CN110361170A - A kind of pair of liquid crystal display generates the program control device and its control method of designated position shape winding degree - Google Patents
A kind of pair of liquid crystal display generates the program control device and its control method of designated position shape winding degree Download PDFInfo
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- CN110361170A CN110361170A CN201910545689.9A CN201910545689A CN110361170A CN 110361170 A CN110361170 A CN 110361170A CN 201910545689 A CN201910545689 A CN 201910545689A CN 110361170 A CN110361170 A CN 110361170A
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/08—Testing mechanical properties
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Abstract
A kind of pair of liquid crystal display generates the program control device and its control method of designated position shape winding degree, including controller, locating platform, bending robot, Bending Mould and Bending Mould positioning device platform, controller according to configuration bending robot and Bending Mould positioning device platform spatial position, issue control signal, control bending robot motion, the crawl of bending robot and clamping liquid crystal display sample to be tested and Bending Mould, and object will be grabbed according to control signal and be configured to designated position progress flexing movement.The present invention can be used for studying the performance evaluation of AMOLED sample, propose a kind of movement that can repeat to generate designated position, shape, winding degree, speed in a wide range of automatically, for automatic detection and analysis to the smart machine of whole AMOLED aging effects parameter, the time of test is saved, the movement of accurate same position, same shape, identical curvature, identical speed can be repeated to generate, statistically required to realize.
Description
Technical field
The invention belongs to technical field of automation equipment, it is related to researching and analysing equipment in liquid crystal display production, for studying
Each structure-layer parameter of polaroid used in active matrix organic light-emitting second level Display panel screen (AMOLED) produces as needed
Raw different location, different shape, different size of winding degree are the program-controlled dress that a kind of pair of liquid crystal display generates designated position shape winding degree
It sets and its control method.
Background technique
Active matrix organic light-emitting second level Display panel screen (AMOLED) is mainly characterized by being to fold, this feature
So that one of the mainstream of this present luminescent screen of screen, the research about its winding degree performance be its important research hotspot content it
One.
When studying its winding degree performance, the folding repeatedly in different location, generation different shape, different curvatures is needed
It is folded, the performance of each structure-layer parameter of its polaroid is then analyzed, this work is presently mainly that analysis personnel manually complete.
This mode is first is that dull repetition, manual operation fatiguability, second is that manual hand manipulation can not repeat to generate accurate identical bits
It sets, the movement of same shape, identical curvature, and then meets statistical requirement.
Chinese patent application CN108666355A " display methods of AMOLED mould group and its bending state " propose about
The bending technology of AMOLED, but the program is by setting a judgment basis, for determining the current bending-like of liquid crystal display
State, without providing how to generate different location, different shape, the scheme of different size of winding degree.
For this problem, proposing for present invention novelty is a kind of whole for detecting AMOLED based on robot technology
The program-controlled winding degree device of quality, it generates research and different positions needed for testing staff by the cooperating of multiple mechanical arms
Set, generate different shape, different curvature it is folding, further analyze and research for AMOLED.
Summary of the invention
The problem to be solved in the present invention is that the prior art relies on manual operation to the bending analysis of liquid crystal display, needs one kind
Automatic testing equipment is automatically performed bending test duplicate to liquid crystal display, various.
The technical solution of the present invention is as follows: a kind of pair of liquid crystal display generates the program control device of designated position shape winding degree, including control
Device, locating platform, bending robot, Bending Mould and Bending Mould positioning device platform processed, locating platform are the program control device
Operating platform, bending robot and Bending Mould positioning device platform be arranged on locating platform, and bending robot includes 2 machines
Device people's mechanical arm, robot arm are equipped with air pump, and for providing the clamping power of mechanical arm clamp hand, controller is used for air pump
According to configuration bending robot and Bending Mould positioning device platform spatial position, issue control signal, control bending machine
Human action, bending robot will be grabbed for grabbing and clamping liquid crystal display sample to be tested and Bending Mould, and according to control signal
Object is configured to designated position.
Further, liquid crystal display sample to be tested material preparing table and mold material preparing table are additionally provided on locating platform, liquid crystal display is to be measured
Sample material preparing table is for placing liquid crystal display sample to be tested, and mold material preparing table is for placing Bending Mould.
Further, pressing platform is additionally provided on locating platform, it is multiple for flattening the liquid crystal display sample to be tested after bending
It is former.
Further, the process control device is additionally provided with danger button, for directly cutting off program control device power supply, controller
It is connected with acousto-optic hint unit, for prompting the current operation of program control device.
Further, the clamping face of robot arm clamp hand is equipped with pressure sensor, to be measured for detecting liquid crystal display
Pressure between sample and clamping face.
The invention also provides the control method of the above-mentioned program control device that shape winding degree in designated position is generated to liquid crystal display, packets
Include following steps:
1) position for confirming bending robot, Bending Mould and Bending Mould positioning device platform, establishes bending operation space
Coordinate system;
2) motion profile of bending robot is set, is converted to the dynamic of bending robot according to bending operation space coordinates
Make control signal, controller sending action controls signal, and control bending robot is acted;
3) above bending robotic gripper liquid crystal display sample to be tested to Bending Mould, cooperation Bending Mould completes specific bit
It sets, the movement of shape, winding degree, specified position is the position that liquid crystal display sample to be tested is directed at Bending Mould, and specified shape is come
Derived from the shape of Bending Mould, when bending robot down moves liquid crystal display sample to be tested, below liquid crystal display sample to be tested
When Bending Mould is motionless or up moves, the shape of specified flexing movement and bending is generated, the angle of test action, i.e.,
Winding degree derives from the associated movement of bending robot and Bending Mould.
Further, the position that liquid crystal display sample to be tested material preparing table and mold material preparing table are further acknowledged in step 1), in step
It is rapid 3) in, bending robot grabs Bending Mould from mold material preparing table first, setting to Bending Mould positioning device platform it is specified
On position, then from liquid crystal display sample to be tested material preparing table crawl liquid crystal display sample to be tested, it is moved to above Bending Mould, cooperates bending
The movement of mold completion designated position, shape, winding degree.
It further, further include step 4), bending robot will complete the bending campaign of designated position, shape, winding degree
Liquid crystal display sample to be tested is moved to pressing platform, is flattened.
It is preferred that passing through a folding first when carrying out the flexing movement of specified angle to liquid crystal display sample to be tested
Curved robot is moved to sample to be tested near the Bending Mould on Bending Mould positioning device platform, and changing posture is that sample is put down
Row is directed at the position to bending in Bending Mould state, controls the other end of another bending robot crawl sample, then
Sample is contacted with Bending Mould, calculates the arcuate movement track of the clamp hand of Liang Ge bending robot, executes bending with interpolation method
Path of motion prevents from overexerting to control dynamics and speed that clamp hand clamping sample carries out generation when overall deformation.
Further, further include pressure anomaly detection:
A) it is every to obtain bending robot by pressure sensor for the bending operation produced fracture for liquid crystal display sample to be tested
Pressure Fs1 ... Fsn in section sport interpolation track, counts the variance S1 of these pressure values;Observation is that sample is no in statistics
There is fracture, stops counting if producing fracture;
B) bending operation not produced fracture for liquid crystal display sample to be tested counts pressure when each entire motion
F1 ... Fn calculates the poor Fd between the variance S2 of these pressure values and the maximin of these pressure, obtains average value
Favg;
C) setting fracture threshold value T1 and pressure threshold T2, for the abnormality detection to subsequent sample bending operation, if S2/
S1 > T1 or Fd/Favg > T2, decides that exception occurred, alarms.
For the demand of the prior art, the present invention study by analysis in the test of position shape winding degree it is many because
Element proposes program control device and its control method that a kind of pair of liquid crystal display generates designated position shape winding degree, replaces previous people
Work operation detection realizes the improvement of matter for this status of corresponding bending equipment is had no precedent in the detection of previous liquid crystal display.This
Industrial robot is not replaced merely the manual operation of people by invention, it is also contemplated that for liquid crystal display this special operation object
Operational requirements, and accurately repeat different location, different shape, the detection demand of different size of winding degree, propose it is a set of can
The scheme of flowing water detection is automated, the present invention can be used for studying the performance evaluation of AMOLED sample, and proposing one kind can be certainly
The dynamic movement for repeating to generate designated position, shape, winding degree, speed in a wide range of, for automatic detection and analysis to entirety
The smart machine of AMOLED aging effects parameter has saved the time of test, can repeat to generate accurate same position, identical
The movement of shape, identical curvature, identical speed statistically requires to realize.
Detailed description of the invention
Fig. 1 is the mechanical structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the electrical block diagram of the embodiment of the present invention.
Fig. 3 is the schematic diagram of three typical Bending Moulds of the embodiment of the present invention.
Fig. 4 is the schematic diagram of each point and track in the flexing movement of the embodiment of the present invention.
Fig. 5 is the device work flow diagram of the embodiment of the present invention.
Specific embodiment
Below with reference to attached drawing Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, technical solution of the present invention is described in detail.
The present invention is based on existing robot, artificial intelligence, electronic technology, propose a for studying AMOLED sample
Product repeat the movement for generating designated position, shape, winding degree in a wide range of, for automatic detection and analysis to whole AMOLED
The smart machine of aging effects parameter.
The invention mainly comprises have hardware components and the component part of control section two.
Apparatus of the present invention include controller, locating platform, bending robot, Bending Mould and Bending Mould positioning device
Platform, locating platform are the operating platform of the program control device, and bending robot and the setting of Bending Mould positioning device platform are positioning
On platform, bending robot includes 2 robot arms, and controller is used for the configuration bending robot and Bending Mould of basis
The spatial position of positioning device platform issues control signal, controls bending robot motion, bending robot is for grabbing liquid crystal display
Sample to be tested and Bending Mould, and designated position is configured to for object is grabbed according to control signal.Liquid is additionally provided on locating platform
Crystalline substance screen sample to be tested material preparing table and mold material preparing table, liquid crystal display sample to be tested material preparing table is for placing liquid crystal display sample to be tested, mould
Tool material preparing table is for placing Bending Mould.Pressing platform is additionally provided on locating platform, for the liquid crystal display after bending to be waited for test sample
Product, which flatten, to restore.The process control device is additionally provided with danger button, for directly cutting off program control device power supply.Controller is connected with
Acousto-optic hint unit.
As shown in Figure 1, being a specific embodiment of the invention, including computer 1, locating platform 2, sample material preparing table 3, folding
Bending mould material preparing table 4, Bending Mould 6, Bending Mould positioning device platform 7, flattens platform 8, is air pump 9, urgent bending robot 5
Button 10, acousto-optic hint unit 11 and pressure sensor 12.Each structure of apparatus of the present invention is specifically described below.
Computer, that is, controller, for controlling bending robot, Bending Mould, die arrangement device and the fortune for flattening platform
It is dynamic.Designated position is moved to including control Bending Mould positioning device platform;Control bending robot takes in Bending Mould material preparing table
Bending Mould is obtained, is installed on die arrangement device platform;The completion of control bending robot takes AMOLED sample in material preparing table;Control
Bending robot and Bending Mould processed complete the movement of designated position, shape, winding degree;It controls bending robot and pressing platform is complete
At the task of pressing;After completing all tasks, operator is prompted to complete task by acousto-optic hint unit.In the present embodiment, computer
It is the industrial computers that TP-IPC, model are IPC-T1520P using brand.
Locating platform is the main platform that the present invention works, and placed sample material preparing table, Bending Mould material preparing table, bending machine
Device people, Bending Mould positioning device platform, flattens the contents such as platform at Bending Mould, and feature is using accurate positioning punching in advance
Station, can be sample material preparing table, Bending Mould material preparing table, bending robot, Bending Mould, Bending Mould positioning device
Platform, pressing platform obtain designated position.In the present embodiment, using high precision optical plate, aluminium alloy, thickness 20mm is long
Wide 3000*2000mm, mesa array 25mm*25mm pitch-row place standard 6M screw hole.
Sample material preparing table is the device placed with the multiple AMOLED samples of a collection of type products, and it is pre- that it is fixed on locating platform
On the position being first arranged, internal multiple AMOLED samples are orderly aligned, in this way, each AMOLED sample is on locating platform
Position is accurately known, in order to the crawl of bending robot.It is designed in the present embodiment for insertion slot type, each samples vertical is placed as one
Row, spacing 50mm are suitble to clamp hand clamping.
Bending Mould material preparing table is the device for placing a variety of Bending Moulds, it is fixed on the pre-set position of locating platform
On, internal a variety of Bending Moulds are orderly aligned, in this way, accurately known per position of a variety of Bending Moulds on locating platform.
It is designed in the present embodiment for insertion slot type, each Bending Mould is disposed vertically as a row, spacing 50mm, suitable clamp hand clamping.
Bending machine artificially completes the actuator of whole device task, be two actuators be pneumatic clamp hand, multiple degrees of freedom
Mechanical arm.Their operation includes: that AMOLED sample is successively grabbed from sample material preparing table;It is grabbed from Bending Mould material preparing table
Bending Mould;Bending Mould is installed to Bending Mould positioning device platform;It is completed together with Bending Mould positioning device platform specified
The movement of position, shape, winding degree;The pressing campaign to AMOLED sample is completed with pressing platform;Completion test assignment
AMOLED sample is put back into sample material preparing table designated position;Bending Mould is unloaded from Bending Mould positioning device platform;Bending
Mold is placed on specified Bending Mould material preparing table position.In the present embodiment, company, bending machine artificial Liang Tai ABB robot
RB120 humanoid robot, actuator is the pneumatic clamp hand of 1KG, and pneumatic clamps are placed with sponge on hand, when for avoiding clamping sample
Hard contact, protects sample.
Pressure sensor is arranged on the clamp hand of bending robot, the pressure generated for detecting liquid crystal display in bending
It is worth, in the present embodiment, using the pressure sensor of the FSR402 of Flexiforce.
Bending Mould is in use, be mounted on Bending Mould positioning device platform, after reaching designated position, with bending robot
The movement of the designated position to AMOLED sample, shape, winding degree is completed together.As shown in figure 3, shape there are many it, main to wrap
It is several thimble, top rod, top surface etc. are included, to complete the movement of designated shape, specified angle with bending robot.
Bending Mould positioning device platform is the device of fixed Bending Mould when using, and is sat in the present embodiment for three right angles
Gallery is marked, platform is equipped with the installation pedestal of Bending Mould, and installation pedestal is first under computer control, straight by triangle
Angular coordinate platform moves to the designated space position of locating platform, and then Bending Mould is mounted on installation pedestal by bending robot
On, finally complete position, shape, winding degree movement when, assist bending robot complete task.In the present embodiment, this is three straight
Angular coordinate gallery using fly ten thousand company KR60 slide unit, from pedestal mark toward the three of actuator straight line mould group ranges according to
It is secondary are as follows: 500mm*100mm, motor are followed successively by 57,57,42 direct current generators, and driver is the robot controller of the remote science and technology of group.
Flatten platform be can screening device, it is for the planar structure of fast quick-recovery AMOLED sample, and one kind of use is straight
Connect the mold of pressing.After the AMOLED sample of just bending is sent to its working region by bending robot, quickly flatten up and down.
As shown in Figure 1, the platform is that single-degree-of-freedom straight line mould group is constituted plus two planes, and one of plane is solid in the present embodiment
It is scheduled in straight line mould group, another plane is fixed on locating platform, and AMOLED sample to be detected is placed on and is fixed on
After plane on locating platform, straight line mould group drives another plane to move down, flattens sample.In the present embodiment,
Straight line mould group is using the slide unit for flying ten thousand company KR60, motion range 100mm, using 42 direct current generators, driver
It is multiplexed with Bending Mould positioning device platform, two planes are aluminium alloy production, and generous length is 100mm*100mm*5mm, towards sample
The sponge that the face of product is stained with a thickness of 10mm, to protect the face of AMOLED sample.
Air pump is provides power to the clamp hand of bending robot, using the 750W- of OUTSTANDING in the present embodiment
30L air pump air compressor machine.
Danger button is when visible abnormal, and operator's manual emergency is closed device and used;It is used in the present embodiment
It is the just safe emergency stop button switch of NP2-BS542.
Acousto-optic hint unit is after system completes all tasks, operator to be prompted to complete task.It is used in the present embodiment
It is Zheng Qi company LTA-205 multiple field warning lamp combined aural and visual alarm, 24V power supply, the prompt of 3 coloured light.
The control section of apparatus of the present invention includes that preset data and spatial coordinated information conversion, actuator crawl sample are standby
Expect the main step such as recovery of sample action planning, the flexing movement dual robot motion planning of specified angle, required movement in platform
Suddenly.
The effect of preset data and spatial coordinated information switch process is the information and computer number manually inputted in advance
Spatial data is learned to be converted.There are two its specific works content is main:
First is that locating platform is the main platform that the present invention works, it is using the station for being accurately positioned punching in advance.This
Each hardware module of invention passes through nut bolt fixed in position in upper, before use, operator need it is manually defeated in advance
Enter the X of the placement of these hardware modules, the Position Number of Y-directionWhereinIt is this station X and the side Y with Ynmax
To the number in hole,Middle Xn is number information, and t is the moment, and s is the number of particular hardware module.These numbers need to be turned
Turn to specific robot spatial position, method are as follows:
Wherein, X is continuous quantity, is spatial positional information.Grid is station when customization, between two neighboring hole
Physical distance.Xa and Ya is to be used for modified value, normally 0.In the present invention, X-axis, Y-axis, Z axis origin be
When operator's oriented manipulation platform works normally, first, upper left corner hole.X-direction is from left to right.Y direction be from as far as
Closely.Z-direction is from top to bottom.This initial coordinate system is designated as ξ b.
In the embodiment of the present invention, locating platform 3000*2000mm, mesa array 25mm*25mm pitch-row, i.e. grid is
25mm, Xnmax 120, Ynmax 80.
Second is that sample action planning is the function for calculating sample in crawl sample material preparing table in actuator crawl sample material preparing table
Energy.According to the position of preset sample material preparing tableThe length (SL) of sample, thickness (SH), is being grabbed at width (SW)
Spacing (Sd), actuator (gripper in robot) between the number (Snum) of the sample taken, the sample of sample material preparing table
The width (Zw) of contact surface, the thickness (HH) of sponge on contact surface grab sample (X to calculate in sample material preparing tablet (3,Snum,1),
Yt (3,Snum,1),Zt (3,Snum,1)) position and grasping movement power control the step of.Wherein, X, Y, Z representative be X-axis, Y-axis,
Z axis.3 representatives is sample class in (3, Snum, 1), and what Snum was represented is the number of sample, and 1 representative is first actuator
The position of crawl.
In the embodiment of the present invention, the length (SL) of sample is 151.8mm, width (SW) is 75.4mm, thickness (SH) is
2mm, the spacing (Sd) that the number (Snum) of the sample grabbed is at most put between 10, the sample of sample material preparing table are
50mm, actuator (gripper in robot) the width (Zw) of contact surface be 10mm*10mm, the thickness of sponge on contact surface
It (HH) is 3mm.
In the present invention, sample is placed on sample material preparing table along X-axis is vertical parallel, its length (SL) on sample material preparing table
For Z-direction, the spacing between sample is the Sd in X-axis, and Y direction is its width (SW).
The calculating process that sample grabs contact point is as follows:
Zt (3,Snum,1)=SL-0.5*ZW
In grasping movement, the posture ξ of actuatort (3,Snum,1)It is identical as station X-direction for X-direction, Y-direction and operation
Platform Y-direction is identical, and Z-direction is contrary with station.In the control of power, clamp hand is in clamping, in the X-axis direction, reserves
The half of the thickness of sponge, i.e. HH/2 on contact surface.
It is as follows that actuator grabs sample action planning in sample material preparing table:
Movement 1: actuator motions to (Xt (3,Snum,1),Yt (3,Snum,1),Zt (3,Snum,1)) top one ZW at, i.e. (Xt (3 ,Snum,1),Yt (3,Snum,1),Zt (3,Snum,1)+ZW).Meanwhile the posture ξ z of actuatort (3,Snum,1)For X-direction and station X-direction phase
Together, Y-direction is identical as station Y-direction, and Z-direction is contrary with station.
Movement 2: actuator opens actuator clamp hand, i.e., opens clamp hand in X-direction, and opening distance is Sd/2.
Movement 3: actuator is from (Xt (3,Snum,1),Yt (3,Snum,1),Zt (3,Snum,1)+ ZW) it is moved to (Xt (3,Snum,1),Yt (3 ,Snum,1),Zt (3,Snum,1)), keep ξt (3,Snum,1)It is constant.
Movement 4: closing up actuator clamp hand, i.e., close up clamp hand in X-direction, and final distance of opening is i.e. SH+HH/2, i.e. sample
Product thickness can thus clamp sample plus half sponge thickness on contact surface.
Movement 5: actuator is from (Xt (3,Snum,1),Yt (3,Snum,1),Zt (3,snum,1)) it is moved to (Xt (3,Snum,1),Yt (3,Snum,1),
Zt (3,snum,1)+ 2*SL), keep ξt (3,Snum,1)It is constant.Sample is extracted from sample material preparing table, until general 2 sample lengths
Highly.
Control section further includes the flexing movement of specified angle, i.e., is to execute to execute sample by dual robot motion planning
The planning of specified angle flexing movement.Sample to be tested first being moved to Bending Mould by a bending robot by the part
Near Bending Mould on positioning device platform, changing posture is sample to be parallel to Bending Mould state, is directed at designated position, is moved
The actuator of dynamic second robot, grabs the other end of sample.Then sample is contacted with Bending Mould.Then two are calculated
The arcuate movement track of the actuator of a robot, then insert point therein with interpolation method, to control generation when overall deformation
Dynamics and speed, prevent from overexerting.
Wherein, the action control of bending robot is as previously shown, is described below and " calculates the actuator of Liang Ge robot
The partial content of arcuate movement track, with interpolation method execution flexing movement path ".
Fig. 4 is the schematic diagram of each point and track in the flexing movement of the embodiment of the present invention, as shown in figure 4, the algorithm
Principle is to constitute using the center of Bending Mould as the center of circle in the plane that X-axis and Z axis are constituted, be radius with (SL-0.5*ZW)
Angle between two lines of the maximal end point of circle, the center of circle and 2 robotic actuators is specified angle, θ.Left the half of the circle
Side arrives the curve of maximal end point Lb along round edge circle from round central horizontal line with the crosspoint La on the left half of boundary of circle, is No. 1 machine
The operating path Traj1 of device people's actuator.From round central horizontal line with the crosspoint Ra on the right half of boundary of circle, arrived along round edge circle
The curve of maximal end point Rb is the operating path Traj2 of No. 2 robotic actuators.On path, robotic actuator is kept
Posture is that the Z axis positive direction of No. 1 robotic actuator is directed toward origin, and the Z axis opposite direction of No. 1 robotic actuator is kept to be directed toward circle
The heart just can guarantee that the contact surface of actuator (gripper in robot) and sample room only exist tangential pressure in this way, rather than horizontal
To frictional force.
Specific step is as follows:
The sample that movement 1. grabs dual robot actuator is parallel to Bending Mould state, is directed at designated position, this moment
The coordinate of No. 1 robotic actuator is (Xt (4,1),Yt (4,1),Zt (4,1)), posture is ξ zt (4,1);The coordinate of No. 2 robotic actuators
For (Xt (4,2),Yt (4,2),Zt (4,2)), posture is ξ zt (4,2);Wherein, in (4,1) 4 represent be the due position of actuator 1,1 generation
Table is No. 1 actuator;4 representatives is the due position of actuator 2 in (4,2), and 2 representatives are No. 2 actuators;When t is represented
It carves;ξzt (4,1)What middle ξ z was represented be X-axis in actuator coordinate system, Y-axis, Z axis direction, be expressed as a transformation matrix Rbz
(4,1), (4,2) Rbz:
ξ b=Rbz (4,1) * ξ zt (4,1)
ξ b=Rbz (4,2) * ξ zt (4,2)
Movement 2. calculates homogeneous transformation matrices.It is directly set as the rotation around Y-axis, inserts point therein with interpolation method, from
And the dynamics generated when controlling overall deformation, it prevents from overexerting, the number of interpolation is N, and all rotating angle is (180-
θ)/2, the robotic actuator on the left side is reverse, i.e. ,-(180- θ)/2, and the robotic actuator on the right is forward direction, i.e. (180-
θ)/2.Rotation angle is (180- θ)/(2*N) each time.Then waiting time Twait, to be controlled whole by sub-dividing operations
The dynamics that body generates when deforming, prevents from overexerting.
IfWhen moving every time
No. 2 robotic actuators on the right are positive direction, transformation matrices are as follows:
No. 1 robotic actuator on the left side is reverse direction, transformation matrices are as follows:
In the embodiment of the present invention, θ is task needs, and N is arranged to related to θ, so that final θ step=1, i.e., 1 degree.
Twait is arranged to 0.5 second, this speed being capable of continuously slow bending.
Fig. 4 is the schematic diagram of each point and track in the flexing movement of the embodiment of the present invention, as shown in figure 4, required movement
Recovery etc. mainly comprise the following steps mistake of the opposite direction along original track Traj1 from Lb point to La point, from Traj2 from Rb point to Ra point
Journey.The effect of this movement is sample to be reverted to original state.
Its process and bending operation are exactly the opposite.Content is similarly N interpolation, and rotating angle each time is (180- θ)/(2*
N).Then waiting time Twait, so that by sub-dividing operations, the dynamics generated when controlling overall deformation prevents from overexerting.
No. 1 robotic actuator on the left side is positive direction, transformation matrices are as follows:
No. 2 robotic actuators on the right are reverse direction, transformation matrices are as follows:
In this way, the bending repeatedly for specifying winding degree to sample may be implemented, additionally it is possible to utilize by bending, the movement of recovery
Waiting time Twait, so that by sub-dividing operations, the dynamics and speed generated when controlling overall deformation prevents from overexerting.
The invention also provides the abnormality detections of the above-mentioned program control device that shape winding degree in designated position is generated to liquid crystal display
Method carries out the exception carried out from pressure portion using data information on the pressure sensor being located on bending robot clamp hand
Detection, comprising the following steps:
A) it is every to obtain bending robot by pressure sensor for the bending operation produced fracture for liquid crystal display sample to be tested
Pressure Fs1 ... Fsn in section sport interpolation track, counts the variance S1 of these pressure values;Observation is that sample is no in statistics
There is fracture, stops counting if producing fracture;
B) bending operation not produced fracture for liquid crystal display sample to be tested counts pressure when each entire motion
F1 ... Fn calculates the poor Fd between the variance S2 of these pressure values and the maximin of these pressure, obtains average value
Favg;
C) setting fracture threshold value T1 and pressure threshold T2, for the abnormality detection to subsequent sample bending operation, if S2/
S1 > T1 or Fd/Favg > T2, decides that exception occurred, alarms.
In the embodiment of the present invention, T1 is arranged to 2, T2 and is arranged to 1.5.These values when in use, can be changed by user
Become, to change warning sensitivity.
A kind of pair of liquid crystal display sample of the present invention generates the program control device of designated position shape winding degree, specifies AMOLED sample
The position of test action derives from the movement of Bending Mould positioning device platform, Bending Mould is moved to specified position.It refers to
The shape of fixed AMOLED sample test movement derives from the shape of Bending Mould, when bending robot AMOLED sample down
It moves, when the Bending Mould below AMOLED sample is motionless or up moves, just produces specified flexing movement, and folding
Curved shape.The angle of its specified AMOLED test action derives from the associated movement of bending robot and Bending Mould, works as folding
The curved more past lower section movement in a curve stroke of robot is bigger, and angle is bigger.
As shown in figure 5, workflow of the invention is as follows:
Step 1. operator sets operating parameter by computer, confirmed sample material preparing table, Bending Mould material preparing table,
Bending robot, Bending Mould positioning device platform, flattens the states such as platform at Bending Mould;Air pump is opened manually;
Step 2. system self reover completes calibration to specified default location;
Step 3. control Bending Mould positioning device platform moves to designated position;
Step 4. controls bending robot and obtains Bending Mould in Bending Mould material preparing table, is installed to die arrangement device platform
On;
The completion of step 5. control bending robot takes AMOLED sample in material preparing table;
Step 6. controls bending robot and Bending Mould completes the movement of designated position, shape, winding degree;
Step 7., which controls bending robot and flattens platform, completes pressing task (optional).
If step 8. task terminates, by acousto-optic hint unit, prompt is issued, is ended task;If task does not have
There is end, then arriving step 3, work on, until completing;
By above technical scheme, may be implemented for studying AMOLED sample, can repeat to generate the finger in a wide range of
Positioning set, the movement of shape, winding degree, for automatic detection and analysis to the smart machine of whole AMOLED aging effects parameter.
It has saved the time of staff, the present invention can repeat to generate accurate same position, same shape, identical curvature, identical
The movement of speed statistically requires to realize.
Claims (10)
1. a kind of pair of liquid crystal display generates the program control device of designated position shape winding degree, it is characterized in that include controller, locating platform,
Bending robot, Bending Mould and Bending Mould positioning device platform, locating platform are the operating platform of the program control device, bending
Robot and Bending Mould positioning device platform are arranged on locating platform, and bending robot includes 2 robot arms, machine
People's mechanical arm is equipped with air pump, and air pump is used for the configuration bending of basis for providing the clamping power of mechanical arm clamp hand, controller
The spatial position of robot and Bending Mould positioning device platform issues control signal, controls bending robot motion, bending machine
People is configured to specific bit for object is grabbed for grabbing and clamping liquid crystal display sample to be tested and Bending Mould, and according to control signal
It sets.
2. a kind of pair of liquid crystal display according to claim 1 generates the program control device of designated position shape winding degree, it is characterized in that
Liquid crystal display sample to be tested material preparing table and mold material preparing table are additionally provided on locating platform, liquid crystal display sample to be tested material preparing table is for placing
Liquid crystal display sample to be tested, mold material preparing table is for placing Bending Mould.
3. a kind of pair of liquid crystal display according to claim 1 or 2 generates the program control device of designated position shape winding degree, feature
It is to be additionally provided with pressing platform on locating platform, is restored for flattening the liquid crystal display sample to be tested after bending.
4. a kind of pair of liquid crystal display according to claim 1 generates the program control device of designated position shape winding degree, it is characterized in that
The process control device is additionally provided with danger button, and for directly cutting off program control device power supply, controller is connected with acousto-optic hint list
Member, for prompting the current operation of program control device.
5. a kind of pair of liquid crystal display according to claim 1 generates the program control device of designated position shape winding degree, it is characterized in that
The clamping face of robot arm clamp hand is equipped with pressure sensor, for detecting between liquid crystal display sample to be tested and clamping face
Pressure.
6. the control method of the program control device of designated position shape winding degree is generated described in claim 1-5 to liquid crystal display, it is special
Sign be the following steps are included:
1) position for confirming bending robot, Bending Mould and Bending Mould positioning device platform, establishes bending operation space coordinate
System;
2) motion profile of bending robot is set, the movement control of bending robot is converted to according to bending operation space coordinates
Signal processed, controller sending action control signal, and control bending robot is acted;
3) above bending robotic gripper liquid crystal display sample to be tested to Bending Mould, cooperation Bending Mould completes designated position, shape
The movement of shape, winding degree, specified position are the position that liquid crystal display sample to be tested is directed at Bending Mould, and specified shape is from folding
The shape of bending mould, when bending robot down moves liquid crystal display sample to be tested, the bender below liquid crystal display sample to be tested
Have motionless or when up moving, generates the shape of specified flexing movement and bending, the angle of test action, i.e. winding degree are come
Derived from the associated movement of bending robot and Bending Mould.
7. the control method of the program control device according to claim 6 that shape winding degree in designated position is generated to liquid crystal display,
It is characterized in further acknowledging the position of liquid crystal display sample to be tested material preparing table and mold material preparing table in step 1), in step 3), bending
Robot grabs Bending Mould from mold material preparing table first, is arranged onto the designated position of Bending Mould positioning device platform, then from
Liquid crystal display sample to be tested material preparing table grabs liquid crystal display sample to be tested, is moved to above Bending Mould, and cooperation Bending Mould completion refers to
Positioning set, the movement of shape, winding degree.
8. the control method of the program control device according to claim 6 that shape winding degree in designated position is generated to liquid crystal display,
It is characterized in further including step 4), the liquid crystal display for completing the bending campaign of designated position, shape, winding degree is waited for test sample by bending robot
Product are moved to pressing platform, are flattened.
9. the control method of the program control device according to claim 6 that shape winding degree in designated position is generated to liquid crystal display,
When being characterized in carrying out the flexing movement of specified angle to liquid crystal display sample to be tested, first by a bending robot to test sample
Product are moved near the Bending Mould on Bending Mould positioning device platform, and changing posture is that sample is parallel to Bending Mould shape
State is directed at the position to bending, the other end of another bending robot crawl sample is controlled, then sample and Bending Mould
Contact, calculates the arcuate movement track of the clamp hand of Liang Ge bending robot, flexing movement path is executed with interpolation method, to control
Clamp hand clamping sample processed carries out the dynamics and speed of generation when overall deformation, prevents from overexerting.
10. the control method of the program control device according to claim 9 that shape winding degree in designated position is generated to liquid crystal display,
It is characterized in further including pressure anomaly detection:
A) bending operation produced fracture for liquid crystal display sample to be tested obtains every section of fortune of bending robot by pressure sensor
Pressure Fs1 ... Fsn in dynamic interpolation track, counts the variance S1 of these pressure values;In statistics observation be sample it is no have it is disconnected
It splits, stops counting if producing fracture;
B) bending operation not produced fracture for liquid crystal display sample to be tested counts the pressure F1 ... when each entire motion
Fn calculates the poor Fd between the variance S2 of these pressure values and the maximin of these pressure, obtains average value
Favg;
C) setting fracture threshold value T1 and pressure threshold T2, for the abnormality detection to subsequent sample bending operation, if S2/S1 >
T1 or Fd/Favg > T2, decides that exception occurred, alarms.
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Application publication date: 20191022 |