4), and the unloading handling module (7) are each provided with an ATPU handling suction plate (8); the product contact surface of the flipping suction plate (58) is provided with an ATPU soft layer of the same material as the ATPU handling suction plate (8); The ATPU transport suction plate (8) includes a suction plate fixing component, an upper vacuum cover plate, a sealing ring, a lower vacuum suction plate, an ATPU softening layer, a manifold plate, and multiple equal-height screws. The sealing ring is disposed between the upper vacuum cover plate and the lower vacuum suction plate and forms a sealed vacuum cavity. The ATPU softening layer is sheet-like and covers the surface of the lower vacuum suction plate facing the ultra-thin glass product. The manifold plate is connected to the sealed vacuum cavity. The adsorption surface of the lower vacuum suction plate is provided with multiple vacuum adsorption areas. Each vacuum adsorption area is connected to a corresponding vacuum control circuit. There are at least three vacuum control circuits, which can be selected and activated according to the size of the ultra-thin glass product. Each ATPU transport suction plate (8) is connected to a set of vacuum control components. The flip suction plate (58) is connected to a set of vacuum control components for zoned vacuum adsorption. The vacuum control assembly includes a solenoid valve connected to each of the vacuum control loops, a pressure sensor located downstream of the corresponding solenoid valve and before the inlet of the corresponding vacuum adsorption area, and a vacuum breaking valve connected to the manifold. The controller is electrically connected to the loading and handling module (2), the dual-platform handling module (1), the NG loading and unloading module (3), the detection module (6), the flipping module (5), the transfer handling arm (4), the unloading and handling module (7), the loading code reader (23), the detection vacuum pressure switch, the solenoid valve, the pressure sensor, and the vacuum breaking valve, and communicates with the upstream classification system to obtain product identity information, product size, defect level and defect coordinates, and to obtain the work status of each detection module (6) and the vacuum adsorption status reflected by the pressure sensor. Based on the above data, the controller filters the target detection module (6) and selects the corresponding vacuum control circuit. During the re-judgment of the front and back sides, the controller controls the detection suction plate (61), the flipping suction plate (58) and the transfer handling arm (4) to perform vacuum handover in the order of first establishing a vacuum on the receiving side suction plate and obtaining a vacuum arrival signal, and then releasing the vacuum after releasing the side suction plate.

[0013] Furthermore, the lower vacuum suction plate is rectangular in shape, with multiple vacuum holes on the side facing the ATPU softening layer; the ATPU softening layer is attached to the lower vacuum suction plate via a double-sided adhesive layer, and the double-sided adhesive layer and the ATPU softening layer are respectively provided with through holes at positions corresponding to each of the vacuum holes; each of the equal-height screws has a screw section and a stepped portion with a radial dimension larger than the screw section, the equal-height screws connect the suction plate fixing member, the upper vacuum cover plate and the lower vacuum suction plate, and in the locked state, the stepped portion limits the axial distance between the suction plate fixing member and the lower vacuum suction plate to limit the compression amount of the ATPU softening layer; the ATPU softening layer is made of aliphatic thermoplastic polyurethane elastomer microporous foam material with a density of 0.07~0.10 g / cm³ and a Shore C hardness of 24~30.

[0014] Further, the at least three vacuum control loops include a first vacuum control loop, a second vacuum control loop, and a third vacuum control loop; the first vacuum control loop is connected to the central vacuum zone located in the middle of the lower vacuum suction plate via a first solenoid valve; the second vacuum control loop is connected to the first and second intermediate vacuum sub-zones located on opposite sides of the central vacuum zone via a second solenoid valve; the third vacuum control loop is connected to the peripheral vacuum zone located around the central vacuum zone and the two intermediate vacuum sub-zones via a third solenoid valve; a first pressure sensor is disposed between the first solenoid valve and the central vacuum zone; a second left pressure sensor and a second right pressure sensor are respectively disposed on two branches branching off downstream of the second solenoid valve and located before the entrances of the two intermediate vacuum sub-zones; a third pressure sensor is disposed between the third solenoid valve and the peripheral vacuum zone; for 602×341 mm ultra-thin glass products, the controller activates the first vacuum control loop; for 602×507 mm ultra-thin glass products, the controller activates the first and second vacuum control loops; for 700×600 mm ultra-thin glass products... For ultra-thin glass products of mm, the controller activates the first vacuum control circuit, the second vacuum control circuit, and the third vacuum control circuit.

[0015] Further, the controller sets the total number of vacuum regions participating in adsorption to n. For the k-th vacuum region participating in adsorption, where k is a positive integer from 1 to n, its absolute vacuum value Qk(t) at time t is determined according to Qk(t) = Patm - Pk(t), where Patm is the ambient atmospheric pressure and Pk(t) is the absolute pressure detected by the pressure sensor on the corresponding branch of the k-th vacuum region. The time when all vacuum regions participating in adsorption reach the corresponding preset target vacuum lower limit is recorded as ts, and the vacuum degree decay ΔQk,2s of the k-th vacuum region within 2 s is calculated according to ΔQk,2s = max{0, Qk(ts) - Qk(ts + 2 s)}. When all vacuum regions participating in adsorption are within the preset target vacuum degree range of the corresponding product size and ΔQk,2s of each vacuum region ≤ 5 kPa, it is determined to be stable adsorption. For 700×600 For ultra-thin glass products of mm, the vacuum difference ΔQzone between zones is further calculated according to ΔQzone=Qmax-Qmin, where Qmax is the maximum vacuum level among the central vacuum zone, the two intermediate vacuum sub-zones, and the outer vacuum zone, and Qmin is the minimum vacuum level among them. When ΔQzone≤8kPa, it is determined that the adsorption state between each vacuum zone meets the consistency condition. When ΔQzone>8 kPa, it is determined that there is local air leakage or local adhesion abnormality, and normal handling or flipping is prohibited.

[0016] Furthermore, the controller is configured to perform warp-compensated adsorption: after controlling the vertical drive mechanism used to drive the ATPU transport suction plate (8) to move vertically to a pre-contact position at a preset distance from the upper surface of the ultra-thin glass product, it continues to descend at a bonding speed lower than the normal transport descent speed; firstly, the first solenoid valve is opened to establish a vacuum in the central vacuum zone; after the vacuum degree of the central vacuum zone reaches the pre-stabilization threshold, the second solenoid valve is opened after a delay of 100-300 ms; for ultra-thin glass products that require the use of the peripheral vacuum zone, after establishing a vacuum in the two intermediate vacuum sub-zones, the third solenoid valve is opened after a delay of 100-300 ms, so that the ultra-thin glass product is gradually bonded to the ATPU flexible layer from the center outward; when the warp height of the ultra-thin glass product obtained by the controller is not greater than 7 mm and any outer vacuum zone that should participate in adsorption does not reach the corresponding target vacuum degree within the preset establishment time, the controller closes each solenoid valve currently participating in adsorption, opens the vacuum breaking valve to relieve pressure, and controls the vertical drive mechanism to retract and perform re-bonding adsorption at a speed lower than the previous bonding speed.

[0017] Further, the controller selects the target detection module (6) based on the status of the four detection modules (6); for the i-th detection module (6), where i is a positive integer from 1 to 4, the detection module (6) is added to the candidate workstation set only when it is in an enabled and fault-free state, the current working mode is compatible with the processing mode of the ultra-thin glass product to be processed or allows mode switching, and the expected shared resource waiting time of the flipping module (5) and the transfer handling arm (4) corresponding to its detection resource group does not exceed the preset shared resource waiting threshold when B-side re-judgment is required; for the i-th detection module (6) in the candidate workstation set, the comprehensive scheduling cost Ji is calculated according to Ji=α1·Ttrans,i / Tref+α2·Tqueue,i / Tref+α3·Tswitch,i / Tref+α4·Tflip,i / Tref+α5·Tshared,i / Tref+α6·Ki, where Ttrans,i is the current ultra-thin glass product being transported to the i-th detection module (6). The estimated transport time is as follows: Tqueue,i is the estimated remaining occupancy time of the current product and its preceding queue in the i-th detection module (6); Tswitch,i is the time required for the i-th detection module (6) to switch working modes; Tflip,i is the estimated flipping processing time for the current product to perform B-side re-judgment; Tshared,i is the estimated waiting time of the flipping module (5) and the transfer transport arm (4) shared by the detection resource group to which the i-th detection module (6) belongs; T is the estimated waiting time when the current product does not require B-side re-judgment. flip,i and Tshared,i are both 0, Tref is the time normalization reference, α1~α6 are non-negative weights and α1+α2+α3+α4+α5+α6=1, Ki is the adsorption and treatment risk value in the range of 0 to 1 corresponding to the i-th detection module (6). The adsorption and treatment risk value is determined based on the product warpage height, the vacuum leakage status of the most recent preset number of pick-ups and drops, and the cleanliness status of the corresponding stage and adsorption surface. The controller selects the detection module (6) with the smallest Ji as the target detection module.

[0018] Further, the controller acquires the single-piece pick-up reference load Fsingle(S) for the corresponding ultra-thin glass product, where S represents the size of the ultra-thin glass product; after the corresponding ATPU transfer suction plate (8) completes adsorption and lifts the ultra-thin glass product to the preset detection height, it acquires the current original load equivalent value Fraw and the pre-calibrated empty reference Fempty under the same motion conditions, and determines the current effective load equivalent value Fz according to Fz=|Fraw-Fempty|, and then according to The load deviation index Dload is calculated as Dload=|Fz-Fsingle(S)| / max(Fsingle(S),ε), where ε is a zero-prevention parameter with the same dimension as Fsingle(S) and greater than zero. When Dload exceeds the preset load deviation threshold, the controller determines that there is a risk of sheet slippage or sheet stacking. When the vacuum degree of any vacuum branch participating in the current product adsorption decreases beyond the preset leakage threshold during the lifting stage, the controller determines that there is an adsorption abnormality. When there is the risk of sheet slippage or sheet stacking or the adsorption abnormality, the transport is stopped, the ATPU transport suction plate (8) is moved to the safe release position, the solenoid valves currently participating in adsorption are closed, and the vacuum breaking valve is opened for 0.05~0.20 s. Then, the adsorption confirmation is performed again. During the normal sheet release process, the controller releases the ultra-thin glass product in the order of closing the solenoid valves currently participating in adsorption, opening the vacuum breaking valve, confirming the vacuum release, and controlling the vertical drive mechanism to rise at a low speed.

[0019] This invention also provides a method for controlling the re-judgment of ultra-thin glass, which employs a compliant vacuum wiring device including a dual-platform transport module (1), a loading transport module (2), two NG loading / unloading modules (3), two transfer transport arms (4), two flipping modules (5), four detection modules (6), a unloading transport module (7), multiple ATPU transport suction plates (8), a vacuum control component, and a controller for re-judgment, including: S1. The loading barcode reader (23) of the loading and handling module (2) reads the product identity information of the ultra-thin glass product entering the product input side, and the controller obtains the product size S, defect level G, defect coordinate set P and the re-judgment flag of whether B-side re-judgment is required corresponding to the product identity information. S2. Determine the product processing path based on the defect level G. A-class products enter the OK direct path, while B, C, D, or E-class products enter the image review path. After image review, if the product is updated to NG or the number of defects exceeds the preset number, it will switch to the physical review path. NG products or products with more than the preset number of defects will enter the physical review path, while manually sampled products will enter the sampling inspection path. S3. For ultra-thin glass products that need to enter the testing module (6), obtain the workstation status, queue status of the four testing modules (6), and the shared resource status of the flipping module (5) and the transfer handling arm (4) of the two testing resource groups. Select candidate testing modules (6) from them, and calculate the comprehensive scheduling cost of each candidate testing module (6) based on the expected handling time, expected queuing time, mode switching time, flipping time, shared resource waiting time and adsorption processing risk. Select the testing module (6) with the smallest comprehensive scheduling cost as the target testing module. S4. Determine the vacuum control circuit to be activated for the ATPU transport suction plate (8) according to the size S of the ultra-thin glass product, and control the corresponding vertical drive mechanism used to drive the ATPU transport suction plate (8) to move in the vertical direction, so that the ATPU transport suction plate (8) approaches the ultra-thin glass product at low speed and establishes a vacuum in the order of gradually expanding from the central vacuum area to the outer vacuum area. S5. Determine whether the adsorption is stable based on the vacuum degree, vacuum establishment time and vacuum decay amount detected by the corresponding pressure sensor; when the adsorption is stable, move the ultra-thin glass product to the target detection module (6); when the adsorption is unstable, perform depressurization and re-bonding. S6. Place the ultra-thin glass product on the detection suction plate (61) of the target detection module (6) and establish a vacuum on the detection suction plate (61) to re-judge surface A. S7. When the re-judgment mark indicates that B-side re-judgment is required, the flip module (5) and transfer handling arm (4) of the detection resource group to which the target detection module (6) belongs shall transfer the ultra-thin glass product from the detection suction plate (61) to the flip suction plate (58) in the order of establishing a vacuum on the receiving side and obtaining a vacuum arrival signal, and releasing the vacuum on the releasing side. The flip suction plate (58) shall be controlled to flip 180°, and then the flipped ultra-thin glass product shall be placed back on the detection suction plate (61) by the transfer handling arm (4). S8. Convert the A-side defect coordinates into the B-side re-judgment coordinates according to the product size and the flipping axis direction, and perform the B-side re-judgment according to the B-side re-judgment coordinates; S9. Bind the re-judgment result with the corresponding defect identifier, update the product re-judgment status, and control the dual-platform handling module (1) and the unloading handling module (7) to transport the re-judged ultra-thin glass product to the corresponding unloading path.

[0020] Furthermore, a local coordinate system is established for the ultra-thin glass product, with the upper left corner of side A under normal viewing conditions as the origin O, the x-axis along the width W of the product, and the y-axis along the height H of the product. When the ultra-thin glass product is rotated 180° around a rotation axis parallel to the y-axis, the defect coordinates (xA, yA) of side A are converted to defect coordinates (xB, yB) of side B, where xB = W - xA and yB = yA. When the ultra-thin glass product is rotated 180° around a rotation axis parallel to the x-axis, xB = xA and yB = H - yA; or according to [xB, yB, 1]. =Hflip·[xA, yA, 1] A homogeneous coordinate transformation is performed, where Hflip is a coordinate transformation matrix determined based on the product width W, product height H, and the actual flip axis direction. Each defect record includes at least the defect coordinates, defect type, defect level, and unique defect identifier, and the unique defect identifier remains unchanged before and after the coordinate transformation. The controller binds the review results obtained from manual review or image review with the unique defect identifier, and sends the product identity information, review surface, original defect level, review result, and post-review product status to the upstream classification system or local database.

[0021] Further, the controller establishes an NG physical review queue; when the number of products in the NG physical review queue is greater than the first queue threshold and at least one detection module (6) that is not currently undertaking NG physical review tasks is idle, NG products that meet preset low-risk conditions are allowed to be temporarily assigned to the idle detection module (6); when the number of products in the NG physical review queue decreases to no more than the second queue threshold, the temporarily switched detection module (6) is restored to its original working mode, wherein the first queue threshold is greater than the second queue threshold to form a hysteresis interval for workstation mode switching; the low-risk conditions include at least: the ultra-thin glass products The size of the product matches the vacuum control loop that can be enabled by the ATPU transfer suction plate (8) performing the candidate task; the vacuum degree decay in the most recent preset number of pick-up and drop operations of the ATPU transfer suction plate (8) does not exceed the preset leakage threshold; and the warpage height of the ultra-thin glass product does not exceed the preset warpage threshold. When the expected remaining occupancy time of any detection module (6) increases, the controller increases the expected queuing time corresponding to the detection module (6) and updates the shared resource waiting time of other detection modules (6) that share the flipping module (5) and transfer handling arm (4) with it in a synchronous manner to recalculate the comprehensive scheduling cost of each candidate detection module (6).

[0022] Beneficial effects of the present invention 1. A continuous line re-judgment structure is formed by the feeding and handling module 2, the upper and lower staggered double-platform handling module 1, four detection modules 6 and the unloading and handling module 7, so that OK products can flow directly downstream through OK platform 11, and NG or sampled products enter the corresponding re-judgment path, reducing the mutual blockage between OK products and NG re-judgment operations.

[0023] 2. A compliant multi-zone adsorption interface is formed by the ATPU compliant layer, the equal-height screw limiting structure, and the central vacuum zone, the middle vacuum sub-zone, and the outer vacuum zone. The corresponding vacuum circuit is selected according to the 602×341 mm, 602×507 mm and 700×600 mm products. By adsorbing first in the central area and opening the outer area with a delay, the product gradually adheres from the center to the outside, which helps to reduce local bending stress and adsorption impact.

[0024] 3. By using a pressure sensor located downstream of the corresponding solenoid valve to detect the vacuum build-up time, vacuum decay, and pressure difference between different vacuum zones, and combining this with the equivalent value of the Z-axis load to identify the risk of stripping or stacking, the system performs actions such as closing the negative pressure, breaking the vacuum, low-speed secondary bonding, and reconfirmation in abnormal situations, thus forming a closed loop of vacuum adsorption, anti-stripping, and abnormal re-removal.

[0025] 4. By dividing the four detection modules 6 into two detection resource groups, and calculating the comprehensive scheduling cost of each candidate detection station based on handling time, queuing time, mode switching time, flipping time, shared resource waiting time, and risk items, the target detection module 6 can be dynamically selected, which helps to reduce the cycle time loss caused by station idleness and waiting for shared flipping resources.

[0026] 5. The product handover is completed by detecting the suction plate 61, the flip suction plate 58 and the transfer handling arm 4 in the order of "establishing a vacuum on the receiving side and obtaining a vacuum arrival signal, and releasing the vacuum on the releasing side". The coordinates of the defects on the A side are mapped to the coordinates of the B side for re-judgment according to the flip axis direction and the product size. At the same time, the unique identifier of the defect remains unchanged and the re-judgment result is written back, which improves the accuracy of the re-judgment position of the A / B sides and the data consistency between the product, the defect and the re-judgment result. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the compliant vacuum wiring device of the present invention; Figure 2 This is a schematic diagram of the core equipment structure after removing the outer casing of the present invention; Figure 3 This is a schematic diagram of the material handling module of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the material handling module of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the material handling module of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the material handling module of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the structure of the dual-platform transport module of the present invention. Figure 1 ; Figure 8 This is a schematic diagram of the structure of the dual-platform transport module of the present invention. Figure 2 ; Figure 9 This is a schematic diagram of the detection module of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the detection module of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the structure of the NG loading and unloading module of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the structure of the NG loading and unloading module of the present invention. Figure 2 ; Figure 13 This is a schematic diagram of the transfer and handling arm in this invention; Figure 14 This is a schematic diagram of the structure of the flip module of the present invention. Figure 1 ; Figure 15 This is a schematic diagram of the structure of the flip module of the present invention. Figure 2 ; Figure 16 This is a partial structural diagram of the flip module of the present invention. Figure 1 ; Figure 17 This is a partial structural diagram of the flip module of the present invention. Figure 2 ; Figure 18 This is a partial structural diagram of the flip module of the present invention. Figure 3 .

[0028] Figure label: 1. Dual-stage transport module; 11. OK stage; 12. NG stage; 13. Linear drive mechanism; 14. Dual-stage auxiliary slide rail; 15. Stage suction plate; 2. Material handling module; 21. Material handling X-axis linear motor; 22. Material handling Z-axis lead screw module; 23. Material handling barcode reader; 3. NG loading and unloading module; 31. Horizontal linear motor; 32. Vertical lead screw module; 33. Ion bar; 34. Air knife; 4. Transfer and handling arm; 41. Horizontal drive mechanism; 42. Vertical lifting mechanism; 5. Flip module; 51. Flip X-axis linear motor; 52. Flip auxiliary slide rail; 53. Z-axis platform; 54. Flip servo motor; 55. Flip reducer; 56. Rotary shaft; 57. Rotary support bearing seat; 58. Flip suction plate; 6. Detection module; 61. Detection suction plate; 62. Detection X-axis lead screw module; 63. Detection servo motor; 64. Detection reducer; 65. X-axis scale; 66. Y-axis scale; 7. Material handling module; 71. Material handling X-axis lead screw module; 72. Material handling Z-axis lead screw module; 73. Material handling barcode reader; 8. ATPU transfer suction plate. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are used to illustrate the technical solutions of the present invention and not to limit the scope of protection of the present invention; in the absence of conflict, the technical features in the embodiments can be combined with each other.

[0030] Example 1 Overall Structure like Figures 1 to 18 As shown, this embodiment provides a compliant vacuum line-connecting device for ultra-thin glass re-judgment; the device includes a dual-platform transport module 1, a loading transport module 2, two NG loading / unloading modules 3, two transfer transport arms 4, two flipping modules 5, four detection modules 6, a unloading transport module 7, multiple ATPU transport suction plates 8, a vacuum control component, and a controller.

[0031] The aforementioned handling, inspection, and flipping modules are respectively mounted on the main equipment frame and the channel frame via their mounting bases or guide rails. The loading and handling module 2 and the unloading and handling module 7 are located at both ends of the main conveying channel. The two NG loading and unloading modules 3 are the first NG loading and unloading module and the second NG loading and unloading module, respectively; the two transfer and handling arms 4 are the first transfer and handling arm and the second transfer and handling arm, respectively. The two flip modules 5 are the first flip module and the second flip module, respectively; The four detection modules 6 are, in order, the first to the fourth detection modules; The loading and handling module 2 is located on the product input side of the equipment, the unloading and handling module 7 is located on the product output side of the equipment, and the dual-platform handling module 1 extends along the direction from the input side to the output side to form the main conveying channel.

[0032] Four detection modules 6 are distributed on both sides of the main conveying channel and are divided into a first detection resource group and a second detection resource group according to their spatial adjacency. The first detection resource group includes two adjacent detection modules 6 and shares a flipping module 5 and a transfer handling arm 4. The second detection resource group includes two other detection modules 6 and shares another flipping module 5 and another transfer handling arm 4. The controller records the shared flipping resources corresponding to each detection module 6 according to the resource group mapping relationship, so that when two detection modules 6 in the same group need to be re-judged on the B side, they can use the corresponding flipping module 5 and transfer handling arm 4 in the scheduling order.

[0033] Loading and unloading transport modules The loading and handling module 2 includes a loading X-axis linear motor 21 arranged along the product conveying direction, a loading Z-axis lead screw module 22 mounted on the moving end of the loading X-axis linear motor 21, an ATPU handling suction plate 8 mounted on the lower end of the loading Z-axis lead screw module 22, and a loading barcode reader 23 located near the product picking position and mounted on the upper edge of the ATPU handling suction plate 8. The loading X-axis linear motor 21 drives the ATPU handling suction plate 8 to move horizontally, and the loading Z-axis lead screw module 22 drives the ATPU handling suction plate 8 to pick up and place ultra-thin glass products vertically. The loading barcode reader 23 reads the product identification information ID before or during product removal.

[0034] The unloading and handling module 7 includes an unloading X-axis lead screw module 71, an unloading Z-axis lead screw module 72 installed at the moving end of the unloading X-axis lead screw module 71, an ATPU handling suction plate 8 installed at the lower end of the unloading Z-axis lead screw module 72, and an unloading code reader 73 set near the unloading position; the unloading code reader 73 is used to verify the identity of the product to be unloaded; unloading is only allowed when the read product ID matches the product ID in the current unloading task of the controller.

[0035] Dual-platform transport module The dual-platform transport module 1 includes an OK platform 11, an NG platform 12, a linear drive mechanism 13 for driving the OK platform 11 and the NG platform 12, a dual-platform auxiliary slide rail 14, and a platform suction plate 15 disposed on the OK platform 11 and the NG platform 12. Both the OK platform 11 and the NG platform 12 are rectangular plates that move along the main conveying channel. They are staggered in the vertical direction. The movement plane of the OK platform 11 is lower than that of the NG platform 12, so that the OK platform 11 can pass under the NG platform 12 when the NG platform 12 is at the NG product handover position. This spatially decouples the straight conveying of OK products from the re-judgment and loading / unloading of NG products. The platform suction plate 15 is used to carry the products as the platform moves horizontally.

[0036] In this embodiment, the stage suction plate 15 is also provided with three independently openable and closable vacuum channels, which are used to select the corresponding bearing and adsorption range according to the three product specifications of 602×341 mm, 602×507 mm and 700×600 mm; the three vacuum channels are used for stage bearing and anti-slip, and are independent of the vacuum control components of the ATPU transport suction plate 8 and the flip suction plate 58.

[0037] Detection module Each detection module 6 includes a detection suction plate 61, a detection X-axis lead screw module 62, a detection servo motor 63, a detection reducer 64, an X-axis scale 65, a Y-axis scale 66, a safety light curtain, and a detection vacuum pressure switch.

[0038] The inspection suction plate 61 is a rectangular flat plate made of transparent acrylic material, and its upper surface forms the inspection bearing surface for ultra-thin glass products. The vacuum holes on the inspection suction plate 61 are mainly arranged along the opposite two cut edges of the product to avoid the main manual observation area in the center of the product. The inspection suction plate 61 is installed on the moving end of the inspection X-axis lead screw module 62 and moves horizontally with the inspection X-axis lead screw module 62. The inspection servo motor 63 is connected to the rotating support of the inspection suction plate 61 via the inspection reducer 64, so that the inspection suction plate 61 can rotate between a 0° horizontal state and a manual inspection angle of 30° to 75°. The 0° horizontal position is used for loading, unloading, and handing over products to the flipping module 5. In this embodiment, a 45° detection angle is preferred for manual re-judgment. The X-axis scale 65 and Y-axis scale 66 are set along the two mutually perpendicular sides of the detection suction plate 61 to assist in the positioning of the sampled products. The detection vacuum pressure switch is set on the vacuum inlet pipe of the detection suction plate 61 to output a vacuum arrival signal to the controller after the detection suction plate 61 establishes a negative pressure. The safety light curtain is set on the side of the flipping motion area facing the manual operation. When the safety light curtain is blocked, the controller prohibits the rotation of the flipping module 5 and related lifting and handling actions.

[0039] NG loading and unloading module Each NG loading / unloading module 3 includes a horizontal linear motor 31, a vertical lead screw module 32 mounted on the moving end of the horizontal linear motor 31, an ATPU transport suction plate 8 mounted on the lower end of the vertical lead screw module 32, an ion bar 33, and an air knife 34. The horizontal linear motor 31 drives the ATPU transport suction plate 8 to move between the NG stage 12 and the corresponding detection area, and the vertical lead screw module 32 drives the ATPU transport suction plate 8 to perform wafer picking and placing. The ion bar 33 is located near the detection area and away from the product transport path. It performs static electricity removal when there are no products on the detection platform. The distance between the ion bar 33 and the surface to be statically removed is greater than 50mm. The air knife 34 is located at a cleaning position where no product stage passes by. Its air outlet direction is towards the stage surface. It is activated only when there are no products on the stage and there is no product transfer action around it.

[0040] Flip module and transfer arm Each flipping module 5 includes a flipping X-axis linear motor 51, a flipping auxiliary slide rail 52, two Z-axis platforms 53, a flipping servo motor 54, a flipping reducer 55, a rotating shaft 56, two rotating support bearing seats 57, and a flipping suction plate 58. Two Z-axis platforms 53 are mounted on the moving end of the flipping X-axis linear motor 51 and guided along the flipping auxiliary slide rail 52, and are spaced apart along the axial direction of the rotating shaft 56. The two ends of the rotating shaft 56 are respectively mounted on the two Z-axis platforms 53 through rotating support bearing seats 57. The flipping suction plate 58 is fixedly connected to the rotating shaft 56, and its product contact surface is provided with an ATPU soft layer of the same material as the ATPU handling suction plate 8. The flipping servo motor 54 is connected to the rotating shaft 56 through the flipping reducer 55, and is used to drive the flipping suction plate 58 to rotate 180° around the rotating shaft 56. The two Z-axis platforms 53 are synchronously controlled by the controller, so that the rotating shaft 56 and the flipping suction plate 58 are raised and lowered in the vertical direction as a whole, so as to avoid applying torsional load to the ultra-thin glass product due to the different heights at both ends of the flipping suction plate 58.

[0041] The transfer handling arm 4 includes a horizontal drive mechanism 41, a vertical lifting mechanism 42 installed at the moving end of the horizontal drive mechanism 41, and an ATPU transfer suction plate 8 installed at the lower end of the vertical lifting mechanism 42. The transfer handling arm 4 is used to pick up the product after the flip suction plate 58 has completed a 180° flip, and to place the flipped product back onto the corresponding detection suction plate 61.

[0042] ATPU Handling Suction Plate Each ATPU transport suction plate 8 includes a suction plate fixing component, an upper vacuum cover plate, a sealing ring, a lower vacuum suction plate, an ATPU softening layer, a manifold plate, multiple equal-height screws, and a double-sided adhesive layer.

[0043] The suction plate fixing component, upper vacuum cover plate, and lower vacuum suction plate are arranged sequentially along the thickness direction of the suction plate. A sealing ring is sandwiched between the upper vacuum cover plate and the lower vacuum suction plate, forming a sealed vacuum cavity between them. The lower vacuum suction plate is a rectangular flat plate with multiple vacuum holes on its product-facing side. The ATPU flexible layer is a sheet corresponding to the working area of ​​the lower vacuum suction plate and is attached to the product contact surface of the lower vacuum suction plate with a double-sided adhesive layer. The double-sided adhesive layer and the ATPU flexible layer form through holes at the corresponding positions of each vacuum hole, allowing negative pressure to be applied to the product from the sealed vacuum cavity through the vacuum holes and through holes. The "ATPU flexible layer" refers to a flexible layer composed of aliphatic thermoplastic polyurethane elastomer microporous foam material.

[0044] The equal-height screw includes a screw section and a stepped portion with a radial dimension larger than the screw section, connecting the suction plate fixing component, the upper vacuum cover plate, and the lower vacuum suction plate. When tightened, the stepped portion forms an axial mechanical limit to limit the final installation distance between the plates, preventing excessive compression of the ATPU compliant layer caused by continued tightening. For example, in an optional embodiment, an ATPU microporous foam material with a nominal density of 0.09 g / cm³ and a nominal Shore C hardness of 27 can be used as the ATPU compliant layer; alternatively, a material with a density of 0.07–0.10 g / cm³ and a Shore C hardness of 24–30 can be selected based on the product weight and warpage. The specific grade can be selected within the above material performance range. The actual thickness after cutting is determined through equipment adjustment to ensure elastic adhesion during adsorption without obstructing the vacuum pores.

[0045] Three-channel vacuum control and pressure sensor Each ATPU transport suction plate 8 is equipped with a set of vacuum control components, and the flip suction plate 58 is also equipped with a set of vacuum control components for its zoned vacuum adsorption. Each set of vacuum control components includes a first solenoid valve, a second solenoid valve, a third solenoid valve, a first pressure sensor, a second left pressure sensor, a second right pressure sensor, a third pressure sensor, and a vacuum breaking valve. In the automatic closed-loop scheme of this embodiment, automatic opening and closing are achieved by the first solenoid valve, the second solenoid valve, and the third solenoid valve, respectively. The first vacuum control loop is controlled by the first solenoid valve and is connected to the central vacuum zone Z1 located in the middle of the lower vacuum suction plate; the second vacuum control loop is controlled by the second solenoid valve, and the downstream of the second solenoid valve is divided into two branches, left and right, which are connected to the first intermediate vacuum sub-zone Z2L and the second intermediate vacuum sub-zone Z2R, respectively; the third vacuum control loop is controlled by the third solenoid valve and is connected to the peripheral vacuum zone Z3 located on the periphery.

[0046] The first pressure sensor is installed downstream of the first solenoid valve and before the inlet of the central vacuum zone Z1; the second left and second right pressure sensors are installed on the left and right branches branching off downstream of the second solenoid valve, respectively, and before the inlets of the middle vacuum sub-regions Z2L and Z2R; the third pressure sensor is installed downstream of the third solenoid valve and before the inlet of the peripheral vacuum zone Z3. Thus, each pressure sensor detects the pressure of the branch downstream of the corresponding solenoid valve and close to the specific adsorption area, reflecting the vacuum establishment and leakage status of the specific vacuum zone. One end of the vacuum breaking valve is connected to the vacuum manifold, and the other end is connected to the atmosphere or a low-pressure positive pressure source. The first to third solenoid valves, pressure sensors, and vacuum breaking valve are piping components.

[0047] Vacuum formulations for three product specifications For 602×341 mm products, the controller opens the first solenoid valve, activating only the central vacuum zone Z1, with a target vacuum level of 40 kPa and an allowable operating range of 35–45 kPa. For 602×507 mm products, the controller opens the first and second solenoid valves, activating Z1, Z2L, and Z2R, with a target vacuum level of 45 kPa and an allowable operating range of 40–50 kPa. For 700×600 mm products, the controller opens the first, second, and third solenoid valves, activating Z1, Z2L, Z2R, and Z3, with a target vacuum level of 50 kPa and an allowable operating range of 45–55 kPa. The single vacuum setup timeout parameter Tset for medium and large sizes is 1.5 s.

[0048] Vacuum State Determination Let the total number of vacuum regions participating in adsorption be n, and k be a positive integer from 1 to n; the absolute value of the vacuum degree of the k-th vacuum region participating in adsorption at time t is: Qk(t) = Patm - Pk(t) Where Qk(t) represents the absolute value of the vacuum level of the k-th vacuum region at time t, in kPa; Patm represents the atmospheric pressure of the environment where the equipment is located; and Pk(t) represents the absolute pressure detected by the corresponding pressure sensor at time t. If the pressure sensor used directly outputs a negative gauge pressure, the controller takes the absolute value of the negative gauge pressure as Qk(t) to avoid mixing two opposite vacuum symbols in the same equipment.

[0049] When all vacuum regions involved in adsorption reach the corresponding preset target vacuum level lower limit, this moment is recorded as the stability determination start time ts. The vacuum level decay within 2 seconds is expressed as: ΔQk,2s=max{0,Qk(ts)-Qk(ts+2 s)} This embodiment requires ΔQk,2s ≤ 5 kPa, meaning the equivalent vacuum decay rate should not exceed 2.5 kPa / s. For a 700×600 mm product, the vacuum difference between the various measurement branches involved in adsorption is also calculated: ΔQzone = Qmax - Qmin Where Qmax is the maximum absolute value of vacuum in the vacuum zones corresponding to the first pressure sensor, the second left pressure sensor, the second right pressure sensor, and the third pressure sensor, and Qmin is the minimum absolute value of vacuum in these zones. This embodiment requires ΔQzone ≤ 8 kPa; if it exceeds 8 kPa, the controller determines that at least one zone has insufficient fit, localized air leakage, or blocked vacuum holes, and direct entry into normal high-speed transport is not permitted.

[0050] Pre-contact and warpage compensation Before each product specification is put into production for the first time, the product's bearing plane is calibrated along the Z-axis to obtain the nominal upper surface position of the product. In this embodiment, the pre-contact height h0 is set to the position where the ATPU softening layer is 1.5 mm away from the nominal upper surface of the product. The ATPU transport suction plate 8 descends from the safe transport height to the pre-contact height h0 at a normal descent speed v0; after reaching h0, the descent speed is reduced to v1 = 0.2v0, and it continues to approach the product at this low speed.

[0051] During the low-speed bonding process, the first solenoid valve is activated first, allowing the central vacuum zone Z1 to be adsorbed initially. When the first pressure sensor detects that the central vacuum zone Z1 has reached 80% of the corresponding target vacuum level lower limit, this value is used as the pre-stabilization threshold Qpre. After reaching Qpre, it is held for 200 ms, and then the outer circuit is activated according to the product specifications: for 602×507 mm products, the second solenoid valve is activated after 200 ms; for 700×600 mm products, the third solenoid valve is activated after Z2L and Z2R have stabilized and then held for 200 ms. By establishing the central vacuum zone first and the outer vacuum zone later, the warped ultra-thin glass products are first bonded by local deformation of the ATPU flexible layer, and then the stress range is gradually expanded.

[0052] The product warpage height hw is provided by the upstream detection system along with the product data. When the upstream does not provide online warpage data, offline measurement values ​​or process settings from the same batch of products can be entered into the product formula. For products with a warpage height hw ≤ 7 mm, the above-described progressive adsorption process is used. If any outer vacuum area that should participate in adsorption does not reach the corresponding target vacuum level within Tset = 1.5 s, the controller closes the first to third solenoid valves, opens the vacuum breaking valve to release the negative pressure between the suction plate and the product, controls the Z-axis to return to the pre-contact position, closes the vacuum breaking valve, and reduces the second bonding speed to v2 = 0.1v0 before re-executing progressive adsorption. This embodiment allows for two retryes; if the stability judgment condition is still not met after two retryes, the product is marked as "adsorption abnormal," automatic flipping is stopped, and manual processing is initiated.

[0053] Detection and release of protective strips This embodiment utilizes the torque feedback of the Z-axis servo drive for load determination. During the equipment debugging phase, with no products in use, the same ATPU transport suction plate 8 is run 10 times at the same Z-axis position, speed, and acceleration as when picking up materials. The average torque feedback value is taken as the empty load reference, Fempty. During actual material picking, the original equivalent load value Fraw is read, and the current effective load equivalent value Fz is obtained by subtracting the empty load reference value, calculated as Fz = |Fraw - Fempty|. Subsequently, single-piece calibration is performed for the three specifications. For each specification, 30 normal single-piece picking operations are performed consecutively, and the effective load equivalent value Fz,n when the product leaves the bearing surface and is lifted to the detection height is recorded. The single-piece reference load corresponding to size S is defined as: Fsingle(S)=(1 / 30)·Σ(n=1→30)Fz,n The load deviation index for the current material handling action is defined as: Dload=|Fz-Fsingle(S)| / max(Fsingle(S),ε) Where Dload represents the deviation of the current load relative to the corresponding specification normal single-piece reference; Fz represents the equivalent load value when the current product is lifted; Fsingle(S) represents the single-piece reference load corresponding to size S; ε is a zero-prevention parameter with the same dimension as Fsingle(S) and greater than zero, which is taken as 0.1% of the effective load range of the Z-axis in this embodiment. In this embodiment, the maximum normal deviation Dnormal,max is calculated from 30 normal calibration data, and the strip judgment threshold is set to Dth=Dnormal,max+0.15.

[0054] When Dload > Dth, the controller determines there is a risk of sheet slippage or sheet stacking. When the vacuum level of any vacuum branch involved in the current product adsorption decreases by more than 5 kPa / 2 s during the lifting phase, the controller determines there is an adsorption anomaly. When the risk of sheet slippage or sheet stacking or the adsorption anomaly occurs, the controller stops horizontal transport, lowers the product to the safe release position, closes all solenoid valves involved in the adsorption, and opens the vacuum breaking valve. In this embodiment, the vacuum breaking duration tBV is 0.10 s. Then, the vacuum breaking valve is closed, and a low-speed material handling confirmation is performed again. During normal sheet release, the product is also released in the sequence of "closing the negative pressure—opening the vacuum breaking valve—confirming vacuum release—low-speed Z-axis rise" to reduce the probability of the product being lifted by the suction plate due to micro-adhesion on the ATPU flexible layer surface.

[0055] Controller and product data structure The controller includes a PLC and an industrial computer. The PLC is electrically connected to each motion axis, solenoid valve, vacuum breaking valve, pressure sensor, vacuum pressure detection switch, and safety light curtain, and is responsible for real-time motion control, vacuum control, and safety interlocks. The industrial computer communicates with the upstream classification system, loading barcode reader 23, unloading barcode reader 73, and the PLC, and is responsible for product data parsing, workstation scheduling, defect coordinate conversion, and recording of review results. When each product enters the equipment, a unique product task record Dp={ID,S,G,P,Bflag,Status} is established, where ID is the product identification information, S=(W,H) is the product size, W is the product width, H is the product height, G is the product defect level, P is the defect coordinate set, Bflag is the flag indicating whether B-side review is required, and Status is the current process status of the product.

[0056] Each defect record is represented as pj=(xj,yj,typej,levelj,DefectIDj), where xj and yj are the coordinates of the j-th defect, typej is the defect type, levelj is the defect level, and DefectIDj is a unique defect identifier.

[0057] Product Classification and Processing Path After the product completes the code reading, the processing path is determined based on the upstream classification data: When G=A, Class A OK products do not enter the physical review process and are directly transported downstream by the OK platform 11 along the main conveyor channel; when G∈{B,C,D,E}, they enter the image review path. If the business rules only require viewing the inspection images displayed upstream, they do not directly enter the physical A / B side flipping process; after the image review is completed, the product defect level is updated. If it still belongs to the releaseable Class A to E after the update, it is unloaded along the OK path. If it is updated to NG or the number of defects is greater than 4, it is transferred to the physical review queue; when G=NG or the number of defects is greater than 4, it directly enters the physical review queue; manually sampled products are placed into the inspection module 6 by the operator, and after re-scanning the code to confirm the ID at the inspection position, they enter the sampling inspection process.

[0058] Four-station scheduling The four detection modules 6 are denoted as workstations i=1, 2, 3, and 4, respectively. For products to be physically reviewed, the controller first establishes a candidate workstation set Ω. Only workstations that simultaneously meet the following conditions can be added to Ω: the workstation is already in use and there is no fault; the current mode is compatible with the task to be processed or allows switching; the product specifications are compatible with the vacuum formula used in this workstation; the safety light curtain is not triggered; if Bflag=1, the expected shared resource waiting time Tshared,i of the corresponding detection resource group's flipping module 5 and transfer handling arm 4 does not exceed the preset shared resource waiting threshold Tshared,max. In this embodiment, Tshared,max=Tref; if the candidate workstation set Ω is empty, the product remains at the NG stage 12 or the current safe waiting position, and the controller periodically updates the workstation and shared resource status until at least one detection module 6 meets the candidate conditions.

[0059] Calculate the overall scheduling cost for each candidate workstation i: Ji=α1·Ttrans,i / Tref+α2·Tqueue,i / Tref+α3·Tswitch,i / Tref+α4·Tflip,i / Tref+α5·Tshared,i / Tref+α6·Ki Wherein, Ttrans,i is the estimated time for the current product to be transferred from its current location to workstation i; Tqueue,i is the estimated remaining time for the current task and its preceding task at workstation i; Tswitch,i is the estimated time for workstation i to switch to the current product processing mode; Tflip,i is the estimated flipping processing time when the current product needs B-side re-judgment; Tshared,i is the estimated time for the detection resource group to which workstation i belongs to wait for the shared flipping module 5 and the transfer handling arm 4; when Bflag=0, both Tflip,i and Tshared,i are 0; Tref is the time normalization benchmark, which can be calibrated based on the average complete re-judgment cycle when the equipment is running stably; Ki is the risk item corresponding to workstation i.

[0060] In this embodiment, α1=0.15, α2=0.30, α3=0.10, α4=0.10, α5=0.25, and α6=0.10, with the sum of each weight being 1. The risk item uses Ki=w1Wi+w2Li+w3Di, where w1=0.5, w2=0.3, and w3=0.2; Wi represents warpage risk, taken as Wi=min(hw / 7 mm,1), with an out-of-range risk flag set when hw>7 mm; Li represents normalized vacuum leakage risk, which in this embodiment is the ratio of the average of the 2-second vacuum attenuation of each effective vacuum region in the most recent 10 successful take-offs and drops to 5 kPa, truncated to the range of 0-1, i.e., Li=min{(1 / 10)·Σm=1→10(Δ m / 5 kPa), 1}, where Δ m is the average value of ΔQk,2s for each vacuum region involved in adsorption during the m-th pick-up and drop; Di is the cleaning risk, Di=0 when the corresponding stage and adsorption surface have not reached the cleaning cycle and there is no cleaning alarm, and Di=1 when the cleaning cycle has been reached but cleaning has not been completed or there is a cleaning alarm. For less than 10 historical data points, Li is calculated based on existing successful pick-up and drop data. The controller selects the station with the lowest Ji as the target detection station; if the difference in Ji between two stations is less than 0.02, the station that does not require mode switching and whose shared flipping resource is currently idle is prioritized.

[0061] Queue Adaptive The controller establishes an NG (Not From Good) physical review queue, setting the first queue threshold Qhigh to 3 items and the second queue threshold Qlow to 1 item. When the number of products to be processed in the NG queue is greater than 3 and there is an available idle detection module 6, NG products that meet the low-risk criteria are temporarily assigned to that idle detection module 6. When the number of NG products in the queue decreases to 1 item or less, the temporarily switched detection module 6 reverts to its original mode. A hysteresis interval is formed by Qhigh > Qlow to prevent the detection module 6 from repeatedly switching modes when the queue fluctuates near the critical value.

[0062] Complete review process for 700×600 mm NG products The following example illustrates a complete work cycle using an ultra-thin glass product with dimensions of 700×600 mm, a defect level of NG, a warpage height of 5 mm, and Bflag=1. After the product enters the equipment from upstream, the loading and handling module 2's loading barcode reader 23 reads the product ID; the industrial computer reads S=(700,600) mm, NG level, defect coordinate set P, and Bflag=1 from the upstream classification system. The controller determines that the product needs to undergo physical A / B surface re-inspection, and after obtaining the status of the four inspection stations and the shared flipping resource status, calculates the Ji of each candidate station, and selects the inspection module 6 with the smallest Ji as the target inspection station.

[0063] Due to the product size of 700×600 mm, the NG loading / unloading module 3 uses a large-scale adsorption formula. The ATPU transport suction plate 8 moves above the NG stage 12, and the vertical screw module 32 descends to a pre-contact position 1.5 mm from the nominal surface of the product, then continues to descend at 0.2v0. First, the first solenoid valve is opened. After the first pressure sensor detects that the central vacuum zone Z1 has reached the pre-stabilization threshold, it is held for 200 ms, and then the second solenoid valve is opened. After the two intermediate vacuum sub-zones corresponding to the second left pressure sensor and the second right pressure sensor stabilize, they are held for 200 ms, and then the third solenoid valve is opened. Ultimately, the vacuum degree of the four adsorption zones is required to be within the range of 45-55 kPa, ΔQzone≤8 kPa, and ΔQk,2s≤5 kPa respectively within the following 2 s. After the conditions are met, the vertical screw module 32 lifts the product and calculates Dload. When Dload≤Dth and each adsorption vacuum zone continuously meets the stable adsorption conditions during the lifting phase, normal single-piece adsorption is confirmed.

[0064] The NG loading / unloading module 3 transfers the product to the target inspection module 6. The inspection suction plate 61 is kept at 0° horizontal and a vacuum is established. After the vacuum pressure switch outputs a vacuum signal, the ATPU transport suction plate 8 releases the vacuum and exits. Subsequently, the inspection suction plate 61 rotates to 45°, and the operator performs a physical re-inspection of the A-side based on the defect coordinates.

[0065] A-side flipping and vacuum transfer to B-side When the A-side re-judgment is completed and Bflag=1, the controller requests the flipping module 5 and the transfer arm 4 from the detection resource group to which the target detection station belongs. If the shared resource is already serving another detection module 6 in the same group, the current product continues to remain on the detection suction plate 61 and the vacuum remains effective until the shared resource is released. After obtaining the flipping resource, the detection suction plate 61 returns to the 0° handover position, the flipping module 5 moves along the X-axis to above the detection suction plate 61, and the two Z-axis platforms 53 descend synchronously, bringing the flipping suction plate 58 closer to the side of the product away from the detection suction plate 61.

[0066] The flip-over suction plate 58 sequentially activates the first, second, and third vacuum control circuits according to the 700×600 mm formula. Only when the corresponding vacuum area meets the stability judgment and the flip-over suction plate 58 is in the vacuum state will the controller allow the vacuum of the detection suction plate 61 to be released. After the detection suction plate 61 is released from vacuum, the two Z-axis platforms 53 rise synchronously, and the flip servo motor 54 drives the rotating shaft 56 to rotate 180° via the flip reducer 55, so that the product completes the front-to-back conversion. The transfer handling arm 4 moves to the handover position of the flip-over suction plate 58, and its ATPU transfer suction plate 8 establishes a stable vacuum; after confirming stable adsorption on the transfer side, the flip-over suction plate 58 is released from vacuum. The transfer handling arm 4 then places the flipped product back onto the detection suction plate 61. After the detection vacuum pressure switch confirms that the detection suction plate 61 is in the vacuum state, the transfer handling arm 4 breaks the vacuum and withdraws. Therefore, the entire handover process always follows the interlocking principle of "the receiving side first establishes a vacuum and confirms that the product is in place, and the releasing side then releases the vacuum." There is no time window in which the product is left unrestrained due to the simultaneous release of the vacuum by both suction plates.

[0067] Defect coordinate mapping on surfaces A and B Establish a local coordinate system for the product, with the upper left corner of the product as the origin O when viewed normally from side A. Establish the x-axis along the product width W and the y-axis along the product height H. When the rotation axis of the actual flipping module 5 is parallel to the product's y-axis, the defect coordinates (xA, yA) on side A are the re-judgment coordinates on side B after flipping: xB = W - xA, yB = yA When the rotation axis is parallel to the product's x-axis, the coordinates for the B-side re-judgment are: xB=xA, yB=H-yA Alternatively, a homogeneous matrix can be used for unified representation: [xB, yB, 1] =Hflip·[xA, yA, 1]

[0068] Here, Hflip is a coordinate transformation matrix determined based on the product width W, product height H, and the actual rotation axis direction. For example, when rotating around the y-axis, Hflip = [[-1,0,W],[0,1,0],[0,0,1]]; when rotating around the x-axis, Hflip = [[1,0,0],[0,-1,H],[0,0,1]]. After confirming the actual rotation axis direction during the equipment debugging phase, the corresponding matrix is ​​written into the product formula.

[0069] For example, for a product with W=700 mm and H=600 mm, if the coordinates of a defect on surface A are (180 mm, 220 mm) and the product is rotated 180° around an axis parallel to the y-axis, then the corresponding coordinates on surface B are (520 mm, 220 mm). Each defect maintains the same DefectID before and after the coordinate transformation. The manual review result is bound to the corresponding DefectID to avoid mismatch between the defect record and the actual position after mechanical rotation.

[0070] Re-evaluation result writing and material feeding After the operator completes the defect review, the industrial computer saves the product ID, DefectID, A-side or B-side identifier, original defect coordinates, converted review coordinates, original defect type and level, manual review result, wiping status, final product level, and release, pending review, or NG status. If the operator confirms that a defect belongs to wipeable particles and completes wiping, the defect record is updated to "wiped - pending re-evaluation." Whether the product can be changed from NG to OK is executed according to the quality judgment rules pre-configured in the upstream classification system; the equipment itself does not exceed its authority to change the customer's quality rules.

[0071] After the B-side re-judgment is completed, if the downstream requires the product to maintain its original A-side orientation, the flipping module 5 and the transfer arm 4 are called again to flip the product 180° in reverse order. If the downstream allows the B-side to face upwards, the flipping is omitted. After the final orientation adjustment is completed, products that pass the re-judgment enter the OK platform 11, while products that need further processing or remain in the NG state enter the NG platform 12. The dual-platform transfer module 1 transports the product to the product output side. The unloading code reader 73 of the unloading transfer module 7 reads the product ID again and checks it against the current unloading task in the controller. After the check matches, the ATPU transfer suction plate 8 transports the product to the downstream.

[0072] Exception handling During any pick-up or drop-off operation, if vacuum establishment fails, the vacuum decay exceeds 5 kPa within 2 seconds, or the vacuum difference between zones of a 700×600 mm product exceeds 8 kPa, the controller will not allow normal high-speed handling to continue. The first abnormal operation will execute "vacuum breaking - retraction - reduced bonding speed - re-adsorption". If the stability condition is not met after two consecutive adsorption attempts, the automatic operation will stop and an adsorption abnormality warning will be output. If the safety light curtain is blocked, the rotation of the flipping module 5, the Z-axis descent, and the entry of the transfer handling arm 4 into the flipping danger zone will be immediately prohibited. If communication with the upstream sorting system is interrupted, the products currently adsorbed or located on the detection suction plate 61 will maintain their current safe state and will not be automatically sorted if the product identity and level are unknown. After communication is restored, the product ID and process status will be re-verified, and execution will continue after verification.

[0073] Collaborative working relationships Through the above structure and control, this embodiment enables the ATPU compliant layer, equal-height screw limiting, multi-zone vacuum, zone pressure detection, center-to-periphery progressive adsorption, warpage compensation, and anti-stripping detection to jointly achieve compliant adsorption and anomaly identification of ultra-thin glass; it uses four detection modules 6, two shared flipping resource groups, queuing time, flipping occupancy time, and comprehensive scheduling cost Ji to coordinate the task allocation between the detection station and the shared flipping resources; it uses vacuum handover, 180° flipping, A / B plane coordinate transformation, DefectID binding, and re-judgment result writing of the detection suction plate 61, flipping suction plate 58, and transfer handling arm 4 to maintain the consistency between the defect position and the re-judgment record before and after flipping, thereby improving the reliability of compliant handling and multi-station re-judgment of ultra-thin glass while being compatible with three product specifications: 602×341 mm, 602×507 mm, and 700×600 mm.

[0074] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations or equivalent control substitutions made based on the concept of the present invention and the contents of this specification and drawings, or their direct or indirect application to other related technical fields, should be included within the protection scope of the present invention.

Claims

1. A compliant vacuum wiring device for ultra-thin glass re-judgment, characterized in that, Includes a dual-platform handling module (1), a loading and handling module (2), two NG loading and unloading modules (3), two transfer handling arms (4), two flipping modules (5), four detection modules (6), a unloading and handling module (7), multiple ATPU handling suction plates (8), a vacuum control assembly, and a controller; The loading and handling module (2) is located on the product input side and a loading barcode reader (23) is located near the product picking position. The unloading and handling module (7) is located on the product output side. The dual-platform handling module (1) extends from the product input side to the product output side to form a main conveying channel. The dual-platform handling module (1) includes an OK platform (11), an NG platform (12), and two sets of linear drive mechanisms (13) that drive the OK platform (11) and the NG platform (12) to move along the main conveying channel. The OK platform (11) and the NG platform (12) are staggered in the vertical direction, and the movement plane of the OK platform (11) is lower than the movement plane of the NG platform (12), so that the OK platform (11) can pass under the NG platform (12). The four detection modules (6) are distributed on both sides of the main conveying channel. Each detection module (6) includes a rectangular plate-shaped detection suction plate (61), a detection X-axis lead screw module (62), a detection servo motor (63), a detection reducer (64), and a detection vacuum pressure switch. The detection suction plate (61) is installed on the moving end of the detection X-axis lead screw module (62). The detection servo motor (63) is connected to the detection suction plate (61) via the detection reducer (64) to drive the detection suction plate (61) to rotate around the horizontal axis. The detection vacuum pressure switch is set on the vacuum inlet pipe of the detection suction plate (61). The two NG loading and unloading modules (3) are respectively set between the NG platform (12) and the corresponding detection area. Each NG loading and unloading module (3) includes a horizontal linear motor (31), a vertical screw module (32) installed at the moving end of the horizontal linear motor (31), and an ATPU conveying suction plate (8) installed at the lower end of the vertical screw module (32). The four detection modules (6) are divided into two detection resource groups according to their spatial adjacency. Each detection resource group includes two detection modules (6) and corresponds to a flipping module (5) and a transfer and handling arm (4). The flipping module (5) includes a flipping suction plate (58), a flipping X-axis linear motor (51), a flipping auxiliary slide rail (52), two Z-axis platforms (53) spaced apart along the rotation axis, a rotation axis (56), a rotation support bearing seat (57), and a flipping servo motor (54) and a flipping reducer (55) that are connected to the rotation axis (56). The two Z-axis platforms (53) are mounted on the moving end of the flipping X-axis linear motor (51) and guided to move along the flipping auxiliary slide rail (52). The two ends of the rotation axis (56) are respectively mounted on the two Z-axis platforms (53) through the rotation support bearing seat (57). The flipping suction plate (58) is fixed to the rotation axis (56) so that it can be driven by the flipping servo motor (54) to flip 180° via the flipping reducer (55). The transfer handling arm (4) is positioned between the corresponding flipping module (5) and the detection resource group, and includes a horizontal drive mechanism (41), a vertical lifting mechanism (42), and an ATPU handling suction plate (8) positioned at the lower end of the vertical lifting mechanism (42); the product contact ends of the loading handling module (2), the NG loading and unloading module (3), the transfer handling arm (4), and the unloading handling module (7) are each provided with an ATPU handling suction plate (8); the product contact surface of the flipping suction plate (58) is provided with an ATPU soft layer of the same material as the ATPU handling suction plate (8); The ATPU transport suction plate (8) includes a suction plate fixing component, an upper vacuum cover plate, a sealing ring, a lower vacuum suction plate, an ATPU softening layer, a manifold plate, and multiple equal-height screws. The sealing ring is disposed between the upper vacuum cover plate and the lower vacuum suction plate and forms a sealed vacuum cavity. The ATPU softening layer is sheet-like and covers the surface of the lower vacuum suction plate facing the ultra-thin glass product. The manifold plate is connected to the sealed vacuum cavity. The adsorption surface of the lower vacuum suction plate is provided with multiple vacuum adsorption areas. Each vacuum adsorption area is connected to a corresponding vacuum control circuit. There are at least three vacuum control circuits, which can be selected and activated according to the size of the ultra-thin glass product. Each ATPU transport suction plate (8) is connected to a set of vacuum control components. The flip suction plate (58) is connected to a set of vacuum control components for zoned vacuum adsorption. The vacuum control assembly includes a solenoid valve connected to each of the vacuum control loops, a pressure sensor located downstream of the corresponding solenoid valve and before the inlet of the corresponding vacuum adsorption area, and a vacuum breaking valve connected to the manifold. The controller is electrically connected to the loading and handling module (2), the dual-platform handling module (1), the NG loading and unloading module (3), the detection module (6), the flipping module (5), the transfer handling arm (4), the unloading and handling module (7), the loading code reader (23), the detection vacuum pressure switch, the solenoid valve, the pressure sensor, and the vacuum breaking valve, and communicates with the upstream classification system to obtain product identity information, product size, defect level and defect coordinates, and to obtain the work status of each detection module (6) and the vacuum adsorption status reflected by the pressure sensor. Based on the above data, the controller filters the target detection module (6) and selects the corresponding vacuum control circuit. During the re-judgment of the front and back sides, the controller controls the detection suction plate (61), the flipping suction plate (58) and the transfer handling arm (4) to perform vacuum handover in the order of first establishing a vacuum on the receiving side suction plate and obtaining a vacuum arrival signal, and then releasing the vacuum after releasing the side suction plate.

2. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 1, characterized in that, The lower vacuum suction plate is rectangular in shape, with multiple vacuum holes on the side facing the ATPU flexible layer. The ATPU flexible layer is attached to the lower vacuum suction plate via a double-sided adhesive layer, and both the double-sided adhesive layer and the ATPU flexible layer have through holes at positions corresponding to each of the vacuum holes. Each of the equal-height screws has a screw section and a stepped portion with a radial dimension larger than the screw section. The equal-height screws connect the suction plate fixing member, the upper vacuum cover plate, and the lower vacuum suction plate, and in the locked state, the stepped portion limits the axial distance between the suction plate fixing member and the lower vacuum suction plate to limit the compression amount of the ATPU flexible layer. The ATPU flexible layer is made of aliphatic thermoplastic polyurethane elastomer microporous foam material with a density of 0.07–0.10 g / cm³ and a Shore C hardness of 24–30.

3. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 1 or 2, characterized in that, The at least three vacuum control loops include a first vacuum control loop, a second vacuum control loop, and a third vacuum control loop. The first vacuum control loop is connected to the central vacuum zone located in the middle of the lower vacuum suction plate via a first solenoid valve. The second vacuum control loop is connected to the first and second intermediate vacuum sub-zones located on opposite sides of the central vacuum zone via a second solenoid valve. The third vacuum control loop is connected to the peripheral vacuum zone located around the central vacuum zone and the two intermediate vacuum sub-zones via a third solenoid valve. A first pressure sensor is disposed between the first solenoid valve and the central vacuum zone. A second left pressure sensor and a second right pressure sensor are respectively disposed on two branches branching off downstream of the second solenoid valve and located before the entrances of the two intermediate vacuum sub-zones. A third pressure sensor is disposed between the third solenoid valve and the peripheral vacuum zone. For an ultra-thin glass product of 602×341 mm, the controller activates the first vacuum control loop. For an ultra-thin glass product of 602×507 mm, the controller activates the first and second vacuum control loops. For an ultra-thin glass product of 700×600 mm, the controller activates the first, second, and third vacuum control loops.

4. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 3, characterized in that, The controller sets the total number of vacuum regions participating in adsorption to n. For the k-th vacuum region participating in adsorption, where k is a positive integer from 1 to n, the absolute value of its vacuum degree at time t is determined according to Qk(t) = Patm - Pk(t), where Patm is the ambient atmospheric pressure and Pk(t) is the absolute pressure detected by the pressure sensor on the corresponding branch of the k-th vacuum region. The time when all vacuum regions participating in adsorption reach the corresponding preset target vacuum degree lower limit is recorded as ts, and the vacuum degree decay ΔQk,2s of the k-th vacuum region within 2 s is calculated according to ΔQk,2s = max{0, Qk(ts) - Qk(ts + 2 s)}. When all vacuum regions participating in adsorption are within the preset target vacuum degree range of the corresponding product size and ΔQk,2s of each vacuum region ≤ 5 kPa, it is determined to be stable adsorption. For 700×600 For ultra-thin glass products of mm, the vacuum difference ΔQzone between zones is further calculated according to ΔQzone=Qmax-Qmin, where Qmax is the maximum vacuum level among the central vacuum zone, the two intermediate vacuum sub-zones, and the outer vacuum zone, and Qmin is the minimum vacuum level among them. When ΔQzone≤8 kPa, it is determined that the adsorption state between each vacuum zone meets the consistency condition. When ΔQzone>8 kPa, it is determined that there is local air leakage or local adhesion abnormality, and normal handling or flipping is prohibited.

5. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 3 or 4, characterized in that, The controller is configured to perform warp-compensated adsorption: after controlling the vertical drive mechanism used to drive the ATPU transport suction plate (8) to move vertically to a pre-contact position at a preset distance from the upper surface of the ultra-thin glass product, it continues to descend at a bonding speed lower than the normal transport descent speed; firstly, the first solenoid valve is opened to establish a vacuum in the central vacuum zone; after the vacuum degree of the central vacuum zone reaches the pre-stabilization threshold, the second solenoid valve is opened after a delay of 100-300 ms; for ultra-thin glass products that require the use of the peripheral vacuum zone, after establishing a vacuum in the two intermediate vacuum sub-zones, the third solenoid valve is opened after a delay of 100-300 ms, so that the ultra-thin glass product is gradually bonded to the ATPU flexible layer from the center outward; when the warp height of the ultra-thin glass product obtained by the controller is not greater than 7 mm and any outer vacuum zone that should participate in adsorption does not reach the corresponding target vacuum degree within the preset establishment time, the controller closes each solenoid valve currently participating in adsorption, opens the vacuum breaking valve to relieve pressure, and controls the vertical drive mechanism to retract and perform re-bonding adsorption at a speed lower than the previous bonding speed.

6. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 1, characterized in that, The controller selects the target detection module (6) based on the status of the four detection modules (6); for the i-th detection module (6), where i is a positive integer from 1 to 4, the detection module (6) is added to the candidate station set only when it is in an enabled and fault-free state, the current working mode is compatible with the processing mode of the ultra-thin glass product to be processed or allows mode switching, and the expected shared resource waiting time of the flipping module (5) and the transfer handling arm (4) corresponding to its detection resource group does not exceed the preset shared resource waiting threshold when B-side re-judgment is required; for the i-th detection module (6) in the candidate station set, according to Ji = α1·Ttrans,i / Tref + α2·Tqueue,i / Tref + α3·Tswitch,i / Tref + α4·Tflip,i / Tref + α5·Tshared,i / Tref + α6·Ki calculates the comprehensive scheduling cost Ji, where Ttrans,i is the estimated transport time for the current ultra-thin glass product to be transported to the i-th detection module (6), Tqueue,i is the estimated remaining occupancy time of the current product and its preceding queue in the i-th detection module (6), Tswitch,i is the time required for the i-th detection module (6) to switch working modes, and Tflip,i is the estimated flipping processing time for the current product to perform B-side re-judgment. Tshared,i is the estimated waiting time of the flipping module (5) and the transfer arm (4) shared by the detection resource group to which the i-th detection module (6) belongs. When the current product does not need B-side re-judgment, both Tflip,i and Tshared,i are 0. Tref is the time normalization benchmark. α1~α6 are non-negative weights and α1+α2+α3+α4+α5+α6=1. Ki is the adsorption and processing risk value in the range of 0 to 1 corresponding to the i-th detection module (6). The adsorption and processing risk value is determined according to the product warpage height, the vacuum leakage status of the most recent preset number of pick-up and drop, and the cleanliness status of the corresponding stage and adsorption surface. The controller selects the detection module (6) with the smallest Ji as the target detection module.

7. The compliant vacuum wiring device for ultra-thin glass re-judgment according to claim 1, characterized in that, The controller acquires the single-piece pick-up reference load Fsingle(S) for the corresponding ultra-thin glass product, where S represents the size of the ultra-thin glass product; after the corresponding ATPU transfer suction plate (8) completes adsorption and lifts the ultra-thin glass product to the preset detection height, it acquires the current original load equivalent value Fraw and the pre-calibrated empty reference Fempty under the same motion conditions, and determines the current effective load equivalent value Fz according to Fz=|Fraw-Fempty|, and then according to The load deviation index Dload is calculated as Dload=|Fz-Fsingle(S)| / max(Fsingle(S),ε), where ε is a zero-prevention parameter with the same dimension as Fsingle(S) and greater than zero. When Dload exceeds the preset load deviation threshold, the controller determines that there is a risk of sheet slippage or sheet stacking. When the vacuum degree of any vacuum branch participating in the current product adsorption decreases beyond the preset leakage threshold during the lifting stage, the controller determines that there is an adsorption abnormality. When there is the risk of sheet slippage or sheet stacking or the adsorption abnormality, the transport is stopped, the ATPU transport suction plate (8) is moved to the safe release position, the solenoid valves currently participating in adsorption are closed, and the vacuum breaking valve is opened for 0.05~0.20 s. Then, the adsorption confirmation is performed again. During the normal sheet release process, the controller releases the ultra-thin glass product in the order of closing the solenoid valves currently participating in adsorption, opening the vacuum breaking valve, confirming the vacuum release, and controlling the vertical drive mechanism to rise at a low speed.

8. A method for controlling the re-judgment of ultra-thin glass, characterized in that, The re-judgment is performed using a compliant vacuum wiring device, which includes a dual-platform handling module (1), a loading and handling module (2), two NG loading and unloading modules (3), two transfer handling arms (4), two flipping modules (5), four detection modules (6), a unloading and handling module (7), multiple ATPU handling suction plates (8), vacuum control components, and a controller. S1. The loading barcode reader (23) of the loading and handling module (2) reads the product identity information of the ultra-thin glass product entering the product input side, and the controller obtains the product size S, defect level G, defect coordinate set P and the re-judgment flag of whether B-side re-judgment is required corresponding to the product identity information. S2. Determine the product processing path based on the defect level G. A-class products enter the OK direct path, while B, C, D, or E-class products enter the image review path. After image review, if the product is updated to NG or the number of defects exceeds the preset number, it will enter the physical review path. NG products or products with more than the preset number of defects will enter the physical review path, while manually sampled products will enter the sampling inspection path. S3. For ultra-thin glass products that need to enter the testing module (6), obtain the workstation status, queue status of the four testing modules (6), and the shared resource status of the flipping module (5) and the transfer handling arm (4) of the two testing resource groups. Select candidate testing modules (6) from them, and calculate the comprehensive scheduling cost of each candidate testing module (6) based on the expected handling time, expected queuing time, mode switching time, flipping time, shared resource waiting time and adsorption processing risk. Select the testing module (6) with the smallest comprehensive scheduling cost as the target testing module. S4. Determine the vacuum control circuit to be activated for the ATPU transport suction plate (8) according to the size S of the ultra-thin glass product, and control the corresponding vertical drive mechanism used to drive the ATPU transport suction plate (8) to move in the vertical direction, so that the ATPU transport suction plate (8) approaches the ultra-thin glass product at low speed and establishes a vacuum in the order of gradually expanding from the central vacuum area to the outer vacuum area. S5. Determine whether the adsorption is stable based on the vacuum degree, vacuum establishment time and vacuum decay amount detected by the corresponding pressure sensor; when the adsorption is stable, move the ultra-thin glass product to the target detection module (6); when the adsorption is unstable, perform depressurization and re-bonding. S6. Place the ultra-thin glass product on the detection suction plate (61) of the target detection module (6) and establish a vacuum on the detection suction plate (61) to re-judge surface A. S7. When the re-judgment mark indicates that B-side re-judgment is required, the flip module (5) and transfer handling arm (4) of the detection resource group to which the target detection module (6) belongs shall transfer the ultra-thin glass product from the detection suction plate (61) to the flip suction plate (58) in the order of establishing a vacuum on the receiving side and obtaining a vacuum arrival signal, and releasing the vacuum on the releasing side. The flip suction plate (58) shall be controlled to flip 180°, and then the flipped ultra-thin glass product shall be placed back on the detection suction plate (61) by the transfer handling arm (4). S8. Convert the A-side defect coordinates into the B-side re-judgment coordinates according to the product size and the flip axis direction, and perform the B-side re-judgment according to the B-side re-judgment coordinates; S9. Bind the re-judgment result with the corresponding defect identifier, update the product re-judgment status, and control the dual-platform handling module (1) and the unloading handling module (7) to transport the re-judged ultra-thin glass product to the corresponding unloading path.

9. The ultrathin glass re-judgment control method according to claim 8, characterized in that, Establish a local coordinate system for the ultra-thin glass product, with the top left corner of side A under normal viewing conditions as the origin O, the x-axis along the width W, and the y-axis along the height H. When the ultra-thin glass product is rotated 180° around a rotation axis parallel to the y-axis, the defect coordinates (xA, yA) of side A are converted to defect coordinates (xB, yB) of side B, where xB = W - xA and yB = yA. When the ultra-thin glass product is rotated 180° around a rotation axis parallel to the x-axis, xB = xA and yB = H - yA; or according to [xB, yB, 1]. =Hflip·[xA, yA, 1] A homogeneous coordinate transformation is performed, where Hflip is a coordinate transformation matrix determined based on the product width W, product height H, and the actual flip axis direction. Each defect record includes at least the defect coordinates, defect type, defect level, and unique defect identifier, and the unique defect identifier remains unchanged before and after the coordinate transformation. The controller binds the review results obtained from manual review or image review with the unique defect identifier, and sends the product identity information, review surface, original defect level, review result, and post-review product status to the upstream classification system or local database.

10. The ultrathin glass re-judgment control method according to claim 8, characterized in that, The controller establishes an NG physical review queue; when the number of products in the NG physical review queue is greater than the first queue threshold and at least one detection module (6) that is not currently undertaking NG physical review tasks is in an idle state, it allows NG products that meet the preset low-risk conditions to be temporarily assigned to the idle detection module (6); when the number of products in the NG physical review queue decreases to no more than the second queue threshold, the temporarily switched detection module (6) is restored to its original working mode, wherein the first queue threshold is greater than the second queue threshold to form a hysteresis interval for workstation mode switching; The low-risk conditions include at least the following: the size of the ultra-thin glass product matches the vacuum control loop that can be enabled by the ATPU transport suction plate (8) performing the candidate task; the vacuum attenuation in the most recent preset number of pick-up and put-down actions of the ATPU transport suction plate (8) does not exceed a preset leakage threshold; and the warpage height of the ultra-thin glass product does not exceed a preset warpage threshold. When the estimated remaining occupancy time of any detection module (6) increases, the controller increases the estimated queuing time corresponding to the detection module (6) and updates the shared resource waiting time of other detection modules (6) that share the flipping module (5) and transfer handling arm (4) with it in a synchronous manner, so as to recalculate the comprehensive scheduling cost of each candidate detection module (6).

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