CN110989219B - Liquid crystal display panel attaching method, terminal, system and storage medium - Google Patents
Liquid crystal display panel attaching method, terminal, system and storage medium Download PDFInfo
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- CN110989219B CN110989219B CN201911261445.4A CN201911261445A CN110989219B CN 110989219 B CN110989219 B CN 110989219B CN 201911261445 A CN201911261445 A CN 201911261445A CN 110989219 B CN110989219 B CN 110989219B
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/1303—Apparatus specially adapted to the manufacture of LCDs
Abstract
The invention discloses a liquid crystal panel attaching method, a terminal, a system and a storage medium, wherein the liquid crystal panel attaching method comprises the following steps: acquiring distance information of glass through an ultrasonic sensor, and controlling a robot to suck the glass to a film tearing position according to the distance information; when the back plate is detected to enter a coarse positioning area, positioning claws on two sides of the back plate are controlled to perform coarse positioning on the back plate; when the backboard is detected to enter the attaching area, controlling a positioning column below the backboard to perform fine positioning on the backboard; when the position precision of the back plate is detected to meet the laminating precision, the manipulator is controlled to laminate the torn glass with the back plate. According to the invention, the fitting precision of the back plate and the glass is improved by accurately positioning the back plate, and the technical problems of low fitting precision of the liquid crystal panel and unstable fitting equipment caused by line space limitation and uneven back plate position are solved.
Description
Technical Field
The invention relates to the field of liquid crystal panel processing application, in particular to a liquid crystal panel attaching method, a terminal, a system and a storage medium.
Background
Along with the improvement of TV production technology to and TV design trend jumbo size frameless development, make liquid crystal display panel's laminating precision more and more high, for lower cost, the mode that the foam-rubber cushion adds the sponge strip is mostly adopted to the jumbo size line body transports the backplate, just so makes the back of the unsmooth change of backplate place on the frock board very difficultly levelly and smoothly, consequently, hardly promotes the position of backplate and adjustment backplate.
When the position of the back plate is difficult to adjust, the laminating equipment has the following problems:
firstly, the incoming material position of the back plate is not clear, and whether the back plate is in the visual field of the positioning camera or not can not be guaranteed, and manual auxiliary adjustment is needed;
secondly, the back plate cannot ensure the flatness, and the stability and the laminating precision of laminating equipment are seriously influenced;
thirdly, the increase of the size of the television leads to the increase of the specification of the robot for tearing the film, and the robot is not suitable for tearing the film by adopting the line body with limited space.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
The invention aims to solve the technical problems that the liquid crystal panel bonding method, the terminal, the system and the storage medium are provided aiming at the defects of the prior art, and the technical problems that the liquid crystal panel bonding precision is low and the bonding equipment is unstable due to line space limitation and uneven back plate position are solved.
The technical scheme adopted by the invention for solving the technical problem is as follows:
in a first aspect, the present invention provides a method for attaching a liquid crystal panel, wherein the method for attaching a liquid crystal panel includes the following steps:
acquiring distance information of glass through an ultrasonic sensor, and controlling a robot to suck the glass to a film tearing position according to the distance information;
when the situation that the back plate enters a coarse positioning area is detected, positioning claws on two sides of the back plate are controlled to perform coarse positioning on the back plate;
when the backboard is detected to enter the attaching area, controlling a positioning column below the backboard to perform fine positioning on the backboard;
when the position precision of the back plate is detected to meet the laminating precision, the manipulator is controlled to laminate the torn glass with the back plate.
Further, the method comprises the following steps of collecting distance information of glass through an ultrasonic sensor, controlling a robot to suck the glass to a film tearing position according to the distance information, and comprising the following steps:
and initializing the system to control the robot, the positioning paw and the positioning column to return to the initial positions.
Further, gather glass's distance information through ultrasonic sensor to according to distance information control robot will glass absorbs to the dyestripping position, specifically include the following step:
when material is taken, the robot is controlled to move to a material taking position;
when an acquisition instruction sent by the robot is received, the acquisition instruction is sent to the ultrasonic sensor;
acquiring and analyzing distance information of the glass through the ultrasonic sensor;
sending the distance information to the robot, and controlling the robot to suck the glass;
and controlling the robot to move the glass to the film tearing position according to a preset distance.
Further, when the situation that the back plate enters the rough positioning area is detected, the positioning claws on the two sides of the back plate are controlled to perform rough positioning on the back plate, and the method specifically comprises the following steps:
when the backboard is detected to enter a coarse positioning area, controlling a positioning paw at one side of the backboard to search for the edge of the backboard;
when the positioning paw on one side contacts with the edge of the back plate, acquiring the position of the positioning paw on one side;
and controlling the positioning claw on the other side to move to the corresponding position according to the position of the positioning claw on one side so as to perform coarse positioning on the back plate.
Further, the step of controlling the positioning claw on the other side to move to the corresponding position according to the position of the positioning claw on one side so as to perform coarse positioning on the back plate specifically comprises the following steps:
calculating the corresponding position of the positioning paw on the other side of the back plate according to the position of the positioning paw on one side;
controlling the positioning paw on the other side to move to the corresponding position;
and when the positioning paw on the other side reaches the corresponding position, controlling the positioning paws on the two sides to synchronously lift the back plate so as to perform coarse positioning on the back plate.
Further, when the backboard is detected to enter the attaching area, the positioning column below the backboard is controlled to precisely position the backboard, and the method specifically comprises the following steps:
when the backboard is detected to enter the fitting area, a camera at the top of the backboard is used for acquiring a positioning mark at the center of the backboard;
calculating the attitude angle of the back plate according to the positioning identifier;
and controlling a positioning column below the back plate according to the attitude angle to perform fine positioning on the back plate.
Further, when detecting that the position precision of backplate satisfies the laminating precision, the control manipulator will tear the membrane the glass with the backplate is laminated, specifically includes following step:
respectively positioning the rotation centers of the back plate and the glass through a visual positioning device;
calculating offset coordinates between the back plate and the glass according to the rotation centers of the back plate and the glass;
detecting whether the offset coordinates meet the fitting precision;
and when the offset coordinates meet the laminating precision, controlling a mechanical arm to laminate the glass subjected to film tearing with the back plate.
In a second aspect, the present invention provides a terminal, wherein the terminal includes: a processor and a memory coupled to the processor; the memory stores a liquid crystal panel attaching program, and the liquid crystal panel attaching program is used for realizing the liquid crystal panel attaching method according to the first aspect when executed by the processor.
In a third aspect, the present invention provides a liquid crystal panel bonding system, including: the terminal, controller, robot, servo positioning device, visual positioning device and back plate adjusting device of the second aspect; the controller is connected with the terminal; the robot, the servo positioning device, the visual positioning device and the back plate adjusting device are respectively connected with the controller;
the controller is used for controlling the robot, the servo positioning device, the visual positioning device and the back plate adjusting device;
the robot is used for sucking glass and moving the glass to a specified position, and is used for adhering the glass to a back plate; the robot is provided with an ultrasonic sensor, and the ultrasonic sensor is used for detecting the distance between the robot and the glass;
the servo positioning device is used for carrying out coarse positioning on the back plate during feeding and adjusting the shooting position of the camera; the servo positioning device is provided with a servo motor and a positioning paw;
the visual positioning device is used for positioning the positions of the glass and the back plate and sending the deviation values of the glass and the back plate to the robot;
the backboard adjusting device is used for finely positioning the backboard so as to keep the position of the backboard in a horizontal state.
In a fourth aspect, the present invention provides a storage medium, wherein the storage medium stores a liquid crystal panel bonding program, and the liquid crystal panel bonding program is used for realizing the liquid crystal panel bonding method according to the first aspect when executed by a processor.
The invention adopts the technical scheme and has the following effects:
according to the invention, the backboard is accurately positioned, so that the backboard meets the fitting precision; in addition, during fitting, the offset coordinate of the rotation center between the back plate and the glass is positioned through the visual positioning device, and the manipulator is controlled to fit the back plate and the glass under the condition that the offset coordinate meets the fitting precision, so that the fitting precision of the back plate and the glass is improved; the invention solves the technical problems of low laminating precision of the liquid crystal panel and unstable laminating equipment caused by line space limitation and uneven back plate position.
Drawings
FIG. 1 is a flowchart illustrating a method for attaching a liquid crystal panel according to an embodiment of the present invention.
Fig. 2 is a functional schematic diagram of a terminal in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a liquid crystal panel bonding system according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
In the production process of the television, when the position of the back plate is difficult to adjust, the laminating equipment has the following problems:
firstly, the incoming material position of the back plate is not clear, and whether the back plate is in the visual field of the positioning camera or not can not be guaranteed, and manual auxiliary adjustment is needed;
secondly, the back plate cannot ensure the flatness, and the stability and the laminating precision of laminating equipment are seriously influenced;
thirdly, the increase of the size of the television leads to the increase of the specification of the robot for tearing the film, and the robot is not suitable for tearing the film by adopting the line body with limited space.
In view of the technical defects, the embodiment provides a liquid crystal panel bonding method, which solves the technical problems of low bonding precision of a liquid crystal panel and unstable bonding equipment caused by line space limitation and uneven back plate position.
As shown in fig. 1, in an implementation manner of this embodiment, the method for attaching a liquid crystal panel includes the following steps:
and S100, acquiring distance information of the glass through an ultrasonic sensor, and controlling a robot to suck the glass to a film tearing position according to the distance information.
In this embodiment, the liquid crystal panel attaching method is applied to a liquid crystal panel attaching system, and the liquid crystal panel attaching system includes: the system comprises a terminal, a controller, a robot, a servo positioning device, a visual positioning device and a back plate adjusting device; the controller is connected with the terminal; the robot, the servo positioning device, the visual positioning device and the back plate adjusting device are respectively connected with the controller;
the controller is used for controlling the robot, the servo positioning device, the visual positioning device and the back plate adjusting device;
the robot is used for sucking glass and moving the glass to a specified position, and is used for adhering the glass to a back plate; the robot is provided with an ultrasonic sensor, and the ultrasonic sensor is used for detecting the distance between the robot and the glass;
the servo positioning device is used for carrying out coarse positioning on the back plate during feeding and adjusting the shooting position of the camera; the servo positioning device is provided with a servo motor and a positioning paw;
the visual positioning device is used for positioning the positions of the glass and the back plate and sending the deviation values of the glass and the back plate to the robot;
the backboard adjusting device is used for finely positioning the backboard so as to keep the position of the backboard in a horizontal state.
In the embodiment, the whole attaching process is divided into a material taking part, a coarse positioning part and an attaching part; the material taking part adopts a robot to take materials; the coarse positioning part adopts a positioning paw to perform coarse positioning on the back plate; the fitting part adopts a positioning column to perform fine positioning, and simultaneously the positions of the back plate and the glass are accurately adjusted by matching with a mechanical arm, and the back plate and the glass are fitted after adjustment.
In this embodiment, before material taking, the system needs to be initialized to control the robot, the positioning claws and the positioning columns to return to the initial positions, and meanwhile, parameters acquired by each part in the system are cleared to return each device in the system to the initial state.
Namely, before the step 100, the following steps are also included:
step 001, initializing the system to control the robot, the positioning paw and the positioning post to return to the initial positions.
In this embodiment, a robot is used for taking materials in the material taking part, and after the robot successfully absorbs materials (namely glass), the materials are conveyed to a film tearing position and are torn manually; after the film is torn off, the material is sent to a laminating waiting position to wait for a laminating command sent by a system.
Specifically, after material taking is started, the robot receives a material taking instruction sent by the system, moves from an initial position to a material taking waiting position, and sends an acquisition instruction to the controller; and after receiving the acquisition instruction, the controller sends the acquisition instruction to the ultrasonic sensor, and the distance information is acquired and analyzed by the ultrasonic sensor.
After the ultrasonic sensor acquires the distance information, sending the distance information to the robot; after the robot reads the distance information, sucking the glass, conveying the glass to a film tearing position, and tearing the film in cooperation with manual work; and after the film is torn off, conveying the glass to a bonding position to wait for a subsequent bonding instruction.
That is, in the step 100, the following steps are specifically included:
step 110, when material is taken, controlling the robot to move to a material taking position;
step 120, when receiving an acquisition instruction sent by the robot, sending the acquisition instruction to the ultrasonic sensor;
step 130, collecting and analyzing the distance information of the glass through the ultrasonic sensor;
step 140, sending the distance information to the robot, and controlling the robot to suck the glass;
and 150, controlling the robot to move the glass to the film tearing position according to a preset distance.
In the embodiment, the robot is adopted for taking materials, and the robot is used for tearing the film in cooperation with manpower, so that the problem that large-scale film tearing equipment is inconvenient to use due to a narrow space of a line body is solved; meanwhile, the distance between the robot and the glass material is collected through the ultrasonic sensor, so that the robot can accurately absorb the glass and send the glass to a specified position, and subsequent laminating work is facilitated.
As shown in fig. 1, in an implementation manner of this embodiment, the method for attaching a liquid crystal panel further includes the following steps:
and S200, when the backboard is detected to enter a coarse positioning area, controlling positioning claws at two sides of the backboard to perform coarse positioning on the backboard.
In the present embodiment, the coarse positioning portion is used to position the backboard into the camera field of view; after the backboard is fed, the gripper of the left positioning mechanism of the system is put down, and at the moment, the left module is started and drives the gripper to search for the left edge of the backboard; when the left gripper contacts the left edge, controlling the gripper of the right module to move to the right edge of the backboard according to the current left module position; and finally, controlling the left gripper and the right gripper to synchronously lift the backboard and move the backboard to a specified position.
Specifically, when the robot takes materials, the coming materials of the back plate enter a coarse positioning area; at the moment, the left gripper extends out, and meanwhile, the left module is started and drives the gripper to search for the left edge of the back plate; when the left hand claw contacts the left edge, the magnetic switch on the left hand claw is closed, at which point the system acquires the current position of the left hand claw.
After the current position of the left gripper is obtained, the corresponding position of the right gripper can be calculated according to the position relationship between the current position of the left gripper and the standard position (because the left gripper and the right gripper are in a mirror image relationship); after the corresponding position of the right hand claw is obtained, controlling the right hand claw to move to the corresponding position; at this time, the left gripper and the right gripper are controlled to move synchronously, the backboard is lifted and moved to a specified position (for example, the center position of the line body), and the backboard is roughly positioned.
That is, in the step 200, the following steps are specifically included:
step 210, when the backboard is detected to enter a coarse positioning area, controlling a positioning paw at one side of the backboard to search for the edge of the backboard;
step 220, when the positioning paw at one side contacts with the edge of the back plate, acquiring the position of the positioning paw at one side;
and 230, controlling the positioning claw on the other side to move to the corresponding position according to the position of the positioning claw on one side so as to perform coarse positioning on the backboard.
In this embodiment, when calculating the corresponding position of the right hand claw, the corresponding position of the right hand claw is calculated according to the following formula:
S r ＝S rj +(S l -S lj )；
wherein S is r For the right hand claw to position, S rj Is the reference position of the right hand claw, S l Is the current position of the left hand claw, S lj The left paw reference position.
After the corresponding position of the right hand claw is obtained, controlling to extend the right hand claw and starting a right module to move the right hand claw to the corresponding position through the right module; when the right hand claw moves to the corresponding position, controlling the two hand claws (namely the left hand claw and the right hand claw) to synchronously lift the backboard; after the back plate is lifted in place, motors of the two side modules (namely the left side module and the right side module) synchronously move to a specified position, and after the specified position is reached, the two side paws put down the back plate so that the back plate flows into a joint area along with a wire body.
Namely, in the step 230, the following steps are specifically included:
231, calculating the corresponding position of the positioning paw on the other side of the backboard according to the position of the positioning paw on one side;
step 232, controlling the positioning paw on the other side to move to the corresponding position;
and 233, controlling the positioning claws at the two sides to synchronously lift the back plate when the positioning claws at the other side reach the corresponding positions so as to roughly position the back plate.
According to the invention, the servo positioning device is used for roughly positioning the back plate of the incoming material, and the back plate is moved to the specified position after positioning, so that the back plate can be precisely positioned by the subsequent station, the position precision of the back plate can meet the precision requirement of the laminating station, and the laminating success rate is improved.
As shown in fig. 1, in an implementation manner of this embodiment, the method for attaching a liquid crystal panel further includes the following steps:
step S300, when the backboard is detected to enter the bonding area, controlling a positioning column below the backboard to perform fine positioning on the backboard.
In this embodiment, the working process of the attaching part can be divided into two small parts, the first part is used for adjusting the posture of the back plate, and the second part is used for attaching; in the first part, when the back plate enters the fitting area, the posture of the back plate is detected firstly, and then the posture of the back plate is adjusted, so that the parallelism of the back plate meets the precision requirement of fitting.
Specifically, when the backboard enters the fitting area, a camera mounted at the top of the backboard is used for collecting a positioning mark on the backboard; the positioning mark is a square light bar marker which is engraved in the center of the back plate by laser; after the positioning identification is acquired, calculating the attitude angle of the backboard according to the positioning identification; after the attitude angle is obtained, the positioning column below the back plate can be controlled according to the attitude angle to perform fine positioning on the back plate.
That is, in the step 300, the following steps are specifically included:
step 310, when the backboard is detected to enter the fitting area, acquiring a positioning identifier of the center of the backboard through a camera at the top of the backboard;
step 320, calculating the attitude angle of the back plate according to the positioning identifier;
and 330, controlling a positioning column below the back plate according to the attitude angle to perform fine positioning on the back plate.
In this embodiment, when the attitude angle is calculated, a normal vector of the positioning identifier needs to be calculated, and the attitude angle of the backboard is calculated according to the normal vector; and finally, calculating the pulse quantity of the servo motor according to the attitude angle, controlling the four servo motors below the back plate by utilizing the pulse quantity, so that the back plate is leveled by driving the positioning columns through the servo motors, and thus, accurate positioning is realized.
Namely, in the step 320, the following steps are specifically included:
step 321, calculating a normal vector of the positioning identifier according to the positioning identifier;
step 322, calculating the attitude angle of the backboard according to the normal vector.
According to the invention, the current position of the backboard is obtained through the positioning identifier, so that a system can accurately obtain the position of the backboard; the attitude angle of the back plate is calculated, and the positioning column below the back plate is controlled to precisely position the back plate according to the attitude angle, so that the parallelism of the back plate can meet the precision requirement of a laminating process, the precision of a finished product is improved, and the phenomenon that equipment is unstable during subsequent laminating is avoided.
As shown in fig. 1, in an implementation manner of this embodiment, the method for attaching a liquid crystal panel further includes the following steps:
and S400, when the position precision of the back plate is detected to meet the fitting precision, controlling a mechanical arm to fit the torn glass with the back plate.
In this embodiment, three linear modules in the system respectively carry three cameras while adjusting the posture of the backboard to reach a photographing position, and after the backboard is adjusted to be parallel, three angles of the backboard are photographed to calculate the rotation center of the backboard.
After the camera shoots the back plate, the back plate is brought above the glass by the linear module so as to shoot the glass; meanwhile, the reflector extends out and sends out a fitting permission command; when the manipulator receives the attaching command, a camera module shoots three angles of the glass and calculates the position of the rotation center of the glass to obtain the offset coordinate of the glass and the back plate; and after the offset coordinates are obtained, controlling the manipulator to offset.
After the precision of the large-scale manipulator is adjusted to reach the precision required by the lamination after multiple times of photographing (because the precision of the large-scale manipulator is plus or minus 0.2mm, the lamination precision cannot be met, so that multiple times of photographing positioning is adopted until the value given by the camera in photographing is within the precision range), at the moment, the lighting plate is withdrawn, and the manipulator descends to complete the lamination.
That is, in the step 400, the following steps are specifically included:
step 410, respectively positioning the rotation centers of the back plate and the glass by a visual positioning device;
step 420, calculating offset coordinates between the back plate and the glass according to the rotation centers of the back plate and the glass;
step 430, detecting whether the offset coordinates meet the fitting precision;
and 440, when the offset coordinate meets the attaching precision, controlling a mechanical arm to attach the glass subjected to film tearing to the back plate.
Compared with the prior art, the embodiment of the invention has the following effects:
1. according to the invention, the material is taken by using the distance measurement mode of the ultrasonic sensor, so that the condition of glass crushing or absorption failure caused by quantity difference in the material box in the counting process or the feeding process is avoided;
2. according to the requirements of field actual conditions, economy and line rhythm, the mode of loading and manually tearing the film by a single robot is adopted for loading, and the lamination is divided into a thick positioning part and a laminating part. The precision efficiency and the reliability of the lamination are effectively improved, and the cost is reduced;
3. the coarse positioning mode adopts a lifting mode, the backboard can be lifted to a positioning position and put down through edge finding and calculation, the problems that strict requirements on placement of backboard supplied materials are required and positioning fails due to a backboard convex hull are solved, and meanwhile, the positioning consistency is increased and the success rate of photographing is improved;
4. the back plate is subjected to secondary position adjustment before attachment, so that the flatness of the back plate is ensured, and the reliability and compatibility of equipment are improved.
Example two
As shown in fig. 2, the present embodiment provides a terminal, including: a processor 11 and a memory 12 connected to the processor 11; the memory 12 stores a liquid crystal panel bonding program, and the liquid crystal panel bonding program is used for implementing the liquid crystal panel bonding method according to the first embodiment when being executed by the processor 11; as described in detail above.
EXAMPLE III
As shown in fig. 3, the present embodiment provides an lcd panel attaching system, which includes: the terminal 10, the controller 20, the robot 30, the servo positioning device 40, the visual positioning device 50, and the back plate adjusting device 60 according to the second embodiment; the controller 20 is connected with the terminal 10; the robot 30, the servo positioning device 40, the visual positioning device 50 and the back plate adjusting device 60 are respectively connected with the controller 20;
the controller 20 is used for controlling the robot 30, the servo positioning device 40, the visual positioning device 50 and the back plate adjusting device 60;
the robot 30 is used for sucking the glass and moving the glass to a designated position, and for attaching the glass into a back plate; the robot 30 is provided with an ultrasonic sensor (not shown) for detecting a distance between the robot 30 and the glass;
the servo positioning device 40 is used for roughly positioning the back plate during feeding and adjusting the shooting position of the camera; the servo positioning device is provided with a servo motor (not shown) and a positioning paw (not shown);
the visual positioning device 50 is used for positioning the positions of the glass and the back plate and sending the deviation values of the glass and the back plate to the robot; the visual positioning device 50 is provided with a camera (not shown);
the backboard adjusting device 60 is used for finely positioning the backboard so as to keep the position of the backboard in a horizontal state.
Example four
The present embodiment provides a storage medium, wherein the storage medium stores a liquid crystal panel bonding program, and the liquid crystal panel bonding program is used for implementing the liquid crystal panel bonding method according to the first embodiment when being executed by a processor.
In conclusion, the back plate is accurately positioned, so that the back plate meets the fitting precision; in addition, during fitting, the offset coordinate of the rotation center between the back plate and the glass is positioned through the visual positioning device, and the manipulator is controlled to fit the back plate and the glass under the condition that the offset coordinate meets the fitting precision, so that the fitting precision of the back plate and the glass is improved; the invention solves the technical problems of low laminating precision of the liquid crystal panel and unstable laminating equipment caused by line space limitation and uneven back plate position.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program instructing relevant hardware (such as a processor, a controller, etc.), and the program may be stored in a computer readable storage medium, and when executed, the program may include the processes of the above method embodiments. The storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (8)
1. The liquid crystal panel attaching method is characterized by comprising the following steps:
acquiring distance information of glass through an ultrasonic sensor, and controlling a robot to suck the glass to a film tearing position according to the distance information;
when the situation that the back plate enters a coarse positioning area is detected, positioning claws on two sides of the back plate are controlled to perform coarse positioning on the back plate;
when the backboard is detected to enter the fitting area, controlling a positioning column below the backboard to finely position the backboard;
when the position precision of the back plate is detected to meet the fitting precision, a manipulator is controlled to fit the torn glass with the back plate;
when the backboard is detected to enter the fitting area, the positioning column below the backboard is controlled to precisely position the backboard, and the method specifically comprises the following steps:
when the backboard is detected to enter the fitting area, a camera at the top of the backboard is used for acquiring a positioning mark at the center of the backboard; the positioning mark is a square light bar marker which is engraved in the center of the back plate by laser;
calculating the attitude angle of the back plate according to the positioning identifier; the attitude angle is calculated according to a normal vector of the positioning identifier;
controlling a positioning column below the back plate to perform fine positioning on the back plate according to the attitude angle; calculating the pulse quantity of a servo motor according to the attitude angle, controlling the servo motor below the back plate by using the pulse quantity, and driving the positioning column to level the back plate through the servo motor to realize the fine positioning;
when detecting the position precision of backplate satisfies the laminating precision, control the manipulator will tear the membrane after glass with the backplate is laminated, specifically include following step:
respectively positioning the rotation centers of the back plate and the glass through a visual positioning device;
calculating offset coordinates between the back plate and the glass according to the rotation centers of the back plate and the glass;
detecting whether the offset coordinates meet the fitting precision;
and when the offset coordinate meets the laminating precision, controlling a mechanical arm to laminate the torn glass with the back plate.
2. The method for attaching a liquid crystal panel according to claim 1, wherein the step of collecting distance information of the glass by the ultrasonic sensor and controlling the robot to suck the glass to the film tearing position according to the distance information comprises the following steps:
and initializing the system to control the robot, the positioning paw and the positioning column to return to the initial positions.
3. The method for attaching a liquid crystal panel according to claim 1, wherein the distance information of the glass is collected by an ultrasonic sensor, and a robot is controlled to suck the glass to a film tearing position according to the distance information, and the method specifically comprises the following steps:
when material is taken, the robot is controlled to move to a material taking position;
when an acquisition instruction sent by the robot is received, the acquisition instruction is sent to the ultrasonic sensor;
collecting and analyzing the distance information of the glass through the ultrasonic sensor;
sending the distance information to the robot, and controlling the robot to suck the glass;
and controlling the robot to move the glass to the film tearing position according to a preset distance.
4. The method for attaching a liquid crystal panel according to claim 1, wherein when it is detected that the back plate enters the coarse positioning area, the positioning claws on both sides of the back plate are controlled to perform coarse positioning on the back plate, specifically comprising the following steps:
when the backboard is detected to enter a coarse positioning area, controlling a positioning paw at one side of the backboard to search for the edge of the backboard;
when the positioning paw on one side contacts with the edge of the back plate, acquiring the position of the positioning paw on one side;
and controlling the positioning claw on the other side to move to the corresponding position according to the position of the positioning claw on one side so as to perform coarse positioning on the back plate.
5. The method according to claim 4, wherein the step of controlling the positioning claw on the other side to move to a corresponding position according to the position of the positioning claw on the other side to perform coarse positioning on the back plate comprises the following steps:
calculating the corresponding position of the positioning paw on the other side of the back plate according to the position of the positioning paw on one side;
controlling the positioning paw on the other side to move to the corresponding position;
and when the positioning paw on the other side reaches the corresponding position, controlling the positioning paws on the two sides to synchronously lift the back plate so as to perform coarse positioning on the back plate.
6. A terminal, characterized in that the terminal comprises: a processor and a memory coupled to the processor; the memory stores a liquid crystal panel bonding program which is executed by the processor to realize the liquid crystal panel bonding method according to any one of claims 1 to 5.
7. A liquid crystal panel bonding system, comprising: the terminal, controller, robot, servo positioning device, visual positioning device, and backplane adjustment device of claim 6; the controller is connected with the terminal; the robot, the servo positioning device, the visual positioning device and the back plate adjusting device are respectively connected with the controller;
the controller is used for controlling the robot, the servo positioning device, the visual positioning device and the back plate adjusting device;
the robot is used for sucking glass and moving the glass to a specified position, and is used for adhering the glass to a back plate; the robot is provided with an ultrasonic sensor which is used for detecting the distance between the robot and the glass;
the servo positioning device is used for carrying out coarse positioning on the back plate during feeding and adjusting the shooting position of the camera; the servo positioning device is provided with a servo motor and a positioning paw;
the visual positioning device is used for positioning the positions of the glass and the back plate and sending the deviation values of the glass and the back plate to the robot;
the backboard adjusting device is used for finely positioning the backboard so as to keep the position of the backboard in a horizontal state.
8. A storage medium storing a liquid crystal panel bonding program for implementing the liquid crystal panel bonding method according to any one of claims 1 to 5 when executed by a processor.
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