CN113104588B

CN113104588B - Sticky piece separating method, bale breaker and readable storage medium

Info

Publication number: CN113104588B
Application number: CN202110463038.2A
Authority: CN
Inventors: 覃林; 郑浩旋
Original assignee: HKC Co Ltd
Current assignee: HKC Co Ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2022-08-23
Anticipated expiration: 2041-04-27
Also published as: CN113104588A

Abstract

The invention discloses a sticky piece separating method, which comprises the following steps: acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing assembly by the sucker arm; carrying out sticking detection on the target material according to the weight information and/or the optical information; and if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material. The invention also discloses an unpacking machine and a readable storage medium. The adhesive sheet detection is carried out through the weight information and/or the optical information of the target material, so that the adhesive sheet detection accuracy can be improved, the adhesive sheet separation effect is improved, and the unpacking accuracy of the material is further improved.

Description

Sticky piece separating method, bale breaker and readable storage medium

Technical Field

The invention relates to the technical field of unpacking, in particular to a sticky piece separating method, an unpacking machine and a readable storage medium.

Background

The unpacking machine is a common device in the production process of materials such as liquid crystal panels, is simple and practical, but has the problem of easily unpacking and sticking sheets due to static electricity, moisture, extrusion and the like. For example, when taking a liquid crystal panel, a piece of buffer material is easily stuck up or a piece of buffer material and a piece of liquid crystal panel are stuck up; when the buffer material is taken out, the liquid crystal panel and the like are easily stuck.

In the present adhesion sheet separation scheme, it is most that the top at the sucking disc sets up the product and detects the inductor and distinguish that the material that absorbs is liquid crystal display panel or buffer material, then through install the blow gun additional in putting thing subassembly or sucking disc outside, destatic device or use the sucking disc that has the shake function etc. make the sucking disc when getting a piece from putting thing subassembly and rise, the glass that glues up can drop in the low place. In this kind of scheme, whether there is the bonding die because can't know the material below that the sucking disc absorbs, lead to the bonding die separation effect not good easily for there are the circumstances such as piece to fall in the bale breaking process and take place.

Disclosure of Invention

The invention mainly aims to provide a sticky piece separating method, a unpacking machine and a readable storage medium, and aims to solve the problems that in the prior art, whether sticky pieces exist below a material sucked by a sucking disc or not cannot be known, so that the sticky piece separating effect is poor, and the situation of piece dropping and the like exist in the unpacking process is easy to happen.

In order to achieve the purpose, the invention provides a sticky piece separating method which is applied to a bale breaker, wherein a sucker arm and a clamping mechanism of the bale breaker are arranged on the bale breaker, a gravity detection device is arranged on the sucker arm, an optical detection device is arranged on the clamping mechanism, and the clamping mechanism clamps a storage component, and the method comprises the following steps:

acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing assembly by the sucker arm;

carrying out sticking detection on the target material according to the weight information and/or the optical information;

and if the bonding detection result shows that the target material has bonding, performing separation operation on the target material to separate the bonding from the target material.

Optionally, the placement assembly is loaded with a liquid crystal panel and a cushioning material, and the liquid crystal panel and the cushioning material are cross-stacked in the placement assembly, and the step of inspecting the target material for sticking according to the weight information and/or the optical information includes:

determining the type of material that the sucker arm needs to suck up from the storage component at present;

if the material type is a liquid crystal panel, carrying out adhesive sheet detection on the target material according to the optical information when the target material is determined to be in a first weight range according to the weight information; and determining that the target material has a sticky piece as a result of the sticky piece detection when it is determined that the target material exceeds a first weight range according to the weight information;

and if the material type is a buffer material, carrying out bonding detection on the target material according to the weight information.

Optionally, when it is determined that the target material is within the first weight range according to the weight information, the step of performing sticky sheet detection on the target material according to the optical information includes:

determining a material type of the target material according to the optical information when it is determined that the target material is within a first weight range according to the weight information;

if the material type of the target material is not matched with the material type of the liquid crystal panel, determining that the sticking detection result is that the target material has sticking;

and if the material type of the target material is matched with the material type of the liquid crystal panel, determining that the sticking detection result is that the target material does not have sticking.

Optionally, if the unpacking material is a buffer material, the step of performing the sticky sheet detection on the target material according to the weight information includes:

if the material type is a buffer material, determining that the adhesive sheet detection result is that the adhesive sheet does not exist in the target material when the weight of the target material is within a second weight range;

and when the weight of the target material exceeds a second weight range, determining that the adhesive sheet detection result is that the adhesive sheet exists in the target material.

Optionally, after the step of performing the separation operation on the target material, the method further comprises:

acquiring current weight information and optical information of the target material;

and if the target material is determined to have the sticky sheet according to the current weight information and the optical information of the target material, returning to the step of executing the separation operation on the target material so as to separate the sticky sheet from the target material.

acquiring the execution times of the separation operation;

and when the execution times reach the preset times, if the target material is determined to have the sticking according to the current weight information and the optical information of the target material, outputting sticking prompt information.

Optionally, before the step of obtaining the weight information and the optical information of the target material, the method further includes:

and controlling the sucker arm to suck the target material at the pick-up height, and lifting the target material from the pick-up height to the target position after sucking up the target material so as to acquire the weight information and the optical information of the target material at the target position and perform separation operation on the target material at the target position.

In addition, in order to achieve the above object, the present invention further provides a bale breaker, where the bale breaker includes a memory, a processor, and a sticky piece separating program stored on the processor and operable on the processor, and the processor implements the steps of the sticky piece separating method as described above when executing the sticky piece separating program.

Further, in order to achieve the above object, the present invention also provides a readable storage medium having stored thereon a sticker separation program, which when executed by a processor, implements the steps of the sticker separation method as described above.

In the embodiment of the invention, by acquiring the weight information of the target material detected by the gravity detection device and the optical information of the target material detected by the optical detection device, on one hand, the sticky piece detection is carried out on the target material according to the weight information and/or the optical information, so that the sticky piece detection effect can be improved, on the other hand, when the sticky piece detection result is that the sticky piece exists in the target material, the separation operation is carried out on the target material, so that the sticky piece is effectively separated from the target material, the sticky piece separation effect can be improved, and further, the unpacking accuracy can be improved by improving the sticky piece detection effect and the sticky piece separation effect, so that the influence on the production cost and the production efficiency caused by the condition of piece dropping in the unpacking process can be avoided.

Drawings

FIG. 1 is a schematic diagram of an unpacking machine of a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of the method for separating a sticky sheet according to the present invention;

FIG. 3 is a schematic structural diagram of a bale breaker according to an embodiment of the invention;

FIG. 4 is a schematic structural diagram of a bale breaker according to another embodiment of the present invention;

FIG. 5 is a schematic flow chart of a second embodiment of the separation method of adhesive sheets according to the present invention;

FIG. 6 is a schematic view of a stacking manner of a liquid crystal panel and a buffer material in a storage assembly according to an embodiment of the present invention;

fig. 7 is a schematic flow chart of a third embodiment of the sticky sheet separation method of the invention.

The functional implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The main solution of the invention is: acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing assembly by the sucker arm; carrying out sticking detection on the target material according to the weight information and/or the optical information; and if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material.

The present bonding die separation scheme can't carry out bonding die discernment to the material below that the sucking disc absorbed, so, because of can't effectual bonding die discernment, can lead to bonding die separation effect not good for there is the condition such as piece or fragment to take place among the bale breaking process. Therefore, the invention provides a sticky sheet separation method, a unpacking machine and a readable storage medium, wherein weight information and optical information of a target material are obtained, then sticky sheet detection is carried out on the target material according to the weight information and/or the optical information, and when the sticky sheet detection result shows that the target material has sticky sheets, separation operation is carried out on the target material to separate the sticky sheets from the target material, so that the sticky sheet detection effect can be improved through the weight information and/or the optical information of the target material, further, under the condition of ensuring the sticky sheet detection accuracy, the separation operation can be carried out on the target material in a targeted manner to separate the sticky sheets from the target material, so that the sticky sheet separation effect can be improved, thus, the situations of sheet dropping or sheet breaking and the like in the unpacking process caused by the poor sticky sheet separation effect can be avoided, thereby improving the unpacking effect.

Referring to fig. 1, fig. 1 is a schematic diagram of an unpacking machine of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the unpacking machine may include: a communication bus 1002, a processor 1001, such as a CPU, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.

Those skilled in the art will appreciate that the unpacker configuration shown in FIG. 1 does not constitute a limitation of the unpacker, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

In the unpacking machine shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the sticky piece separating program stored in the memory 1005 and perform the following operations:

and if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material.

In one embodiment, the placement module is loaded with a liquid crystal panel and a cushioning material, and the liquid crystal panel and the cushioning material are stacked in the placement module in a crossed manner, and the step of detecting the sticking of the target material according to the weight information and/or the optical information, the processor 1001 may call a sticking separation program stored in the memory 1005, and further perform the following operations:

In one embodiment, the processor 1001 may call a sticky sheet separation program stored in the memory 1005 and further perform the following operations when it is determined that the target material is within the first weight range according to the weight information and the step of performing sticky sheet detection on the target material according to the optical information:

In an embodiment, if the material type is a buffer material, the step of performing die attach detection on the target material according to the weight information includes that the processor 1001 calls a die attach separation program stored in the memory 1005, and performs the following operations:

and when the weight of the target material exceeds a second weight range, determining that the sticking detection result is that the sticking exists in the target material.

In one embodiment, after the step of performing the separating operation on the target material, the processor 1001 may call a sticky piece separating program stored in the memory 1005, and further perform the following operations:

acquiring the execution times of the separation operation;

In one embodiment, before the step of obtaining the weight information and the optical information of the target material, the processor 1001 may call a sticker separation program stored in the memory 1005, and further perform the following operations:

and controlling the sucker arm to suck the target material at the pick-up height, and lifting the target material from the pick-up height to the target position after sucking up the target material so as to acquire weight information and optical information of the target material at the target position and perform separation operation on the target material at the target position.

In one embodiment, after the step of performing the separating operation on the target material to separate the sticky sheet from the target material, the processor 1001 may call a sticky sheet separating program stored in the memory 1005, and further perform the following operations:

and controlling the sucker arm to ascend to a transverse moving height from the target position, and executing transverse moving operation so as to move the target material separated from the adhesive sheet to a corresponding position to execute the next process.

Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a sticky sheet separation method of the present invention, in this embodiment, the sticky sheet separation method includes the following steps:

step S10: acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing component by the sucker arm;

in the unpacking and unpacking process of glass or ceramic production materials, buffering materials are usually required to be placed between the production materials so as to avoid the occurrence of the conditions of fragment and the like. However, in the unpacking process, the adhesion between the production material such as glass or ceramic and the cushioning material may occur due to static electricity, moisture, or pressing. The existing sticky piece separation scheme can not effectively detect sticky pieces so as to realize effective separation of the sticky pieces from production materials and avoid the situations of piece falling or piece breaking in the unpacking process. Thus, not only the production process of the production material is affected, but also the production cost is lost. Therefore, in order to avoid the sheet dropping in the unpacking process, the embodiment provides a method for separating the sticky sheets, which is applied to the unpacking machine, so that the sticky sheet condition in the unpacking process is effectively detected through the unpacking machine, and the sticky sheets are timely and effectively separated from the production materials when the sticky sheets are detected.

Specifically, as shown in fig. 3, the unpacking machine may include: the gravity detection device comprises a clamping mechanism and at least one sucker arm, wherein each sucker arm is provided with a gravity detection device 10, the clamping mechanism is provided with an optical detection device 20, and the clamping mechanism clamps an object placing assembly. The object placing assembly is used for placing materials needing unpacking or repacking, and can comprise production materials such as a liquid crystal panel and buffer materials for preventing the production materials from being damaged; the sucking disc arm can suck the materials needing unpacking from the object placing assembly through transverse movement (left-right movement) and longitudinal movement (up-down movement) and transfer the materials to the next procedure, and can also transfer the materials needing unpacking to the object placing assembly; the gravity detection device 10 arranged on the sucker arm can be a detection device such as a gravity sensor and the like, and can be used for detecting the weight information of the material sucked by the sucker arm, and determining whether the material sucked by the sucker arm is the material actually sucked by the sucker arm currently in a certain range according to the weight information because the weight information of different types of materials is different; the optical detection device 20 disposed on the clamping mechanism may be an optical sensor, and specifically may be a reflective optical sensor, because the optical characteristics of different types of materials are different, the optical detection device 20 can detect the optical information (e.g., the degree of reflection, the degree of transmittance, etc.) of the bottom of the material absorbed by the suction cup arm, and then determine whether the material absorbed by the suction cup arm is the material that the suction cup arm actually needs to absorb at present according to the optical information. The unpacking refers to a treatment process of sucking up the materials to be unpacked one by one from the article placing assembly and then putting the materials on the transmission roller to be transmitted to the next station; the bag returning is a processing process of putting the produced materials into the object placing assembly one by one and sending the materials to the next work station or delivering the materials to a customer.

Therefore, in order to improve the accuracy of the sticky sheet recognition, in the embodiment, after the sucker arm is controlled to move to the position right above the placement module, the sucker arm is controlled to descend from the transverse moving height to the material taking port (the sheet taking height) of the placement module so as to suck the target material from the placement module. After the suction cup arm is controlled to rise from the sheet taking height to a preset detection height (target position) and stabilize after detecting that the suction cup arm sucks the target material, the weight information of the target material is detected through the gravity detection device 10 arranged on the suction cup arm, and the optical information of the target material is detected through the optical detection device 20 arranged on the clamping mechanism. That is, the traversing height is larger than the target position, and the target position is larger than the film taking height; the target material refers to the material that the suction cup arm is currently actually sucking up from the storage assembly, and the sucked up material may be one piece or multiple pieces, and when the sucked up material includes multiple pieces, that is, the sucked up target material has sticky pieces. For example, when the object placing assembly is placed with the liquid crystal panel and the buffer material, adhesion is formed between the liquid crystal panel and the buffer material due to adsorption, and when the liquid crystal panel is sucked, the sucked target material may include the liquid crystal panel and the buffer material at the same time, and at this time, the buffer material is a sticky sheet of the target material; when the buffer material is sucked, the sucked target material may include both the buffer material and the liquid crystal panel, and in this case, the liquid crystal panel is an adhesive sheet in which the target material exists. In addition, the optical information of the target material may include optical parameters such as a light reflectance and a light transmittance of the target material, which can distinguish the material of the target material.

Step S20: carrying out sticking detection on the target material according to the weight information and/or the optical information;

when the sticky piece exists in the target material, the target material can comprise the unpacking material (the material which should be sucked up by the sucker arm) which needs to be unpacked actually at present and the sticky piece which forms adhesion with the unpacking material. After the weight information and the optical information of the target material are obtained, under different application scenes, different sticky sheet detection modes can be adopted to carry out sticky sheet detection on the target material, so that the sticky sheet detection efficiency can be improved while the sticky sheet detection effect is improved.

In some application scenarios, the target material can be subjected to the bonding detection according to the weight information of the target material. For example, the weight of the sticky piece and the unpacking material can be estimated in advance according to the material placed in the placement component, when the weight of the sticky piece is obviously increased relative to the unpacking material, if the weight of the material placed in the placement component is heavier, so that the sticky piece can be obviously distinguished during sticking, the sticky piece detection can be directly carried out on the target material according to the weight information of the target material. Thus, within a certain error range, if the weight of the target material is greater than that of the unpacking material, it can be determined that the target material has the sticky piece, otherwise, the target material does not have the sticky piece.

In other application scenarios, the target material can be subjected to sticking detection according to the optical information of the target material. For example, the optical characteristics of the object placing assembly can be analyzed in advance according to the materials placed in the object placing assembly, and when the target materials can be only adhered with one adhesive sheet and are obviously different from the materials of the unpacking materials, the target materials can be directly subjected to adhesive sheet detection according to the optical information of the target materials. In this way, when the optical characteristics of the target material are consistent with the optical characteristics of the unpacking material, it is determined that the target material does not have the sticky piece, and when the optical characteristics of the target material are not consistent with the optical characteristics of the unpacking material, it is determined that the target material has the sticky piece.

In other application scenes, the target material can be subjected to sticking detection according to the weight information and the optical information of the target material. For example, the weight information and optical information of the target material may be combined to perform the sticky detection of the target material when the target material may stick multiple sticky pieces and/or the sticky pieces must significantly increase relative to the weight of the unpacking material. For example, when the weight of the target material is larger than the weight of the unpacking material, or the weight of the target material is smaller than or equal to the weight of the unpacking material and the optical property of the target material is inconsistent with the optical property of the unpacking material, determining that the target material has the sticky piece; otherwise, when the weight of the target material is less than or equal to the weight of the unpacking material and the optical characteristics of the target material are consistent with the optical characteristics of the unpacking material, determining that the target material is not provided with the sticky pieces. In addition, when the target material is subjected to the sticking detection by combining the weight information and the optical information of the target material, the execution sequence of the detection based on the weight information and the detection based on the optical information is not limited, and the detection may be executed simultaneously or sequentially according to a preset sequence.

Step S30: and if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material.

It should be noted that, the specific operation performed on the target material may be: performing a blowing operation on the target material to separate the adhesive sheet from the target material; or controlling the sucking disc arm to shake up and down so as to separate the adhesive sheet from the target material through shaking operation; it is also possible to control the single suction nozzle to move up and down to separate the adhesive sheet from the target material by the moving operation, etc., and this is not particularly limited herein.

In one embodiment, as shown in fig. 4, a pickup detecting device 40 is further disposed on the suction cup arm, before the weight information and the optical information are obtained, the pickup detecting device 40 can detect whether the suction cup arm sucks up the target material from the object placing assembly, and further, after the pickup detecting device 40 detects that the suction cup arm sucks up the target material from the object placing assembly, the weight information and the optical information of the target material can be obtained at the detection point height in time. In addition, the clamping mechanism of the bale breaking machine is also provided with an air blowing device 30, when the sticky sheet detection result shows that the sticky sheet exists in the target material, air blowing operation is performed on the target material at the air blowing point height, so that the sticky sheet in the target material is separated from the target material, and only the bale breaking material which is actually sucked by the current sucker arm is left. Here, the height of the detection point and the height of the blowing point may be the same, for example, both of the detection point and the blowing point are the target positions above the placement module corresponding to the blowing device 30, so as to ensure that the gas blown by the blowing device 30 can effectively act on the target material to separate the adhesive sheets. Therefore, when the target material is determined to have the sticky pieces, the blowing operation can be directly executed at the target position without lowering the height, so that the sticky piece separation time can be reduced, and the unpacking efficiency is improved; the height of the detection point and the height of the blowing point can be different, for example, the height of the blowing point is slightly lower than that of the detection point, when the detection operation is carried out at the height of the detection point to determine that the target material has the adhesive sheet, the blowing operation is carried out from the height of the detection point to the height of the blowing point, so that the blowing operation is carried out at a lower position to avoid the occurrence of the sheet breaking condition to the maximum extent, and further the unpacking effectiveness is improved. In this embodiment, the height of the detection point and the height of the air blowing point are preferably set to be the target positions above the placement assembly corresponding to the air blowing device 30.

After the adhesive sheet is completely separated from the target material at the target position, the target material (the unpacking material which is actually unpacked) separated from the adhesive sheet is transferred to a corresponding process position to ensure the orderly operation of the production process, and meanwhile, the condition that the sheet falls off in the process of transverse moving operation executed by the suction cup arm when the adhesive sheet is not completely separated is avoided, the production cost is wasted, and the production efficiency is influenced. In this way, when the target material is not provided with the adhesive sheet as a result of the adhesive sheet detection, the suction cup arm is controlled to ascend from the target position to the transverse moving height, and then the transverse moving operation is executed, so that the target material separated from the adhesive sheet is transferred to the corresponding position to execute the next process.

This embodiment is through the weight information and the optical information who acquire the target material, and according to weight information and/or optical information carries out the bonding die to the target material and detects, can improve the accuracy that the bonding die detected, and then when the result that the bonding die detected exists the bonding die for the target material, in time carries out the separation operation to the target material, makes the bonding die effectively separate from the target material, can avoid the removal in-process of target material to lead to the piece because of the unable effective separation of bonding die, and then produces the influence to production process and manufacturing cost. That is, the adhesive sheet detection can be effectively carried out on the target material through the weight information and the optical information, so that the accuracy of adhesive sheet separation is improved, and the unpacking accuracy is also improved.

A second embodiment of the adhesive sheet separation method of the present invention is proposed based on the above-described embodiment. Referring to fig. 5, in this embodiment, the method for separating the sticky sheet includes the following steps:

step S11: acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing assembly by the sucker arm;

step S12: determining the type of material that the suction cup arm currently needs to suck up from the storage assembly;

step S13: if the material type is a liquid crystal panel, carrying out bonding detection on the target material according to the optical information when the target material is determined to be in a first weight range according to the weight information; and determining that the target material has a sticky piece as a result of the sticky piece detection when it is determined that the target material exceeds a first weight range according to the weight information;

step S14: if the material type is a buffer material, carrying out bonding detection on the target material according to the weight information;

step S15: and if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material.

In this embodiment, as shown in fig. 6, the unpacking materials loaded in the placement module include a liquid crystal panel 12 and a buffer material 11, and the liquid crystal panel 12 and the buffer material 11 are stacked in the placement module in a crossed manner, that is, stacked in a manner of one liquid crystal panel 12 and one buffer material 11. The bottom layer is preferably a cushioning material 11 in view of preventing chipping. Therefore, in order to improve the efficiency and accuracy of the sticky sheet identification, different modes can be adopted for detecting the sticky sheets for different types of unpacking materials. Therefore, before the sticking detection is performed each time, whether the type of the material which needs to be sucked up from the object placing assembly by the sucker arm is the liquid crystal panel 12 or the buffer material 11 needs to be determined first, and then the sticking detection is performed on the target material by adopting different detection modes aiming at the liquid crystal panel 12 and the buffer material 11.

Specifically, since the buffer material 11 is made of a soft foam material and has a weight difference of about 5 to 10 times with the liquid crystal panel 12, the gravity detection device 10 can distinguish the weight difference between one liquid crystal panel 12 and two liquid crystal panels 12 and also distinguish the weight difference between one liquid crystal panel 12 and one buffer material 11. When the type of the material that the arm of the sucking disc needs to suck from the storage assembly at present is the buffer material 11, the adhesive sheet of the buffer material 11 that may be adhered may be a liquid crystal panel 12, a buffer material 11, and the like in the order of adhesion, and at this time, whether the target material has the adhesive sheet can be quickly determined according to the weight information of the target material. For example, assuming that the weight of one liquid crystal panel 12 is about 1000 g and the weight of one piece of cushioning material 11 is about 100g, when the suction cup arm needs to suck up the material type from the storage component at present, the weight information detected by the gravity detection device 10 should be 100g, at this time, if the cushioning material sticks up one piece of liquid crystal panel 12, the weight information actually detected by the gravity detection device 10 is 1100 g, at this time, 1100 g is significantly greater than 100g, the target material includes the liquid crystal panel 12 on the bottom layer in addition to the cushioning material 11 on the top layer, which indicates that the target has a sticky piece, and the sticky piece is the liquid crystal panel 12. That is, as long as the weight of the target material is significantly greater than the weight of a piece of cushioning material 11, it can be determined that the target material is sticky. And whether the adhesive sheet to be adhered is a piece of liquid crystal panel 12, or a piece of liquid crystal panel 12 and a piece of cushioning material 11 can be determined according to the weight difference between the target material and the cushioning material 11.

In order to avoid that the separation operation is performed by mistakenly considering that the cushion material 11 has the sticky piece when the weight of the mistaken cushion material 11 has an error in consideration of the error and the like, and the production efficiency is reduced, in one embodiment, when the weight of the target material is within the second weight range, the result of the sticky piece detection is considered that the sticky piece does not exist in the target material, and when the weight of the target material exceeds the second weight range, the result of the sticky piece detection is considered that the sticky piece exists in the target material. Wherein the second weight range is set according to the average weight of the cushioning material 11 and the detection error during the actual measurement. For example, when the average weight of the cushioning material 11 is 100g, the second weight range may be set to 90g to 110g, when the weight of the target material is 90g to 110g, it is determined that no sticky piece exists in the target material, when the weight of the target material is greater than 110g, it is determined that a sticky piece exists in the target material, and when the weight of the target material is less than 90g, it may be caused by that the material is not sucked from the placement member and the pickup detecting device 40 fails to detect, or the sucked cushioning material 11 and the suction arm are not sucked tightly.

When the material type that the sucking disc arm needs to be taken up from putting the thing subassembly at present is LCD panel 12, because the weight difference of LCD panel 12 and buffer material 11 is obvious, when LCD panel 12 adhesion buffer material 11, the weight that the target material compares with LCD panel 12 increase is very little compared with the weight of LCD panel 12, and at this moment, can not accurately detect through weight whether there is the adhesion LCD panel 12. When the liquid crystal panel 12 is adhered to the buffer material 11 and the buffer material 11 is adhered to another liquid crystal panel 12, the weight of the target material is obviously increased compared with that of the liquid crystal panel 12, and at this time, the weight information of the target material is only compared with the preset weight information of the liquid crystal panel 12, and when the weight information of the target material is larger than the preset weight information of the liquid crystal panel 12 within a certain range, it can be determined that the target material is adhered. For example, if the weight of the target material is increased by 1100 g relative to the preset weight of the liquid crystal panel 12, it indicates that the liquid crystal panel 12 adheres to one piece of the buffer material 11 and one piece of the liquid crystal panel 12, that is, the target material has an adhesive sheet; if the weight of the target material is increased by 100g relative to the predetermined weight of the liquid crystal panel 12, it is impossible to determine whether the liquid crystal panel 12 is stuck with the buffer material 11 or whether the weight of the liquid crystal panel 12 is deviated due to an error or the like. At this time, it is necessary to further confirm the presence or absence of the adhesive sheet on the liquid crystal panel 12 in accordance with the optical information of the target material.

Also, in view of the error, etc., it is avoided that the separation operation is performed by mistakenly considering that the liquid crystal panel 12 is stuck when the weight of the liquid crystal panel 12 has an error, and the production efficiency is lowered, in one embodiment, when it is determined that the weight of the target material exceeds the first weight range based on the weight information of the target material, the result of the sticking detection of the target material may be directly determined as that the sticking of the target material exists, and when it is determined that the target material is within the first weight range based on the weight information of the target material, it is necessary to further perform the sticking detection of the target material based on the optical information of the target material. The first weight range may be set according to the average weight of the liquid crystal panel 12 in the actual measurement process and detection errors in different application environments. For example, when the average weight of the liquid crystal panel 12 is 1000 g, the first weight range may be set to 900 g to 1200 g. When the weight of the target material is 900 g to 1200 g, further confirmation needs to be performed by combining the optical information of the target material, at this time, a piece of buffer material 11 may be adhered to the liquid crystal panel 12, and at this time, whether the liquid crystal panel 12 is adhered to the buffer material 11 can be distinguished by determining the bottom material of the target material through the optical information; when the weight of the target material exceeds 1200 g, the target material is considered to have the sticky piece; when the weight of the target material is less than 900 g, the liquid crystal panel 12 may not be sucked up from the placement component, the article-taking detection device 40 has a missing detection, or the sucked-up liquid crystal panel 12 and the suction cup arm are not tightly adsorbed, or the last adhesive sheet detection has a missing detection or the last adhesive sheet separation has not been successfully separated, so that the sucked-up material is the buffer material 11.

Specifically, if the weight information of the target material is within the first weight range, the liquid crystal panel 12 and the buffer material 11 have different optical information, for example, the liquid crystal panel 12 is made of glass, and has high light reflectivity; most of the buffer material 11 is made of foam or soft plastic, and has a rough surface and low light reflection. When the light beam (e.g., infrared light beam) emitted by the optical detection device irradiates the lower part of the material sucked up by the sucker, a part of reflected light beam is received, and the strength of the reflected light beam can be used to judge whether the bottom material of the target material is the glass material corresponding to the liquid crystal panel 12 or the foam or soft plastic material corresponding to the buffer material 11, so as to determine whether the bottom material of the target material is the liquid crystal panel 12 or the buffer material 11. That is, when the weight of the target material is within the first weight range, it may be determined whether the bottom material of the target material is a glass material or a foam material according to the optical information of the target material, and then when the bottom material of the target material is not matched with the material of the liquid crystal panel 12, it may be determined that the buffer material 11 is adhered to the bottom of the liquid crystal panel 12, and when the bottom material of the target material is determined to be matched with the bottom material of the liquid crystal panel 12 according to the optical information of the target material, it may be determined that the liquid crystal panel 12 has only a weight error and does not have a sticky sheet.

When unpacking liquid crystal display panel 12 and buffer material 11, the embodiment can adopt different sticky sheet detection modes to detect the sticky sheet of the target material according to different conditions, so that the effectiveness of sticky sheet detection can be improved, the sticky sheet detection efficiency can be improved in a targeted manner, the unpacking efficiency and the unpacking effect are improved, and the production efficiency and the benefit are improved.

Referring to fig. 7, fig. 7 is a flowchart of a third embodiment of the sticky sheet separation method of the present invention, in this embodiment, the sticky sheet separation method includes the following steps:

step S21: acquiring weight information and optical information of a target material, wherein the weight information is detected by the gravity detection device, the optical information is detected by the optical detection device, and the target material is a material to be unpacked, which is sucked up from the object placing assembly by the sucker arm;

step S22: carrying out sticking detection on the target material according to the weight information and/or the optical information;

step S23: if the bonding detection result shows that the target material has the bonding, performing separation operation on the target material;

step S24: acquiring current weight information and optical information of the target material;

step S25: and if the target material is determined to have the sticky piece according to the current weight information and the optical information of the target material, returning to the step of executing the separation operation on the target material so as to separate the sticky piece from the target material.

The separation operation is usually time-controlled, and for light adhesive sheets only time-controlled may enable the adhesive sheet to be separated from the target material, but in severe cases the adhesive sheet cannot ensure that the adhesive sheet can be successfully separated from the target material. Thus, in the present embodiment, after it is determined that the adhesive sheet is present in the target material and the separation operation is performed on the target material, it is further determined whether the adhesive sheet is successfully separated from the target material based on the weight information of the target material after the separation operation is performed and the optical information (i.e., the current weight information and optical information of the target material). That is, after each separation operation is performed, whether the sticky piece still exists in the current target material is determined according to the current weight information and the optical information of the target material, and the manner of determining whether the sticky piece exists in the target material is the same as that in the above embodiment, and details are not repeated here. If the current target material still has the sticky sheet, the separation of the sticky sheet from the target material fails, and the separation operation of the target material is needed to be continuously executed so that the sticky sheet is successfully separated from the target material; if the current target material does not have the sticky piece, the sticky piece is successfully separated from the target material, and at the moment, the sucker arm can be controlled to move the target material to the position corresponding to the target material to execute the next process. For example, two sides of the placement component are respectively provided with a buffer component and a conveying component, the buffer component is used for placing the buffer material 11 without adhesive sheets, and the conveying component is used for conveying the liquid crystal panel 12 placed by the suction cup arm to the next process.

In order to improve the adhesive sheet separation efficiency while improving the adhesive sheet separation accuracy, after each separation operation is performed, the separation times corresponding to the separation operation can be recorded, and each separation operation performed is recorded as one adhesive sheet separation. If the counted separation times reach the preset times and the sticky pieces are not successfully separated from the target material, the unpacking machine outputs sticky piece prompt information to prompt a worker to confirm and perform corresponding sticky piece separation treatment and the like.

Whether the sticky sheet is successfully separated from the target material or not is determined through the current weight information and the optical information of the target material, so that when the sticky sheet is failed to be separated, the step of executing the separation operation on the target material can be timely returned until the sticky sheet is successfully separated from the target material, and the situation that the sticky sheet cannot be successfully separated from the target material is avoided, economic loss is easily caused due to breakage of the sticky sheet due to sheet falling in the transferring process of the target material, the sticky sheet separation effect is improved, and the bag knowing effect is further improved.

In addition, an embodiment of the present invention further provides a bale breaker, where the bale breaker includes a memory, a processor, and a sticky piece separating program stored on the processor and operable on the processor, and the steps of the sticky piece separating method are implemented when the processor executes the sticky piece separating program.

In addition, an embodiment of the present invention further provides a readable storage medium, where the readable storage medium stores a sticky sheet separation program, and the sticky sheet separation program, when executed by a processor, implements the steps of the sticky sheet separation method described above.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a television, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The sticky piece separation method is applied to a bale breaker, the bale breaker comprises a sucker arm and a clamping mechanism, a gravity detection device is arranged on the sucker arm, an optical detection device is arranged on the clamping mechanism, the clamping mechanism clamps an object placing assembly, and the sticky piece separation method comprises the following steps:

carrying out sticking detection on the target material according to the weight information and the optical information;

if the bonding sheet detection result shows that the target material has the bonding sheet, performing separation operation on the target material to separate the bonding sheet from the target material;

the object placing assembly is loaded with a liquid crystal panel and a buffer material, the liquid crystal panel and the buffer material are stacked in the object placing assembly in a crossed mode, and the step of carrying out the sticky piece detection on the target material according to the weight information and the optical information comprises the following steps:

determining the type of material that the suction cup arm currently needs to suck up from the storage assembly;

if the material type is a liquid crystal panel, carrying out bonding detection on the target material according to the optical information when the target material is determined to be in a first weight range according to the weight information; when the target material is determined to exceed a first weight range according to the weight information, determining that the target material has a sticky piece as a result of the sticky piece detection;

when it is determined from the weight information that the target material is within a first weight range, the step of performing die attach detection on the target material according to the optical information includes:

determining a material type of the target material according to the optical information when the target material is determined to be within a first weight range according to the weight information;

and if the material type of the target material is matched with that of the liquid crystal panel, determining that the sticking detection result is that the target material does not have sticking.

2. The method of claim 1, wherein the step of performing die attach test on the target material based on the weight information and the optical information further comprises:

3. The sticker separation method of claim 2, wherein if the material type is a cushioning material, the step of performing sticker detection on the target material according to the weight information includes:

4. The method for separating a sticky sheet according to claim 1, wherein the step of performing a separating operation on the target material is followed by:

and if the target material is determined to have the sticky piece according to the current weight information and the optical information of the target material, returning to the step of executing the separation operation on the target material so as to separate the sticky piece from the target material.

5. The method for separating a sticky sheet according to claim 4, wherein the step of performing a separating operation on the target material is followed by:

acquiring the execution times of the separation operation;

6. The method for separating a bonding sheet according to any one of claims 1 to 5, wherein the step of obtaining the weight information and the optical information of the target material is preceded by the step of:

7. The adhesive sheet separation method according to claim 6, wherein after the step of performing a separation operation on the target material to separate the adhesive sheet from the target material, further comprising:

8. An unpacking machine, characterized in that the unpacking machine comprises a memory, a processor and a sticky piece separating program stored on the memory and operable on the processor, and the processor executes the sticky piece separating program to realize the steps of the sticky piece separating method according to any one of claims 1-7.

9. A readable storage medium having a sticker separation program stored thereon, the sticker separation program when executed by a processor implementing the steps of the sticker separation method according to any one of claims 1-7.