CN112894807A - Industrial automation control device and method - Google Patents
Industrial automation control device and method Download PDFInfo
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- CN112894807A CN112894807A CN202110044930.7A CN202110044930A CN112894807A CN 112894807 A CN112894807 A CN 112894807A CN 202110044930 A CN202110044930 A CN 202110044930A CN 112894807 A CN112894807 A CN 112894807A
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- glue
- glass substrate
- industrial automation
- dripping
- station
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000003292 glue Substances 0.000 claims abstract description 146
- 239000011521 glass Substances 0.000 claims abstract description 77
- 239000000758 substrate Substances 0.000 claims abstract description 77
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 239000007788 liquid Substances 0.000 claims description 18
- 238000007605 air drying Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 11
- 238000005086 pumping Methods 0.000 description 9
- 238000011179 visual inspection Methods 0.000 description 8
- 238000004026 adhesive bonding Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 5
- 230000002349 favourable effect Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention relates to the technical field of automatic control, in particular to an industrial automatic control device which comprises a control system, a conveyor belt system, a first visual detection system, a mechanical arm, a glue dripping system and a second visual detection system, wherein the conveyor belt system comprises a first detection station, a glue dripping station and a second detection station, the first visual detection system is positioned at the first detection station, the glue dripping system is positioned at the glue dripping station, the second visual detection system is positioned at the second detection station, the conveyor belt system, the first visual detection system, the mechanical arm, the glue dripping system and the second visual detection system are respectively and electrically connected with the control system, the mechanical arm is mechanically connected with the glue dripping system and can drive the glue dripping system to move under the control of the control system, and the conveyor belt is used for conveying a glass substrate. The invention also relates to an industrial automation control method which adopts the industrial automation control device.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to an industrial automatic control device.
[ background of the invention ]
Some glass substrates on the market are attached to it through the outer boundary film of dripping glue on it, because the volume of gluing can not better control, can lead to gluing between the two not enough from time to time, influence attached quality, and the staff need add glue after with both separation, has also reduced production rate.
The prior art is therefore deficient and needs improvement.
[ summary of the invention ]
In order to overcome the technical problem, the invention provides an industrial automation control device.
The technical scheme of the invention is to provide an industrial automation control device, which comprises a control system, a conveyor belt system, a first visual detection system, a mechanical arm, a glue dripping system and a second visual detection system, wherein the conveyor belt system comprises a first detection station, a glue dripping station and a second detection station, the first visual detection system is positioned at the first detection station, the glue dripping system is positioned at the glue dripping station, the second visual detection system is positioned at the second detection station, the conveyor belt system, the first visual detection system, the mechanical arm, the glue dripping system and the second visual detection system are respectively and electrically connected with the control system, the mechanical arm is mechanically connected with the glue dripping system and can drive the glue dripping system to move under the control of the control system, the conveyor belt is used for conveying a glass substrate, the first visual detection system is used for determining the position of the glass substrate positioned at the first detection station, the glue dripping system is used for dripping glue to the glass substrate located at the glue dripping station, the second visual detection system is used for detecting the height of glue dripped on the glass substrate and the area of the occupied glass substrate, and when the height of glue dripped on the glass substrate and/or the area of the occupied glass substrate are detected and are not in accordance with the preset size, the control system controls the mechanical arm to drive the glue dripping system to move to the second detection station for secondary glue dripping on the glass substrate.
Preferably, the preset size of the height of the glue dropped on the glass substrate is 2.5 mm.
Preferably, the preset size of the area of the glass substrate occupied by the glue dripped on the glass substrate is 16mm2。
Preferably, the industrial automation control device further comprises a glue supply part, glue is filled in the glue supply part, and after glue in the glue dripping system is used up, the control system controls the mechanical arm to drive the glue dripping system to move to the glue supply part to suck the glue.
Preferably, the glue supply part comprises a barrel body, a flat plate cover and an opening and closing arm, glue is filled in the barrel body, one end of the opening and closing arm is fixed on the barrel body, the other end of the opening and closing arm is connected with the flat plate cover, the opening and closing arm is electrically connected with the control system, and the opening and closing arm can cover the flat plate cover to the opening of the barrel body or move the flat plate cover covering the opening.
Preferably, the confession is glued the portion and is still included level sensor, industrial automation control device still includes alarm system, level sensor and alarm system respectively with control system electric connection, level sensor detects the liquid level of gluing in the staving, works as level sensor detects when actual liquid level is less than predetermined liquid level height, control system sends alarm signal and gives alarm system, alarm system sends alarm information in order to indicate.
Preferably, the glue supply part further comprises a vacuum pumping device, the vacuum pumping device is electrically connected with the control system, part of the vacuum pumping device is located outside the barrel body, and the other part of the vacuum pumping device is located in the barrel body and used for vacuumizing the interior of the barrel body so as to reduce the air drying speed of glue in the barrel body.
Preferably, the second visual detection system comprises a first camera and a second camera which are respectively electrically connected with the control system, the first camera is perpendicular to a plane where a surface of a conveyor belt of the conveyor belt system is located for detecting an area of the glass substrate occupied by the glue dripped on the glass substrate, and a shooting direction of the second camera is parallel to the plane where the surface of the conveyor belt system is located for detecting a height of the glue dripped on the glass substrate.
The invention also provides an industrial automation control method, which adopts the industrial automation control device and comprises the following steps:
step S1: detecting the position of the glass substrate positioned on the first detection station;
step S2: dripping glue on the glass substrate positioned on the glue dripping station;
step S3: detecting the height of glue on the glass substrate positioned on the second detection station and the area of the glue on the glass substrate;
step S4: and (3) carrying out secondary glue dripping on the glass substrate with the glue height of the glass substrate positioned on the second detection station and/or the area occupied by the glass substrate not conforming to the preset size.
Compared with the prior art, the industrial automation control device and the method have the following advantages:
height and the shared area through gluing to the glass substrate detect for glue that is not conform to the predetermined size can be added once more, makes the volume of outer boundary film between the two be enough to pave between the two when attached, is favorable to increasing attached quality, also prevents simultaneously that the film from taking off the production that the film adds the gluey situation once more because of gluing not enough after attached, is favorable to promoting production efficiency.
[ description of the drawings ]
Fig. 1 is a schematic diagram of a specific module connection structure of an industrial automation control device according to the present invention.
Fig. 2 is a schematic perspective view of a glue supply portion of the industrial automation control device according to the present invention.
Fig. 3 is a schematic flow chart of the industrial automation control method of the invention.
Description of reference numerals:
10. a control system; 11. a conveyor belt system; 12. a first vision detection system; 13. a robot arm; 14. a glue dripping system; 15. a second vision detection system; 16. a glue supply part; 17. a storage unit; 18. an alarm system; 19. a power supply unit; 151. a first camera; 152. a second camera; 161. a barrel body; 162. a flat plate cover; 163. the arms are opened and closed; 164. a liquid level sensor; 165. vacuumizing equipment; 181. a flash lamp; 182. a loudspeaker.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-2, the present invention provides an industrial automation control device for transferring a glass substrate and dispensing a glue on the glass substrate for attaching a subsequent film thereon, including a control system 10, a conveyor belt system 11, a first visual inspection system 12, a robot arm 13, a glue dispensing system 14, a second visual inspection system 15, a glue supply portion 16, a storage portion 17, an alarm system 18 and a power supply portion 19, wherein the conveyor belt system 11, the first visual inspection system 12, the robot arm 13, the glue dispensing system 14, the second visual inspection system 15, the glue supply portion 16, the storage portion 17, the alarm system 18 and the power supply portion 19 are respectively electrically connected to the control system 10, the conveyor belt system 11 includes a first inspection station, a glue dispensing station and a second inspection station, the glue dispensing station is located between the first inspection station and the second inspection station, and the conveyor belt system 11 transports the glass substrate thereon from the first inspection station to the second inspection station via the glue dispensing station when operating The first visual inspection system 12 is located at the first inspection station, the glue dripping system 14 is located at the glue dripping station and is mechanically connected with the mechanical arm 13, and the second visual inspection system 15 is located at the second inspection station.
The conveyor belt system 11 is used for conveying glass substrates; the first visual inspection system 12 is configured to determine a position of the glass substrate at the first inspection station, specifically, determine an intermediate position of the glass substrate, so that the subsequent glue dripping system 14 drips glue at the intermediate position of the glass substrate; the mechanical arm 13 is used for driving the glue dripping system 14 to move at the glue dripping station and the second detection station under the control of the control system 10; the second visual detection system 15 is used for detecting the height of glue dripped on the glass substrate and the area occupied by the glass substrate, and when the height of the glue dripped on the glass substrate and/or the area occupied by the glass substrate are detected to be not in accordance with the preset size, the control system 10 controls the mechanical arm 13 to drive the glue dripping system 14 to move to the second detection station for secondary glue dripping on the glass substrate, so that the probability of repeated adhesion can be effectively reduced, and the production efficiency is favorably improved; the glue supply part 16 is filled with glue and used for supplementing the glue to the glue dripping system 14 after the glue of the glue dripping system 14 is used up so as to improve the endurance of the industrial automatic control device; the storage unit 17 is used for storing the detection data of the first visual detection system 12 and the second visual detection system 15 for the subsequent staff to check; the alarm system 18 gives an alarm to prompt a worker to add the glue when the glue storage amount in the glue supply part 16 is insufficient; the power supply part 19 is used for connecting with an external power supply to supply power to the industrial automation control device.
Preferably, the preset size of the height of the glue dropped on the glass substrate is 2.5mm, that is, when the second visual inspection system 15 detects that the height of the glue dropped on the glass substrate is less than 2.5mm, the control system 10 controls the glue dropping system 14 to perform the second glue dropping on the glass substrate located at the second inspection station so as to make the height meet; the preset size of the glue dropped on the glass substrate to occupy the area of the glass substrate is 16mm2That is, when the second vision inspection system 15 detects that the glue dropped on the glass substrate occupies less than 16mm of the area of the glass substrate2Meanwhile, the control system 10 controls the glue dripping system 14 to perform secondary glue dripping on the glass substrate located at the second detection station, so as to make the area consistent.
Further, the second vision detecting system 15 includes a first camera 151 and a second camera 152 electrically connected to the control system 10, respectively, the first camera 151 is perpendicular to the plane where the surface of the conveyor belt system 11 is located for detecting the area of the glass substrate occupied by the glue dropped on the glass substrate, the shooting direction of the second camera 152 is parallel to the plane where the surface of the conveyor belt system 11 is located for detecting the height of the glue dropped on the glass substrate, that is, the height and the area of the glue are detected by the two cameras, respectively, rather than the height and the area being detected by one camera, which has better accuracy.
Further, the glue supply part 16 includes a barrel 161, a flat plate cover 162, an opening and closing arm 163, a liquid level sensor 164 and a vacuum pumping device 165, the opening and closing arm 163, the liquid level sensor 164 and the vacuum pumping device 165 are electrically connected to the control system 10, respectively, one end of the opening and closing arm 163 is fixed on the barrel 161, the other end is connected to the flat plate cover 162, the liquid level sensor 164 is disposed in the barrel 161, and the vacuum pumping device 165 is partially located outside the barrel 161 and partially located in the barrel 161 for facing the barrel 161.
After the glue in the glue dripping system 14 is used up, the control system 10 controls the mechanical arm 13 to drive the glue dripping system 14 to move to the glue supplying part 16 to suck the glue; the opening and closing arm 163 can cover the flat plate cover 162 to the opening of the barrel 161 under the control of the control system 10 to block or remove the flat plate cover 162 covering the opening to facilitate the glue dripping system 14 to suck the glue, and the arrangement of the flat plate cover 162 can reduce the operation difficulty while realizing the glue sucking of the glue dripping system 14 compared with a screw cover to ensure the smooth process; the liquid level sensor 164 is used for detecting the liquid level of the glue in the barrel 161, when the actual liquid level of the glue is detected to be lower than the preset liquid level height, the control system 10 sends an alarm signal to the alarm system 18, and the alarm system 18 sends alarm information to prompt; the vacuum pumping device 165 is used for performing a vacuum pumping operation on the inside of the barrel body 161 to reduce the air drying speed of the glue located in the barrel body 161 after the flat lid 162 is covered on the opening of the barrel body 161, and is also beneficial to increasing the stability of the connection between the flat lid 162 and the barrel body 161.
Preferably, the alarm system 18 includes a flash light 181 and a speaker 182 electrically connected to the control system 10, respectively, when the alarm system 18 receives the alarm signal, the flash light 181 flashes and the speaker 182 emits a prompt sound, and the worker is prompted by sound and light, so that the probability of success is higher, and the continuous production is facilitated.
Referring to fig. 3, the present invention further provides an industrial automation control method, which uses the above industrial automation control device, and includes the following steps:
step S1: detecting the position of the glass substrate positioned on the first detection station;
step S2: dripping glue on the glass substrate positioned on the glue dripping station;
step S3: detecting the height of glue on the glass substrate positioned on the second detection station and the area of the glue on the glass substrate;
step S4: and (3) carrying out secondary glue dripping on the glass substrate with the glue height of the glass substrate positioned on the second detection station and/or the area occupied by the glass substrate not conforming to the preset size.
Compared with the prior art, the industrial automation control device and the method have the following advantages:
height and the shared area through gluing to the glass substrate detect for glue that is not conform to the predetermined size can be added once more, makes the volume of outer boundary film between the two be enough to pave between the two when attached, is favorable to increasing attached quality, also prevents simultaneously that the film from taking off the production that the film adds the gluey situation once more because of gluing not enough after attached, is favorable to promoting production efficiency.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides an industrial automation control device for conveying glass substrate and carrying out the glue dripping, its characterized in that: the industrial automation control device comprises a control system, a conveyor belt system, a first visual detection system, a mechanical arm, a glue dripping system and a second visual detection system, wherein the conveyor belt system comprises a first detection station, a glue dripping station and a second detection station, the first visual detection system is positioned at the first detection station, the glue dripping system is positioned at the glue dripping station, the second visual detection system is positioned at the second detection station, the conveyor belt system, the first visual detection system, the mechanical arm, the glue dripping system and the second visual detection system are respectively and electrically connected with the control system, the mechanical arm is mechanically connected with the glue dripping system and can drive the glue dripping system to move under the control of the control system, the conveyor belt is used for conveying a glass substrate, the first visual detection system is used for determining the position of the glass substrate positioned at the first detection station, the glue dripping system is used for dripping glue to the glass substrate located at the glue dripping station, the second visual detection system is used for detecting the height of glue dripped on the glass substrate and the area of the occupied glass substrate, and when the height of glue dripped on the glass substrate and/or the area of the occupied glass substrate are detected and are not in accordance with the preset size, the control system controls the mechanical arm to drive the glue dripping system to move to the second detection station for secondary glue dripping on the glass substrate.
2. The industrial automation control device of claim 1, wherein: the preset size of the height of the glue dropped on the glass substrate is 2.5 mm.
3. The industrial automation control device of claim 1, wherein: the preset size of the glue dropped on the glass substrate to occupy the area of the glass substrate is 16mm2。
4. The industrial automation control device of claim 1, wherein: the industrial automation control device further comprises a glue supply part, glue is filled in the glue supply part, and after the glue in the glue dripping system is used up, the control system controls the mechanical arm to drive the glue dripping system to move to the glue supply part to suck the glue.
5. The industrial automation control device of claim 4, wherein: the glue supply part comprises a barrel body, a flat plate cover and an opening and closing arm, glue is filled in the barrel body, one end of the opening and closing arm is fixed on the barrel body, the other end of the opening and closing arm is connected with the flat plate cover, the opening and closing arm is electrically connected with the control system, and the opening and closing arm can cover the flat plate cover to the opening of the barrel body or move the flat plate cover covering the opening.
6. The industrial automation control device of claim 5, wherein: the glue supply part further comprises a liquid level sensor, the industrial automation control device further comprises an alarm system, the liquid level sensor and the alarm system are respectively electrically connected with the control system, the liquid level sensor detects the liquid level of glue in the barrel body, when the liquid level sensor detects that the actual liquid level is lower than the preset liquid level height, the control system sends an alarm signal to the alarm system, and the alarm system sends alarm information to prompt.
7. The industrial automation control device of claim 5, wherein: the glue supply part further comprises a vacuumizing device, the vacuumizing device is electrically connected with the control system, the vacuumizing device is partially positioned outside the barrel body, and the vacuumizing device is partially positioned in the barrel body and used for vacuumizing the barrel body so as to reduce the air drying speed of glue in the barrel body.
8. The industrial automation control device of claim 1, wherein: the second visual detection system comprises a first camera and a second camera which are respectively and electrically connected with the control system, the plane where the first camera is located is perpendicular to the plane where the surface of the conveyor belt system is located and used for detecting the area of the glass substrate occupied by the glue dripped on the glass substrate, and the shooting direction of the second camera is parallel to the plane where the surface of the conveyor belt system is located and used for detecting the height of the glue dripped on the glass substrate.
9. An industrial automation control method using the industrial automation control apparatus according to any one of claims 1 to 8, characterized in that: the industrial automatic control method comprises the following steps:
step S1: detecting the position of the glass substrate positioned on the first detection station;
step S2: dripping glue on the glass substrate positioned on the glue dripping station;
step S3: detecting the height of glue on the glass substrate positioned on the second detection station and the area of the glue on the glass substrate;
step S4: and (3) carrying out secondary glue dripping on the glass substrate with the glue height of the glass substrate positioned on the second detection station and/or the area occupied by the glass substrate not conforming to the preset size.
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| CN202110044930.7A CN112894807A (en) | 2021-01-13 | 2021-01-13 | Industrial automation control device and method |
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