Intelligent unloading equipment for glass screen production line transfer and control method thereof

Abstract

The present application relates to a kind of intelligent unloading equipment for glass screen production line transfer and its control method, including workbench, workbench is equipped with basket, feed conveying module, buffer insertion frame module, material taking module, visual detection module, robot module, unloading docking module and Tray tray warehouse module, workbench below is equipped with conveying line module.The full basket is sent into buffer position by feed conveying module, is transferred to buffer insertion frame module by material taking module, after visual detection module is positioned by photographing, robot module is extracted from basket by front end suction assembly, is taken out along the planned path to avoid collision, each joint force control sensor detects collision force in real time and discriminates whether to throw material;The glass screen taken out is sent into next process by unloading docking module single piece, NG product is placed into Tray tray warehouse module, empty basket is circulated backflow in the lower layer of machine table by conveying line module, realizes the continuous automatic transfer of ultra-thin glass screen between different carriers, effectively reduces the risk of transfer damage.

Description

Technical Field

[0001] This invention relates to the technical field of glass screen production transfer equipment, and more specifically, to an intelligent unloading device and its control method for glass screen production line transfer. Background Technology

[0002] With the rapid development of foldable screen technology for mobile phones, the requirements for the thickness of cover glass or flexible glass in foldable screen products are becoming increasingly stringent, leading to the development of ultra-thin glass with a thickness of no more than 0.1mm. This type of ultra-thin glass typically requires multiple processes such as laser cutting, acid washing, and pressurization, necessitating frequent transfer between these processes and between different carriers and machines. Because ultra-thin glass is extremely thin, has low rigidity, is easily bent, and is fragile, and its surface is prone to scratches, chipping, and breakage, the transfer process becomes a critical factor affecting product yield and production efficiency.

[0003] Currently, the transfer of glass between different carriers in glass production lines is mostly done manually or by several independent pieces of equipment in sections. When handling glass manually, operators need to remove each piece of glass from the basket and place it into the next carrier or process. This is not only labor-intensive and inefficient, but manual contact also easily contaminates and scratches the glass surface. Maintaining consistent force and angle during handling can easily cause glass chipping, breakage, or rejection, resulting in a low yield rate. This is especially true for ultra-thin glass with a thickness of no more than 0.1mm, which has extremely low rigidity; even slight uneven stress or handling deviations can damage the glass. Traditional manual handling methods are no longer sufficient to meet the transfer requirements of ultra-thin glass.

[0004] While existing semi-automatic equipment can automate some processes of picking or conveying, the transfer of glass between different carriers still lacks a continuous and reliable automated process. Specifically, after a full basket flows in from the front-end machine, it usually needs to be manually moved to the buffer or insertion position, and the feeding, buffering, insertion, and continuous feeding of the basket cannot be automatically completed. After the glass is picked up, there is no automatic docking with the next process, making it difficult to send the glass individually and stably to the next process. Glass judged as NG in the subsequent process often needs to be manually picked and stored, and cannot be automatically diverted to the tray buffer. The turnover of the basket between the upper and lower levels of the machine also relies heavily on manual labor or independent conveying equipment, which occupies a lot of space and has a low degree of automation. The above links are independent of each other, the cycle time is mismatched, and the manual intervention is frequent, which not only results in low production efficiency, but also increases the risk of damage to ultra-thin glass during multiple transfers and manual operations, making it difficult to guarantee the yield.

[0005] It is evident that traditional glass handling methods are highly susceptible to damage, manual handling is inefficient, and yield is not guaranteed. They are particularly ill-suited for handling ultra-thin glass (thickness no greater than 0.1mm) between different carriers. Therefore, there is an urgent need to develop an intelligent unloading device for glass production lines. This device would integrate basket feeding, buffering, rack insertion, sheet picking, inspection, unloading docking, and NG (non-conforming) product sorting into a continuous and automated unloading process. This would solve the problem of glass handling between different carriers, reduce the risks associated with product handling, and ultimately improve production efficiency and product yield. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an intelligent unloading device and its control method for glass screen production line transfer, in view of the above-mentioned defects of the prior art.

[0007] The technical solution adopted by this invention to solve its technical problem is as follows: On one hand, the present invention provides an intelligent unloading device for glass screen production line transfer, comprising a workbench, the workbench being provided with a material basket for placing multiple glass screens, a feeding conveying module for moving the material basket to a buffer position, a buffer rack module for carrying and positioning the material basket and capable of being moved laterally to a rack position, a material picking module for transferring the material basket from the feeding conveying module to the buffer rack module, a vision inspection module, and a front-end adsorption component for picking up the glass screen from the material basket according to the positioning information of the vision inspection module and removing the glass screen along a planned path to avoid the glass screen from colliding with the material basket. The system includes a collision-sensing robot module, a material handling module for receiving glass screens removed by the robot module and feeding them individually into the next process, and a tray storage module for storing glass screens deemed defective by the robot module. A conveyor module is located below the workbench, used to rotate the material basket to various workstations on the lower level of the machine. The front end of the robot module is equipped with an adsorption component for adsorbing glass screens from the material basket. Each joint of the robot module is equipped with a force control sensor to detect collision forces during the glass screen handling process and feed them back to the control system to determine whether material is being thrown.

[0008] The intelligent feeding device of the present invention includes a buffer rack module comprising a mounting frame; the mounting frame is provided with a rack platform for placing and positioning the material basket, and a buffer platform for buffering the material basket; the rack platform is slidably connected to the mounting frame via a first transverse drive component, and the buffer platform is slidably connected to the mounting frame via a second transverse drive component; the rack platform and the buffer platform are arranged vertically, and there is a height difference between them, the height difference being not less than the height of the material basket; the rack platform can reciprocate linearly along the length direction of the mounting frame via the first transverse drive component.

[0009] The intelligent feeding device of the present invention includes a first base plate slidably connected to the upper surface of the mounting frame; a movable plate is provided on the first base plate, and a flipping component is provided to drive the movable plate to reciprocate longitudinally on the first base plate; the upper surface of the first base plate is provided with a placement position for placing the material basket, and a positioning clamping component for positioning the material basket and fixing it on the placement position.

[0010] The intelligent feeding device of the present invention includes a plurality of receiving units arranged in parallel in the material basket; each receiving unit includes a first horizontal partition and a second horizontal partition that are parallel to each other, and a first vertical partition and a second vertical partition disposed between and below the first horizontal partition and the second horizontal partition; the distance between the first horizontal partition and the second horizontal partition is adjustable; the distance between the first vertical partition and the second vertical partition is adjustable; and an adjustable-sized receiving cavity is formed between the first horizontal partition, the second horizontal partition, the first vertical partition, and the second vertical partition. The first and second horizontal partitions are provided with a plurality of first support arms extending toward the accommodating cavity on their opposite sides; the first and second vertical partitions are provided with second support arms corresponding to the first support arms; a insertion slot is formed between two adjacent first support arms and two adjacent second support arms for vertical insertion of the glass screen; the thickness of the insertion slot is greater than the thickness of the glass screen; the glass screen can move along the insertion slot as the flipping assembly flips, so that all the glass screens are neatly aligned with the same side of the frame under the action of gravity.

[0011] The intelligent feeding device of the present invention includes a flipping component comprising a driven rotating member disposed on the middle left side of the movable plate, an active rotating member disposed on the right side of the movable plate and corresponding to the driven rotating member, and a rotation drive component for driving the active rotating member to flip longitudinally back and forth; the driven rotating member and the active rotating member are respectively connected to the first base plate and the movable plate and support the movable plate.

[0012] The intelligent feeding device of the present invention includes a first positioning post on the first base plate located in front of the driven rotating member and the active rotating member for supporting and positioning the movable plate, and a second positioning post on the first base plate located behind the driven rotating member and the active rotating member for supporting and positioning the movable plate. There is a height difference between the upper surface of the first positioning post and the upper surface of the second positioning post, and the heights of the first positioning post and the second positioning post are both less than the heights of the driven rotating member and the active rotating member.

[0013] The intelligent feeding device of the present invention includes a cleaning roller on one side of the movable plate for cleaning the adsorption surface of the adsorption component.

[0014] The intelligent feeding device of the present invention includes a buffer platform comprising a second substrate; the second substrate is provided with two spaced X baffles, a first adjusting component for adjusting the distance between the two X baffles, two spaced Y baffles, and a second adjusting component for adjusting the distance between the two Y baffles; the two X baffles and the two Y baffles cooperate with each other to form a material basket buffer cavity with adjustable size.

[0015] The intelligent unloading device of the present invention includes a vision inspection module comprising a vertically arranged frame; two CCD moving modules are respectively arranged vertically on one side surface of the frame; each of the two CCD moving modules includes a CCD module with its lens facing the middle of the frame, and an XZ axis moving module that drives the CCD module to move; the lenses of the two CCD modules move symmetrically up and down.

[0016] On the other hand, the present invention also provides a control method for an intelligent feeding device as described above, wherein the control method includes the following steps: S1. Feeding and conveying: The feeding and conveying module transports the basket filled with glass screens from the front-end machine to the buffer position. S2, Material Picking and Transfer: The material picking module transfers the material basket from the feeding conveyor module to the rack platform of the buffer rack module; S3, Insertion rack positioning: After the insertion rack platform carries and positions the material basket, it moves laterally to the insertion rack position; S4. Visual photography: The visual inspection module takes pictures of the material basket and the glass screen inside the basket on the insertion platform to obtain the position information of the glass screen; S5. Robot Retrieval: Based on the position information, the robot module picks up the glass screen from the basket using the front-end adsorption component and removes the glass screen along the planned path to avoid collision between the glass screen and the basket. During the retrieval process, each joint of the robot module detects the collision force through force control sensors and feeds it back to the control system to determine whether to throw the screen. S6. Unloading and docking: The robot module places the extracted glass screen into the unloading and docking module, and the unloading and docking module sends the glass screen piece by piece to the next process. S7, NG diversion: If the next process is determined to be NG, the robot module will put the glass screen into the Tray tray hopper module; S8, Material Basket Return: The material basket is rotated to various workstations on the lower layer of the machine via the conveyor module below the workbench.

[0017] Compared with the prior art, the present invention has the following advantages: By integrating feeding conveyor, buffer rack, vision inspection, robot pick-up, unloading docking, NG product diversion, and basket return into a single device, continuous automated transfer of ultra-thin glass screens between different carriers is achieved. This avoids contamination, scratches, and breakage caused by manual pick-up and drop-off, significantly reducing the risk of product damage during transfer. Simultaneously, the basket, aided by a flipping component, automatically aligns the glass screens under gravity, providing a consistent pick-up benchmark for vision imaging and robot pick-up, improving pick-up success rate and positioning accuracy. The rack platform and buffer platform are positioned vertically to achieve continuous feeding and cycle time buffering, preventing machine downtime. The combination of vision positioning and joint force control allows the robot to avoid the basket during pick-up and detect collisions and material ejection in real time, effectively preventing damage to the glass screens. NG products are automatically diverted to the tray hopper module and circulated, preventing NG products from entering the next process and ensuring production line cycle time and yield. Empty baskets are automatically returned via a conveyor module below the workbench, enabling basket recycling, saving space, and increasing equipment automation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort: Figure 1 This is a top view of an intelligent unloading device for transfer in a glass screen production line according to Embodiment 1 of the present invention.

[0019] Figure 2 yes Figure 1 Schematic diagram of the structure of the medium cache module 4 Figure 1 .

[0020] Figure 3 yes Figure 1 Schematic diagram of the structure of the medium cache module 4 Figure 2 .

[0021] Figure 4 yes Figure 1 A schematic diagram of the structure of the medium material basket 2.

[0022] Figure 5 yes Figure 1 A schematic diagram of the structure of the vision inspection module 6. Detailed Implementation

[0023] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0026] Furthermore, the terms indicating orientation, such as "up, down, front, back, left, right, upper end, lower end, longitudinal," etc., are all based on the posture and position of the device or equipment described in this solution during normal use.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0028] Example 1 This invention provides an intelligent unloading device for transfer in a glass screen production line. See also... Figure 1The intelligent unloading equipment includes a workbench 1, on which are provided a material basket 2 for placing multiple glass screens, a feeding and conveying module 3 for moving the material basket 2 to a buffer position, a buffer rack module 4 for carrying and positioning the material basket 2 and capable of being moved laterally to a rack position, a material picking module 5 for transferring the material basket 2 from the feeding and conveying module 3 to the buffer rack module 4, a vision inspection module 6, a robot module 7 for picking up the glass screens from the material basket 2 through a front-end adsorption component based on the positioning information of the vision inspection module 6 and removing the glass screens along a planned path to avoid collisions between the glass screens and the material basket 2, and a tool for... The system includes a material unloading and docking module 8 that receives glass screens taken out by the robot module 7 and sends them individually to the next process, and a tray material storage module 9 for storing glass screens that the robot module 7 determines to be defective. A conveyor line module 10 is provided below the workbench 1, which is used to rotate the material basket 2 to various workstations on the lower layer of the machine. The front end of the robot module 7 is provided with an adsorption component for adsorbing the glass screens in the material basket 2. Each joint of the robot module 7 is equipped with a force control sensor to detect the collision force during the picking and placing of glass screens and feed it back to the control system to determine whether to throw the material.

[0029] In this embodiment, by integrating the feeding conveyor module 3, buffer rack module 4, material picking module 5, vision inspection module 6, robot module 7, unloading docking module 8, tray material bin module 9, and conveyor line module 10 below the workbench 1 into the same device, the material basket 2 filled with glass screens can automatically flow in from the front end of the machine, sequentially completing the feeding conveyor, material picking and transfer, rack positioning, vision imaging, robot flexible sheet picking, unloading docking, and NG product diversion. The empty material basket 2 is then returned to each workstation via the conveyor line module 10 below the machine, thereby achieving continuous and automated transfer of glass screens between different carriers. Compared with manual handling or segmented transfer methods, this embodiment effectively reduces the risk of damage to ultra-thin glass screens during transfer, and improves production efficiency and product yield.

[0030] In this embodiment, as Figure 2-3 The buffer rack module 4 includes a mounting frame 41; the mounting frame 41 is provided with a rack platform 42 for placing and positioning the material basket 2, and a buffer platform 43 for buffering the material basket 2; the rack platform 42 is slidably connected to the mounting frame 41 through a first transverse drive component 44, and the buffer platform 43 is slidably connected to the mounting frame 41 through a second transverse drive component 45; the rack platform 42 and the buffer platform 43 are arranged vertically, and there is a height difference between them, the height difference being not less than the height of the material basket 2; the rack platform 42 can reciprocate linearly along the length direction of the mounting frame 41 through the first transverse drive component 44.

[0031] By setting the insertion platform 42 and the buffer platform 43 vertically, and ensuring that the height difference between them is not less than the height of the material basket 2, a compact vertical arrangement can be achieved, reducing the equipment's footprint. Furthermore, after the insertion platform 42 moves laterally to the insertion position, the buffer platform 43 can still continue to receive and buffer subsequent material baskets 2 below it, thus achieving continuous feeding and buffering of the material baskets 2 and preventing downtime of the front-end machine due to fluctuations in the robot module 7's wafer-picking cycle. The first transverse drive assembly 44 and the second transverse drive assembly 45 can employ servo motors in conjunction with lead screws, synchronous belts, or linear motors to achieve high-precision linear reciprocating movement.

[0032] In this embodiment, the insert platform 42 includes a first base plate 421 slidably connected to the upper surface of the mounting bracket 41; the first base plate 421 is provided with a movable plate 422, and a flipping assembly 423 that drives the movable plate 422 to reciprocate longitudinally on the first base plate 421; the upper surface of the first base plate 421 is provided with a placement position 01 for placing the basket 2, and a positioning clamping assembly 424 for positioning and fixing the basket 2 on the placement position 01. In this embodiment, the positioning clamping assembly 424 includes two positioning blocks 4241 arranged side by side on the front side of the placement position 01, and two positioning telescopic cylinders 4242 arranged on the rear side of the placement position 01; when the basket 2 is placed on the placement position 01, the telescopic ends of the positioning telescopic cylinders 4242 push the basket 2 toward the positioning blocks 4241 until the positioning blocks 4241 and the positioning telescopic cylinders 4242 clamp and fix the basket 2. The positioning clamping assembly 424 can clamp baskets 2 of different sizes, with high compatibility.

[0033] By setting the flipping component 423, the movable plate 422 can drive the material basket 2 placed on it to flip longitudinally back and forth. When the glass screens vertically inserted in the material basket 2 are uneven due to inconsistent incoming material positions, the flipping component 423 can tilt or flip the material basket 2, so that all the glass screens slide along the insertion slot 27 under the action of gravity and neatly move towards the same side of the frame, thereby realizing automatic sorting and edge positioning of the glass screens. This structure eliminates the need for manual sorting of each piece and the need for additional complex pushing mechanisms, providing a consistent and stable pick-up benchmark for subsequent visual imaging and robot pick-up, effectively improving the pick-up success rate and positioning accuracy. The positioning clamping component 424 is used to clamp and fix the material basket 2 after it is placed in place, preventing the material basket 2 from shifting or falling during the flipping process.

[0034] In this embodiment, as Figure 4The material basket 2 has multiple sets of receiving units arranged in parallel; each receiving unit includes a first horizontal partition 21 and a second horizontal partition 22 that are parallel to each other, and a first vertical partition 23 and a second vertical partition 24 disposed between the first horizontal partition 21 and the second horizontal partition 22 and located below both of them; the distance between the first horizontal partition 21 and the second horizontal partition 22 is adjustable; the distance between the first vertical partition 23 and the second vertical partition 24 is adjustable; an adjustable receiving cavity 02 is formed between the first horizontal partition 21, the second horizontal partition 22, the first vertical partition 23 and the second vertical partition 24; The first horizontal partition 21 and the second horizontal partition 22 are provided with a plurality of first support arms 25 extending toward the accommodating cavity 02 on their opposite sides; the first vertical partition 23 and the second vertical partition 24 are provided with second support arms 26 corresponding to the first support arms 25; a insertion groove 27 for vertical insertion of the glass screen is formed between two adjacent first support arms 25 and two adjacent second support arms 26; the thickness of the insertion groove 27 is greater than the thickness of the glass screen; the glass screen can move along the insertion groove 27 as the flipping component 423 flips, so that all the glass screens are neatly aligned with the same side of the frame under the action of gravity.

[0035] By making the spacing between the first horizontal partition 21 and the second horizontal partition 22 adjustable, and the spacing between the first vertical partition 23 and the second vertical partition 24 adjustable, the size of the accommodating cavity 02 can be adjusted according to the specifications of the glass screen, thus adapting to glass screens of different sizes. Simultaneously, the insertion slot 27 is defined by two adjacent first support arms 25 and two adjacent second support arms 26. After the glass screen is vertically inserted into the insertion slot 27, its two sides are supported by the first support arms 25 and the second support arms 26 respectively, preventing contact between the glass screens and effectively avoiding friction or collision between their surfaces. The thickness of the insertion slot 27 is greater than the thickness of the glass screen, providing a sliding gap for the glass screen during flipping and rearranging, allowing the glass screen to slide along the insertion slot 27 to the same side under gravity, achieving automatic and neat alignment. In this embodiment, the front and rear sides of the material basket 2 are provided with multiple elongated grooves. The first horizontal partition 21, the second horizontal partition 22, the first vertical partition 23 and the second vertical partition 24 can all be fixed at any point in the corresponding elongated groove by adjusting screws, thereby achieving the purpose of adjustment. The structure is simple and the operation is convenient.

[0036] In this embodiment, as Figure 2-3The flipping assembly 423 includes a driven rotating member 4231 disposed on the middle left side of the movable plate 422, an active rotating member 4232 disposed on the right side of the movable plate 422 and corresponding to the driven rotating member 4231, and a rotation drive assembly 4233 for driving the active rotating member 4232 to flip longitudinally back and forth; the driven rotating member 4231 and the active rotating member 4232 are respectively connected to the first substrate 421 and the movable plate 422 and support the movable plate 422.

[0037] The driven rotating component 4231 and the active rotating component 4232 are respectively disposed in the middle of the left and right sides of the movable plate 422. On the one hand, they connect the first substrate 421 and the movable plate 422; on the other hand, they jointly support the movable plate 422, ensuring that the movable plate 422 is subjected to balanced force during the flipping process, and preventing deformation or jamming of the movable plate 422 due to unilateral support. The rotation drive assembly 4233 drives the active rotating component 4232 to flip longitudinally back and forth, and the driven rotating component 4231 follows suit, thereby achieving a smooth flipping of the movable plate 422. The central support flipping structure also allows the front and rear ends of the movable plate 422 to rise and fall synchronously during flipping, which is beneficial for the glass screen to quickly and neatly align to the same side under the action of gravity.

[0038] In this embodiment, a first positioning post 425 for supporting and positioning the movable plate 422 is provided on the first substrate 421 on the front side of the driven rotating member 4231 and the active rotating member 4232. A second positioning post 426 for supporting and positioning the movable plate 422 is provided on the first substrate 421 on the rear side of the driven rotating member 4231 and the active rotating member 4232. There is a height difference between the upper surface of the first positioning post 425 and the upper surface of the second positioning post 426, and the height of the first positioning post 425 and the height of the second positioning post 426 are both less than the height of the driven rotating member 4231 and the active rotating member 4232.

[0039] By setting the first positioning post 425 and the second positioning post 426, the movable plate 422 can be supported and positioned when it is flipped to a horizontal or tilted state, so that the movable plate 422 remains stable in the non-flipped state and avoids wobbling due to suspension. There is a height difference between the upper surface of the first positioning post 425 and the upper surface of the second positioning post 426, so that the movable plate 422 presents a preset tilt angle in the supported state. Thus, even without the flipping component 423 moving, the glass screen tends to lean to the same side under the action of gravity, further improving sorting efficiency. The height of the first positioning post 425 and the second positioning post 426 is less than the height of the driven rotating component 4231 and the driving rotating component 4232, ensuring that the flipping action of the movable plate 422 is not interfered with by the positioning posts.

[0040] In this embodiment, a cleaning roller 46 for cleaning the adsorption surface of the adsorption component is also provided on one side of the movable plate 422. After prolonged film retrieval, the adsorption surface of the robot module 7 is prone to contaminants such as glass shards and dust. If not cleaned promptly, this can affect the adsorption force and potentially scratch the glass screen. In this embodiment, the adsorption component can adopt an adsorption plate structure as used in the prior art. By providing the cleaning roller 46, the robot module 7 can move the adsorption component to the cleaning roller 46 during film retrieval intervals or within a set period. The cleaning roller 46 then cleans the adsorption surface by rolling, thereby keeping the adsorption surface clean, improving adsorption reliability, and reducing the risk of glass screen contamination.

[0041] In this embodiment, the buffer platform 43 includes a second substrate 431; the second substrate 431 is provided with two spaced X baffles 432, a first adjusting component 433 for adjusting the distance between the two X baffles 432, two spaced Y baffles 434, and a second adjusting component 435 for adjusting the distance between the two Y baffles 434; the two X baffles 432 and the two Y baffles 434 cooperate with each other to form an adjustable-size basket buffer cavity 03.

[0042] The distance between the two X-baffles 432 is adjusted by the first adjusting component 433, and the distance between the two Y-baffles 434 is adjusted by the second adjusting component 435. This allows the size of the material basket buffer cavity 03 to be adjusted according to the size of the material basket 2, thus adapting to material baskets 2 of different specifications. Simultaneously, the X-baffles 432 and Y-baffles 434 also limit and guide the material basket 2 buffered within, preventing it from shifting during the buffering process and ensuring that the material picking module 5 can accurately pick up the material basket 2.

[0043] In this embodiment, as Figure 5 As shown, the visual inspection module 6 includes a vertically arranged frame 61; two CCD moving modules are respectively arranged vertically on one side surface of the frame 61; each of the two CCD moving modules includes a CCD module 62 with its lens facing the middle of the frame 61, and an XZ axis moving module 63 that drives the CCD module 62 to move; the lenses of the two CCD modules 62 move symmetrically up and down.

[0044] Two CCD modules 62, positioned vertically, can capture images of the glass panels inside the basket 2 from above and below, respectively, thus obtaining the horizontal and vertical position information of the glass panels. An XZ-axis movement module 63 moves the CCD modules 62 along the X and Z axes, allowing the CCD modules 62 to adapt to different heights and positions of the basket 2, and to move symmetrically vertically during image capture, thereby achieving comprehensive inspection of multiple layers and panels of glass within the basket 2. The vision inspection module 6 sends the position information acquired from the images to the control system, which calculates the pick-up path for the robot module 7, thus preventing collisions between the glass panels and the basket 2.

[0045] In this embodiment, the front-end adsorption component of the robot module 7 can be a suction plate or a suction cup. The adsorption component extends into the insertion slots 27 of the material basket 2 to adsorb the glass screen surface. Since the thickness of the ultra-thin glass screen is no more than 0.1mm, the adsorption component needs to maintain an appropriate adsorption force with the glass screen during the film retrieval process to ensure reliable adsorption while avoiding deformation or breakage of the glass screen due to excessive adsorption force. The robot module 7 plans a specific film retrieval path based on the position information and algorithm provided by the vision detection module 6, so that the adsorption component avoids the glass screen and the partition of the material basket 2 when extending into and exiting the material basket 2, thus avoiding collisions. Each joint of the robot module 7 is equipped with a force control sensor. When the adsorption component or the robotic arm collides with the material basket 2, the glass screen, or the surrounding structure, the force control sensor feeds back the collision force to the control system. The control system determines whether a material ejection or abnormality has occurred based on the magnitude and change of the collision force, and stops the action or issues an alarm in time, thereby avoiding damage to the glass screen and equipment.

[0046] In this embodiment, the unloading docking module 8 is used to receive the glass screens taken out by the robot module 7 and send the glass screens one by one to the next process. The unloading docking module 8 can directly dock with the downstream equipment, thereby realizing the continuous and stable transfer of glass screens from the material basket 2 to the next process. The tray storage module 9 is used to store glass screens that are judged as defective by the robot module 7. When the downstream process judges it as NG, the robot module 7 puts the glass screen into the tray storage module 9. The tray storage module 9 can be set with multiple trays. After a single tray is full, the tray storage module 9 lowers the full tray and raises an empty tray. The robot module 7 continues to unload the empty trays, and this cycle continues until all empty trays are full. Then, the robot module prompts the operator to unload the trays and replenish the empty trays. The Tray tray module 9 enables automatic diversion and buffering of defective products, preventing defective products from being mixed into the next process or requiring manual picking, thereby improving the automation level and yield of the production line.

[0047] In this embodiment, the conveyor module 10 is located below the workbench 1 and is used to rotate the material basket 2 to various workstations on the lower level of the machine. After all the glass panels in the material basket 2 have been removed, the empty material basket 2 can be returned to the conveyor module 10 by the material handling module 5 or other transfer mechanisms. The conveyor module 10 then rotates the empty material basket 2 to the front-end machine or other workstations on the lower level of the machine, realizing the cyclical use of the material basket 2. Positioning the conveyor module 10 below the workbench 1 fully utilizes the space under the machine, reducing the overall footprint of the equipment. Simultaneously, it ensures that the upper material handling process and the lower return process of the material basket 2 are independent, avoiding mutual interference.

[0048] In this embodiment, the intelligent unloading equipment may further include a control system. The control system is electrically connected to the feeding and conveying module 3, the picking module 5, the buffer insert module 4, the vision inspection module 6, the robot module 7, the unloading docking module 8, the tray material bin module 9, and the conveyor line module 10, respectively. This control system coordinates the action rhythm of each module to achieve continuous and automated transfer of the glass screen. Based on the image capture results from the vision inspection module 6 and the feedback signals from the force control sensor, the control system can adjust the picking path and action parameters of the robot module 7 in real time, thereby improving the success rate of picking and the stability of equipment operation.

[0049] Example 2 The present invention also provides a control method for an intelligent feeding device as described above, the control method comprising the following steps: S1. Feeding and conveying: The feeding and conveying module transports the basket filled with glass screens from the front-end machine to the buffer position. S2, Material Picking and Transfer: The material picking module transfers the material basket from the feeding conveyor module to the rack platform of the buffer rack module; S3, Insertion rack positioning: After the insertion rack platform carries and positions the material basket, it moves laterally to the insertion rack position; S4. Visual photography: The visual inspection module takes pictures of the material basket and the glass screen inside the basket on the insertion platform to obtain the position information of the glass screen; S5. Robot Retrieval: Based on the position information, the robot module picks up the glass screen from the basket using the front-end adsorption component and removes the glass screen along the planned path to avoid collision between the glass screen and the basket. During the retrieval process, each joint of the robot module detects the collision force through force control sensors and feeds it back to the control system to determine whether to throw the screen. S6. Unloading and docking: The robot module places the extracted glass screen into the unloading and docking module, and the unloading and docking module sends the glass screen piece by piece to the next process. S7, NG diversion: If the next process is determined to be NG, the robot module will put the glass screen into the Tray tray hopper module; S8, Material Basket 2 Return: The material basket is rotated to various workstations on the lower layer of the machine through the conveyor module below the workbench 1.

[0050] Furthermore, in step S3, after the insertion platform carries and positions the material basket, the rotating component can drive the movable plate to rotate longitudinally and reciprocally, so that the glass screen in the material basket slides along the insertion slot under the action of gravity and neatly moves towards the same side of the frame, thereby realizing the automatic sorting and side positioning of the glass screen, providing a consistent retrieval benchmark for subsequent visual photography and robot retrieval.

[0051] Furthermore, in step S5, when the collision force detected by the force control sensor exceeds a preset threshold, the control system determines that a material throwing or collision abnormality has occurred, and controls the robot module to stop the wafer picking action or replan the wafer picking path. By combining force control feedback with visual positioning, the robot module can safely and reliably complete the wafer picking operation of ultra-thin glass screens in the narrow material basket insertion slot space.

[0052] Furthermore, in step S7, after a single tray is filled, the tray hopper module lowers the full tray and simultaneously raises an empty tray. The robot module continues to fill the empty trays, and this cycle continues until all empty trays are filled. Then, the robot prompts the operator to fill the trays and replenish the empty trays.

[0053] Furthermore, in step S8, after all the glass screens in the basket are removed, the basket becomes an empty basket. The empty basket is returned to the conveyor module by the material taking module, and the conveyor module transfers the empty basket to the front-end machine or other workstations at the lower level of the machine, thereby realizing the recycling of the basket.

[0054] In this embodiment, the control method integrates steps such as feeding and conveying, material handling and transfer, rack positioning, visual imaging, robot pick-up, unloading and docking, NG diversion, and basket return into a continuous and automated control process, enabling the ultra-thin glass screen to be safely and efficiently transferred between different carriers and processes. In particular, the cooperation between the visual inspection module and the robot module, as well as the real-time feedback from the force control sensor, effectively solves the problem of easy collision and damage to the ultra-thin glass screen during the pick-up process; the tray hopper module realizes automatic diversion and buffering of NG products, avoiding the impact of NG products on the next process; and the conveyor line module under the workbench 1 realizes automatic return of empty baskets, improving the turnover efficiency of baskets and the degree of equipment automation.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent unloading device for transfer in a glass screen production line, characterized in that, The system includes a workbench equipped with a material basket for placing multiple glass screens, a feeding and conveying module for moving the material basket to a buffer position, a buffer rack module for carrying and positioning the material basket and capable of lateral movement to a rack position, a material picking module for transferring the material basket from the feeding and conveying module to the buffer rack module, a vision inspection module, a robot module for picking up glass screens from the material basket using a front-end adsorption component based on the positioning information of the vision inspection module and removing the glass screens along a planned path to avoid collisions between the glass screens and the material basket, and a receiving module for... The robot module retrieves glass screens and delivers them individually to the next process's unloading and docking module, as well as a tray storage module for storing glass screens deemed defective by the robot module. A conveyor module is located below the workbench, used to rotate the material basket to various workstations on the lower level of the machine. The front end of the robot module is equipped with an adsorption component for adsorbing glass screens in the material basket. Each joint of the robot module is equipped with a force control sensor to detect collision force during the glass screen retrieval process and feed it back to the control system to determine whether to throw the material.

2. The intelligent feeding device according to claim 1, characterized in that, The buffer rack module includes a mounting frame; the mounting frame is provided with a rack platform for placing and positioning the material basket, and a buffer platform for buffering the material basket; the rack platform is slidably connected to the mounting frame via a first lateral drive component, and the buffer platform is slidably connected to the mounting frame via a second lateral drive component; the rack platform and the buffer platform are arranged vertically, and there is a height difference between them, the height difference being not less than the height of the material basket; the rack platform can reciprocate linearly along the length direction of the mounting frame via the first lateral drive component.

3. The intelligent feeding device according to claim 2, characterized in that, The insertion platform includes a first base plate slidably connected to the upper surface of the mounting bracket; the first base plate is provided with a movable plate and a flipping assembly that drives the movable plate to reciprocate longitudinally on the first base plate; the upper surface of the first base plate is provided with a placement position for placing the material basket and a positioning clamping assembly for positioning and fixing the material basket in the placement position.

4. The intelligent feeding device according to claim 3, characterized in that, The basket contains multiple sets of receiving units arranged in parallel. Each receiving unit includes a first and a second horizontal partition that are parallel to each other, and a first and a second vertical partition disposed between and below the first and second horizontal partitions. The distance between the first and second horizontal partitions is adjustable. The distance between the first and second vertical partitions is also adjustable. An adjustable-sized receiving cavity is formed between the first horizontal partition, the second horizontal partition, the first vertical partition, and the second vertical partition. The first and second horizontal partitions are provided with a plurality of first support arms extending toward the accommodating cavity on their opposite sides; the first and second vertical partitions are provided with second support arms corresponding to the first support arms; a insertion slot is formed between two adjacent first support arms and two adjacent second support arms for vertical insertion of the glass screen; the thickness of the insertion slot is greater than the thickness of the glass screen; the glass screen can move along the insertion slot as the flipping assembly flips, so that all the glass screens are neatly aligned with the same side of the frame under the action of gravity.

5. The intelligent feeding device according to claim 3 or 4, characterized in that, The flipping assembly includes a driven rotating member disposed on the middle left side of the movable plate, an active rotating member disposed on the right side of the movable plate and corresponding to the driven rotating member, and a rotation drive assembly for driving the active rotating member to flip longitudinally back and forth; the driven rotating member and the active rotating member are respectively connected to the first substrate and the movable plate and support the movable plate.

6. The intelligent feeding device according to claim 5, characterized in that, A first positioning post for supporting and positioning the movable plate is provided on the first base plate on the front side of the driven rotating member and the active rotating member. A second positioning post for supporting and positioning the movable plate is provided on the first base plate on the rear side of the driven rotating member and the active rotating member. There is a height difference between the upper surface of the first positioning post and the upper surface of the second positioning post, and the height of the first positioning post and the height of the second positioning post are both less than the height of the driven rotating member and the active rotating member.

7. The intelligent feeding device according to any one of claims 3, 4 and 6, characterized in that, One side of the movable plate is also provided with a cleaning roller for cleaning the adsorption surface of the adsorption component.

8. The intelligent feeding device according to claim 2, characterized in that, The buffer platform includes a second substrate; the second substrate is provided with two spaced X baffles, a first adjusting component for adjusting the distance between the two X baffles, two spaced Y baffles, and a second adjusting component for adjusting the distance between the two Y baffles; the two X baffles and the two Y baffles cooperate with each other to form an adjustable-size material basket buffer cavity.

9. The intelligent feeding device according to claim 7, characterized in that, The visual inspection module includes a vertically mounted stand; two CCD moving modules are respectively positioned vertically on one side surface of the stand; each of the two CCD moving modules includes a CCD module with its lens facing the middle of the stand, and an XZ axis moving module that drives the CCD module to move; the lenses of the two CCD modules move symmetrically vertically.

10. A control method applied to the intelligent feeding device as described in any one of claims 1-9, characterized in that, The control method includes the following steps: S1. Feeding and conveying: The feeding and conveying module transports the basket filled with glass screens from the front-end machine to the buffer position. S2, Material Picking and Transfer: The material picking module transfers the material basket from the feeding conveyor module to the rack platform of the buffer rack module; S3, Insertion rack positioning: After the insertion rack platform carries and positions the material basket, it moves laterally to the insertion rack position; S4. Visual photography: The visual inspection module takes pictures of the material basket and the glass screen inside the basket on the insertion platform to obtain the position information of the glass screen; S5. Robot Retrieval: Based on the position information, the robot module picks up the glass screen from the basket using the front-end adsorption component and removes the glass screen along the planned path to avoid collision between the glass screen and the basket. During the retrieval process, each joint of the robot module detects the collision force through force control sensors and feeds it back to the control system to determine whether to throw the screen. S6. Unloading and docking: The robot module places the extracted glass screen into the unloading and docking module, and the unloading and docking module sends the glass screen piece by piece to the next process. S7, NG diversion: If the next process is determined to be NG, the robot module will put the glass screen into the Tray tray hopper module; S8, Material Basket Return: The material basket is rotated to various workstations on the lower layer of the machine via the conveyor module below the workbench.

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