WO2022126878A1

WO2022126878A1 - Crack detection device for curved screen

Info

Publication number: WO2022126878A1
Application number: PCT/CN2021/080549
Authority: WO
Inventors: 周春雪; 陶玉龙
Original assignee: 苏州精濑光电有限公司; 武汉精测电子集团股份有限公司
Priority date: 2020-12-18
Filing date: 2021-03-12
Publication date: 2022-06-23
Also published as: CN112850145B; CN112850145A

Abstract

A crack detection device for a curved screen, comprising: a first detection apparatus, comprising an outer arc detection mechanism (1) configured to detect outer arc cracks of the curved screen, an inner arc detection mechanism (2) configured to detect inner arc cracks of the curved screen, and a hole area detection mechanism (3) configured to detect cracks around a hole on the curved screen; and a first conveying apparatus for carrying the curved screen and separately conveying the curved screen to the outer arc detection mechanism (1), the inner arc detection mechanism (2), and the hole area detection mechanism (3) of the first detection apparatus.

Description

Curved screen crack detection equipment

This application claims the priority of the Chinese Patent Application No. 202011506199.7 filed with the China Patent Office on December 18, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of detection technology, for example, to a curved screen crack detection device.

Background technique

The display screen includes a protective glass, a touch screen and a display screen that are stacked in sequence from top to bottom. These three parts need to be bonded. According to the bonding method, it can be divided into two methods: full bonding and frame bonding. The high-end display brand adopts the full lamination method, which is to use water glue to completely stick the display screen and the touch screen together without any gaps. Although this full lamination method has the advantages of noise reduction, thinness and excellent display effect, etc., the process is complicated and the yield is low.

With the progress of the customer's production process and the expansion of the production scale, the display screen is gradually transformed from a flat screen to a curved screen to meet the higher and higher demands of users. The screen crack detection equipment cannot completely detect the crack of the curved screen, and the detection accuracy is relatively high low, and the detection efficiency is low.

SUMMARY OF THE INVENTION

The present application provides a curved screen crack detection device to solve the problems of low detection accuracy and low detection efficiency for the curved screen.

Provided is a curved screen crack detection device, including:

The first detection device includes an outer arc detection mechanism configured to detect an outer arc crack of the curved screen, an inner arc detection mechanism configured to detect an inner arc crack of the curved screen, and an inner arc detection mechanism configured to detect around the hole on the curved screen. Crack hole detection mechanism;

The first conveying device is configured to carry the curved screen and transport the curved screen to the outer arc detection mechanism, the inner arc detection mechanism and the hole area detection mechanism of the first detection device respectively.

Description of drawings

1 is a schematic structural diagram of a curved screen crack detection device provided by an embodiment of the present application;

2 is a schematic structural diagram of a feeding mechanism provided by an embodiment of the present application;

3 is a schematic structural diagram of a dual manipulator for feeding and handling correction provided by an embodiment of the present application;

Fig. 4 is the structural representation of the feeding correction manipulator provided by the embodiment of the present application;

5 is a schematic structural diagram of an outer arc long side detection mechanism provided by an embodiment of the present application;

6 is a schematic structural diagram of a rotating mechanism provided by an embodiment of the present application;

7 is a schematic structural diagram of a first conveying mechanism provided by an embodiment of the present application;

Fig. 8 is the partial enlarged view of A place in Fig. 7;

9 is a schematic structural diagram of an alignment mechanism provided by an embodiment of the present application;

10 is a schematic structural diagram of a turning mechanism provided by an embodiment of the present application;

11 is a schematic structural diagram of a handling manipulator provided by an embodiment of the present application;

12 is a schematic structural diagram of an inner arc long side detection mechanism provided by an embodiment of the present application;

13 is a schematic structural diagram of a second conveying mechanism provided by an embodiment of the present application;

14 is a schematic structural diagram of a single manipulator for handling correction provided by an embodiment of the present application;

15 is a schematic structural diagram of a hole region detection mechanism provided in an embodiment of the present application;

16 is a schematic structural diagram of a dual manipulator for discharging and handling provided by an embodiment of the present application;

FIG. 17 is a schematic structural diagram of a discharging mechanism provided by an embodiment of the present application.

In the picture:

1. Outer arc detection mechanism; 11. Outer arc long side detection mechanism; 111, Outer arc long side detection component; 112, Outer arc long side adjustment component; 1121, Outer arc long side detection bracket; 1122, Outer arc long side movement Drive source; 1123, outer arc long side moving platform; 1124, outer arc long side adjustment plate; 1125, first arc hole; 113, light source assembly; 1131, light source bracket; 1132, light source; 1133, light source drive source; 12 , Outer arc short side detection mechanism;

2. Inner arc detection mechanism; 21. Inner arc long side detection mechanism; 211, Inner arc long side adjustment component; 2111, Inner arc long side detection bracket; 2112, Inner arc long side moving drive source; 2113, Inner arc long side Mobile platform; 2114, inner arc long side adjustment plate; 2115, second arc hole; 212, inner arc long side detection component; 22, inner arc short side detection mechanism;

3. Hole area detection mechanism; 31, Hole area detection component; 32, Hole area moving component; 321, Hole area moving drive source; 322, Hole area moving platform; 323, Hole area Z-direction drive source;

4, the first conveying mechanism; 41, the first drive source; 42, the first correction platform; 421, the correction connection plate; 422, the correction Y-direction drive source; 423, the correction rotation drive source;

5. Rotating mechanism; 51. Rotating bracket; 52. Rotating Z-axis driving source; 53. Rotating driving source; 54. Rotating adsorption assembly;

6. Turning mechanism; 61. Turning bracket; 62. Turning Z-direction driving source; 63. Turning driving source; 64. Turning adsorption assembly;

7. Handling and correction single manipulator; 71. Handling drive source; 72. Handling and correction manipulator;

8. Feeding device; 81. Feeding mechanism; 811, Feeding support; 812, Feeding drive source; 813, Feeding belt; 82, Feeding handling correction double manipulator; 821, Feeding handling drive source; 822, Feed correction manipulator; 8221, feed X-direction drive source; 8222, feed rotation drive source; 8223, feed Z-direction drive source; 8224, feed adsorption component; 83, positioning mechanism; 84, dust removal mechanism;

9. Discharge device; 91, Discharge mechanism; 911, Discharge bracket; 912, Discharge belt drive source; 913, Discharge belt; 914, Electrostatic bar; 92, Discharge handling double manipulator; 921, Discharge handling Drive source; 922, Discharge manipulator; 9221, Discharge Z-direction drive source; 9222, Discharge adsorption assembly;

10. The second conveying mechanism; 101, the second driving source; 102, the second correction platform;

20. Handling manipulator; 201, handling bracket; 202, handling Y-direction drive source; 203, handling Z-direction drive source; 204, handling adsorption component;

30. Lifting manipulator; 40. Third conveying mechanism; 50. Abutment;

60, alignment mechanism; 601, alignment bracket; 602, alignment drive source; 603, alignment camera.

Detailed ways

The technical solutions of the present application will be described below with reference to the accompanying drawings and through embodiments. The embodiments described here are only used to explain the present application, but not to limit the present application. For the convenience of description, only a part but not the whole related to the present application is shown in the drawings. Furthermore, the embodiments in this application and features in the embodiments may be combined with each other without conflict.

This application defines some orientation words, and unless otherwise stated, the orientation words used are such as "up", "down", "left", "right", "inner", "outer". It is adopted for the convenience of understanding, and thus does not constitute a limitation on the protection scope of the present application.

In this application, a first feature "on" or "under" a second feature may include the first feature and the second feature in direct contact, or the first feature and the second feature are not in direct contact but through them Additional feature contacts between. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature is directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this application, the terms "connected", "connected" and "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integrated body; it may be a mechanical connection or a Electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements. The specific meanings of the above terms in this application can be understood according to specific situations.

This embodiment provides a curved screen crack detection device, which is used for crack detection of a curved screen. The detection quality of a curved screen can be evaluated by three parameters: cracks around through holes, outer arc cracks and inner arc cracks. The curved screen does not mean that the entire screen is curved. The overall shape of the curved screen is similar to the cuboid structure. Taking the curved screen as an example of a mobile phone screen, the curved screen includes the screen body, two short sides and two long sides. , the two short sides are arranged on both sides of the screen body along the length direction of the screen body, the two long sides are arranged on both sides of the screen body along the width direction of the screen body, and the cross-section of the long side and the short side are arc-shaped It can also be understood that the rounded corners of the four sides of the screen body form short sides and long sides. The outer arc of the curved screen refers to the convex surface in the long side and the short side, and the inner arc refers to the concave surface in the long side and the short side. In addition, a camera hole is generally set on the curved screen to avoid the camera, and the crack around the hole refers to the crack around the camera hole on the curved screen.

As shown in FIG. 1 , the curved screen crack detection equipment includes a base 50, a first detection device and a first conveying device. The base 50 is provided with a first detection device and a first conveying device, and the base 50 serves as an integral support effect. The shape of the base 50 is similar to the cuboid structure, and the length direction of the base 50 is defined as the X direction, the width direction of the base 50 is the Y direction, the height direction of the base 50 is the Z direction (not shown in the figure), and the X direction is , Y-direction and Z-direction are perpendicular to each other, wherein X-direction, Y-direction and Z-direction only represent spatial directions and have no substantial meaning.

The first detection device includes an outer arc detection mechanism 1 configured to detect outer arc cracks of the curved screen, an inner arc detection mechanism 2 configured to detect inner arc cracks of the curved screen, and a hole configured to detect cracks around the holes on the curved screen. District Inspection Agency 3. The first conveying device is configured to carry the curved screen and convey the curved screen to the outer arc detection mechanism 1 , the inner arc detection mechanism 2 and the hole region detection mechanism 3 of the first detection device respectively.

The setting positions of the outer arc detection mechanism 1, the inner arc detection mechanism 2 and the hole region detection mechanism 3 are not limited, that is, the detection sequence of the outer arc detection mechanism 1, the inner arc detection mechanism 2 and the hole region detection mechanism 3 can be Adjust according to actual needs. Optionally, the outer arc detection mechanism 1, the inner arc detection mechanism 2 and the hole area detection mechanism 3 are arranged in sequence, and the first conveying device sequentially conveys the curved screen to the outer arc detection mechanism 1 and the inner arc detection mechanism 2 of the first detection device. And hole area detection mechanism 3.

The curved screen crack detection device provided by the present application carries the curved screen through the first conveying device and transports the curved screen to the outer arc detection mechanism 1, the inner arc detection mechanism 2 and the hole area detection mechanism 3 respectively, so that the curved screen can be used in multiple Switch between detection stations, with high conveying efficiency. The outer arc detection mechanism 1 is set to detect the outer arc crack of the curved screen, the inner arc detection mechanism 2 is set to detect the inner arc crack of the curved screen, and the hole area detection mechanism 3 is set to detect the crack around the hole on the curved screen. Mechanism 1, inner arc detection mechanism 2 and hole area detection mechanism 3 realize step-by-step detection of outer arc cracks, inner arc cracks and cracks around holes on the curved screen, which reduces the overall complexity of the equipment, enhances the stability of the equipment, and improves the The detection efficiency and detection accuracy of the equipment.

In order to further improve the detection efficiency, the curved screen crack detection equipment also includes a second detection device and a second conveying device. The second detection device has the same structure as the first detection device and is symmetrically arranged along the Y direction. Optionally, the second conveying device The structure of the device is the same as that of the first conveying device, and is arranged symmetrically along the Y direction. The second conveying device is set to convey the curved screen to the outer arc detection mechanism 1, inner arc detection mechanism 2 and hole area detection mechanism of the second detection device respectively. 3.

Optionally, the curved screen crack detection device further includes: a second detection device, which has the same structure as the first detection device and is symmetrically arranged with the first detection device;

The second conveying device is configured to convey the curved screen to the outer arc detection mechanism 1, the inner arc detection mechanism 2 and the hole area detection mechanism 3 of the second detection device respectively;

The feeding device 8 is configured to convey the curved screen to the first conveying device and the second conveying device respectively.

The curved screen crack detection apparatus further includes a feeding device 8, and the feeding device 8 is configured to transport the curved screen to the first conveying device and the second conveying device respectively.

The curved screen crack detection device further includes a discharging device 9, and the discharging device 9 is configured to output the detected curved screens on the first conveying device and the second conveying device respectively.

The optional layout of the curved screen crack detection device will be briefly introduced below. The curved screen crack detection device as a whole is symmetrical about an axis parallel to the X direction. The feeding device 8 and the first detection device (second detection device) are arranged along the X direction. In a detection device (second detection device), the outer arc detection mechanism 1 and the inner arc detection mechanism 2 are arranged along the X direction, the inner arc detection mechanism 2 and the hole area detection mechanism 3 are arranged along the Y direction, and the discharging device 9 is located in the first Between the detection device and the hole region detection mechanism 3 of the second detection device, that is, the inner arc detection mechanism 2 , the hole region detection mechanism 3 and the discharge device 9 are arranged along the Y direction. The first conveying means (second conveying means) extend substantially in the X direction and are located substantially on the underside of the main body of each first detection means (second detection means). The optional layout of the curved screen crack detection device provided in this embodiment has a compact structure and occupies a small space.

Since the second detection device can optionally have the same structure as the first detection device and be symmetrically arranged, the first detection device can optionally have the same structure as the second detection device and be symmetrically arranged along the X direction. An example of a conveying device will be described.

As shown in FIG. 1 , the feeding device 8 includes a feeding, conveying and correcting double manipulator 82 and a feeding mechanism 81. The feeding mechanism 81 is set to transfer the curved screen to the waiting area, and the feeding and transporting and correcting double manipulators 82 are set to grab and wait. The curved screen in the area is adjusted, the position of the curved screen is adjusted, and the curved screen is placed on the first conveying device and the second conveying device respectively. The feeding, handling and correction double manipulator 82 can simultaneously feed two sets of conveying devices, and can also adjust the curved screen to an appropriate position, so as to facilitate subsequent inspections.

As shown in FIG. 1 and FIG. 2 , the feeding mechanism 81 is configured to convey the curved screen along the X direction. The feeding mechanism 81 provided in this embodiment includes a feeding bracket 811, a feeding driving source 812 and a feeding belt 813. The driving source 812 is arranged on the feeding bracket 811, the feeding belt 813 is rotatably arranged on the feeding bracket 811, the feeding driving source 812 is drivingly connected with the feeding belt 813, and the feeding driving source 812 is set to drive the feeding belt 813 to rotate . The feeding belt 813 places the curved screen on the feeding belt 813 through the upstream process or manually, and the curved screen can be conveyed under the action of the frictional force of the feeding belt 813 . The feeding driving source 812 may be a motor or the like. Since the structure and working principle of the conveying mechanism for the rotation of the feeding belt 813 driven by the motor are related technologies, details are not described here.

As shown in FIG. 2 , in order to make the curved screen stop moving after the curved screen is transported to the waiting area by the feeding mechanism 81, optionally, a positioning mechanism 83 is provided at the downstream end of the feeding mechanism 81, and the end of the curved screen abuts against After the positioning mechanism 83, the curved screen is located in the waiting area. In one embodiment, the positioning mechanism 83 is a positioning plate.

As shown in FIG. 2 , after the feeding mechanism 81 runs for a long time, the feeding belt 813 may have dust attached to it. In order to ensure the cleanliness of the display screen, optionally, a dust removal mechanism 84 is provided on the lower side of the feeding belt 813 to remove dust. The mechanism 84 is arranged to adhere to the dust on the infeed belt 813 . In one embodiment, the dust removal mechanism 84 includes a dust sticking roller and a roller support, the roller support is connected to the feeding support 811 , and the dust sticking roller is rotatably connected to the roller support and is in contact with the feeding belt 813 .

As shown in FIG. 3 , the feed handling and correction double manipulator 82 includes a feed handling drive source 821 and two sets of feed correction manipulators 822 , the feed handling drive source 821 extends along the Y direction, and the two sets of feed correction manipulators 822 are connected to the feeder At the output end of the material handling drive source 821, two sets of feeding correction manipulators 822 can respectively place the curved screens in the waiting area on the feeding mechanism 81 on the two sets of conveying devices. The feeding and handling driving source 821 can be a linear module, and the two output ends of the linear module move in opposite directions along the Y direction, so as to place the curved screen on the two sets of conveying devices.

As shown in FIG. 4 , in order to enable the feeding and handling correction double manipulator 82 to pick up and place the curved screen, the feeding and handling correction double manipulator 82 also includes a feeding Z-direction drive source 8223 and a feeding adsorption component 8224. The feeding Z-direction drive source The output end of 8223 is connected to the feed adsorption component 8224 to drive the feed adsorption component 8224 to rise and fall along the Z direction, and the feed handling drive source 821 is connected to the feed Z direction drive source 8223 to drive the feed Z direction drive source 8223 along the Move in the Y direction. In one embodiment, when the feeding adsorption component 8224 descends along the Z direction, the feeding adsorption component 8224 adsorbs the curved screen located on the feeding mechanism 81, or places the adsorbed curved screen on the conveying device. When the feeding adsorption assembly 8224 rises along the Z direction, the feeding and transporting correction double manipulator 82 can move along the Y direction under the driving of the feeding and transporting drive source 821 under the condition of load or no load.

In order to adjust the position of the curved screen by the feeding and handling correction double manipulator 82, the feeding correction manipulator 822 includes a feeding X-direction drive source 8221 and a feeding rotation drive source 8222, wherein the feeding Z-direction drive source 8223 and the feeding X-direction drive source 8222 The drive source 8221 is connected, the feed Z-direction drive source 8223 is set to drive the feed X-direction drive source 8221 to rise and fall, the feed X-direction drive source 8221 is connected to the feed rotation drive source 8222, and the feed X-direction drive source 8221 is set to drive The feed rotary drive source 8222 moves along the X direction, the feed rotary drive source 8222 is connected with the feed adsorption component 8224, and the feed rotary drive source 8222 is set to drive the feed adsorption component 8224 in the A plane where the X and Y directions are located. rotate. The feed conveying drive source 821, the feed X-direction drive source 8221 and the feed rotation drive source 8222 cooperate to correct the position of the curved screen, and the curved screen is placed on the conveying device under the cooperation of the feed Z-direction drive source 8223.

The feed handling drive source 821 , the feed Z-direction drive source 8223 and the feed X-direction drive source 8221 may all be linear modules, and the feed rotation drive source 8222 may be a servo motor.

In order to facilitate the feeding, handling and correction of the double manipulator 82 to determine the adjustment amount for the curved screen, a large-view camera can be set above the feeding belt 813, and the position of the curved screen in the waiting area can be obtained according to the large-field camera placed on the feeding belt 813 information.

As shown in FIG. 1, the outer arc detection mechanism 1 includes an outer arc long side detection mechanism 11 and an outer arc short side detection mechanism 12. The outer arc long side detection mechanism 11 is configured to detect the long side cracks of the outer arc of the curved screen. The short-side detection mechanism 12 is configured to detect short-side cracks of the outer arc of the curved screen. Optionally, the outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 12 are arranged at intervals along the X direction, so that the two do not interfere with each other.

Optionally, the structures of the outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 12 are the same, and the structure of the outer arc long side detection mechanism 11 is described below as an example. As shown in FIG. 5 , the outer arc long side detection mechanism 11 includes an outer arc long side detection component 111 and an outer arc long side adjustment component 112. The outer arc long side detection component 111 is configured to detect cracks on the outer arc long side of the curved screen. The arc length adjustment component 112 is connected to the outer arc length detection component 111 , and the outer arc length adjustment component 112 can adjust the position of the outer arc length detection component 111 relative to the curved screen. By setting the outer arc long side adjustment component 112 to adjust the position of the outer arc long side detection component 111, the detection accuracy of the curved screen crack detection device is ensured and the curved screen crack detection device can be applied to curved screens of different sizes.

Optionally, two sets of outer arc long edge detection components 111 and outer arc long edge adjustment components 112 are symmetrically arranged in the Y direction, and the above two sets of outer arc long edge detection components 111 and outer arc long edge adjustment components 112 jointly detect the curved screen. one of the long sides. In the X direction, two sets of outer arc long edge detection components 111 and outer arc long edge adjustment components 112 are symmetrically arranged with the above-mentioned two sets of outer arc long edge detection components 111 and outer arc long edge adjustment components 112 to detect the other side of the curved screen. One long side, that is, the outer arc long side detection mechanism 11 is provided with four sets of outer arc long side detection components 111 and outer arc long side adjustment components 112 in total. Since the arc side has a certain bending direction, the two long sides symmetrically arranged in the X direction are respectively detected by arranging two sets of outer arc long side detection components 111 and outer arc long side adjustment components 112 symmetrically in the X direction, so that the detection results can be improved. more precise.

In one embodiment, the outer arc long side adjustment component 112 includes an outer arc long side detection bracket 1121, an outer arc long side moving drive source 1122, an outer arc long side moving platform 1123 and an outer arc long side adjusting plate 1124. The edge detection bracket 1121 is a gantry structure, and the outer arc long edge detection bracket 1121 is disposed on the base 50 and is configured to carry the outer arc long edge moving driving source 1122 . The outer arc long side moving drive source 1122 can be a moving motor or a moving cylinder, the outer arc long side moving drive source 1122 is arranged along the Y direction, and the output end of the outer arc long side moving drive source 1122 is connected to the outer arc long side moving platform 1123, The outer arc long side moving platform 1123 is provided with the outer arc long side detection component 111. The outer arc long side moving drive source 1122 can drive the outer arc long side moving platform 1123 and drive the outer arc long side adjusting plate 1124 and the outer arc length. The edge detection component 111 moves in the direction of the outer arc long side close to the curved screen, and the outer arc long side moving drive source 1122 can drive the outer arc long side detection component 111 to move along the Y direction through the outer arc long side moving platform 1123 to realize the outer arc length. The edge detection component 111 adjusts the position relative to the long edge of the outer arc in the curved screen along the Y direction.

A first arc-shaped hole 1125 is formed on the outer-arc long-side adjusting plate 1124, and the outer-arc long-side detection component 111 passes through the first arc-shaped hole 1125 and can be slidably matched with the first arc-shaped hole 1125, and is configured to adjust the outer arc length The angle of the edge detection assembly 111 . Since the long sides of the outer arc are rounded corners on both sides of the curved screen along the length direction, and the rounded corners are arc-shaped structures, the detection component 111 of the outer arc long side passes through the first arc-shaped hole 1125 and can slide with the first arc-shaped hole 1125 Matching, the diameter and setting position of the first arc-shaped hole 1125 match the diameter and position of the long side of the outer arc, so that the long side of the outer arc detection component 111 can better detect cracks on the long side of the outer arc. In one embodiment, the outer arc long side detection component 111 is provided with an outer arc long side locking member, and the outer arc long side locking member is released, so that the outer arc long side detection component 111 can be detected along the inner wall of the first arc hole 1125. Sliding, when the outer arc long side detection component 111 moves to the preset position of the outer arc long side, tighten the outer arc long side locking piece to fix the outer arc long side detection component 111. The positional movement of the arc-length edge detection component 111 affects the accuracy of the detection result.

In one embodiment, each set of outer arc long side detection components 111 includes two outer arc long side detection cameras, both of which slide along the first arc hole 1125, and the two outer arc long side detection cameras slide along the first arc hole 1125. The distance between the cameras is adjustable, which is used to meet the detection requirements of curved screens of different sizes, and has strong versatility. The two outer arc long side detection cameras can jointly take pictures of the cracks on the outer arc long side in the curved screen, and the detection accuracy is high.

Optionally, the outer arc long side detection mechanism 11 further includes a light source assembly 113, and the light source assembly 113 is configured to improve the brightness of the detection environment to improve the detection accuracy. In one embodiment, the light source assembly 113 includes a light source bracket 1131 and a light source 1132 connected to the light source bracket 1131 . Optionally, the light source bracket 1131 is connected to the lower side of the outer arc long side moving platform 1123 .

In order to make the position of the light source 1132 adapt to the position of the curved screen, the light source assembly 113 further includes a light source driving source 1133, the light source bracket 1131 and the light source 1132 are connected through the light source driving source 1133, and the light source driving source 1133 is arranged to drive the light source 1132 to move along the Y direction. Optionally, the light source assembly 113 is provided with two light sources 1132 along the Y direction.

Optionally, it also includes: a rotation mechanism 5, which is arranged between the outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 12, and is arranged to rotate the curved screen by a preset angle in the plane .

The sequence of the outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 12 is not limited, but for convenience of description, in this embodiment, the outer arc long side detection mechanism 11 is located upstream of the outer arc short side detection mechanism 12 as follows. example to illustrate. The outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 12 are arranged in the same direction. Therefore, in order for the outer arc short side detection mechanism 12 to detect the short side of the curved screen, the outer arc long side detection mechanism 11 and the outer arc short side detection mechanism 11 A rotation mechanism 5 is also arranged between the mechanisms 12, and the rotation mechanism 5 is set to rotate the curved screen conveyed on the first conveying device by a preset angle in the A plane. In this embodiment, the preset angle is 90°. When the shape of the curved screen changes, such as a hexagon, the preset angle can be 60°.

In one embodiment, as shown in FIG. 6 , the rotating mechanism 5 includes a rotating bracket 51 , a rotating Z-axis drive source 52 , a rotating drive source 53 and a rotating adsorption assembly 54 , the rotating support 51 is an L-shaped structure, and the rotating support 51 includes a vertical Rod and horizontal rod, the lower end of the vertical rod is connected to the base 50, the horizontal rod is connected to the upper end of the vertical rod, the rotary Z-axis drive source 52 is connected to the end of the horizontal rod away from the vertical rod, and the rotary drive source 53 is connected to the rotary Z-axis. On the driving source 52, the rotary Z-axis driving source 52 can be lifted and lowered along the Z direction, and the output end of the rotary Z-axis driving source 52 is connected to the rotary adsorption assembly 54, so that the rotary adsorption assembly 54 can rotate 90° in the A plane. The rotary Z-axis drive source 52 can be a linear module, and the rotary adsorption component 54 can be a servo motor.

Optionally, the first conveying device includes a first conveying mechanism 4, and the first conveying mechanism 4 includes:

The first driving source 41 extends along the direction in which the outer arc long side detection mechanism 11 , the rotation mechanism 5 and the outer arc short side detection mechanism 12 are arranged;

Two first correction platforms 42 are arranged to carry the curved screen and adjust the position of the curved screen in the plane, and the first drive source 41 is arranged to drive one of the two first correction platforms 42 to The curved screen is transported to the outer arc long side detection mechanism 11 , and the other one of the two first correction platforms 42 is driven to transport the curved screen to the outer arc short side detection mechanism 12 .

As shown in FIG. 7 , in order for the first conveying device to convey the curved screen to the outer arc detection mechanism 1 and the rotation mechanism 5 , the first conveying device includes a first conveying mechanism 4 . In one embodiment, the first conveying mechanism 4 is disposed on the base 50 and is located on the lower side of the rotating adsorption assembly 54 and the outer arc long side detection assembly 111 , and the first conveying mechanism 4 includes a first driving source 41 and two The first correction platform 42 . The first driving source 41 extends along the direction in which the outer arc long side detection mechanism 11 , the rotation mechanism 5 and the outer arc short side detection mechanism 12 are arranged, and the first driving source 41 may be a linear module. The two first correction platforms 42 are arranged to carry the curved screen and adjust the position of the curved screen in the A surface, and the first drive source 41 is arranged to drive one of the two first correction platforms 42 to transport the curved screen to the outer arc. The long side detection mechanism 11 drives the other one of the two first correction platforms 42 to transport the curved screen to the outer arc short side detection mechanism 12 .

In this embodiment, the first driving source 41 drives the first correction platform 42 located upstream to move back and forth between the feeding and transporting and correcting double manipulators 82 and the rotating mechanism 5, so that the first correction platform 42 accepts the feeding and transporting. The curved screen provided by the dual manipulators 82 is corrected, the curved screen is conveyed to the underside of the outer arc long side detection mechanism 11, and the curved screen is conveyed to the underside of the rotating mechanism 5, so that the rotating adsorption component 54 can adsorb the curved screen. The first drive source 41 drives the first correction platform 42 located downstream to move back and forth between the rotating mechanism 5 and the outer arc short side detection mechanism 12, so that the first correction platform 42 receives the curved screen after the rotation of the rotating suction assembly 54, And convey the curved screen to the lower side of the outer arc short side detection mechanism 12 .

In one embodiment, as shown in FIG. 8 , the first correction platform 42 includes a correction connection plate 421, a correction Y-direction drive source 422, a correction rotation drive source 423 and a correction bearing plate 424, and the correction connection plate 421 is connected to the first drive. The output terminal of the source 41, the correction Y-direction drive source 422 is connected to the correction connection plate 421, and the output terminal of the correction Y-direction drive source 422 is connected with the correction rotation drive source 423 to drive the correction rotation drive source 423 to move along the Y direction, and the correction The output end of the rotation driving source 423 is connected to the correction carrier plate 424 to drive the correction carrier plate 424 to rotate. The correction Y-direction drive source 422 may be an electromagnetic drive mechanism formed by a mover and a stator, or a screw-nut mechanism, and the correction rotation drive source 423 may be a direct drive motor.

As shown in FIG. 1 and FIG. 9 , in order to make the first correction platform 42 correct the position of the curved screen accurately, the curved screen crack detection device further includes an alignment mechanism 60 , wherein the dual manipulators 82 are corrected along the X direction and in the feeding and conveying process. A positioning mechanism 60 is provided between the outer arc long side detection mechanism 11 , and a positioning mechanism 60 is also provided on one side of the rotating mechanism 5 . The alignment mechanism 60 is configured to detect the position of the curved screen, so that the first correction platform 42 can accurately adjust the position of the curved screen, thereby ensuring the detection accuracy.

In one embodiment, as shown in FIG. 9 , the alignment mechanism 60 includes an alignment bracket 601 , an alignment drive source 602 and an alignment camera 603 , the alignment bracket 601 is a gantry structure, and the alignment bracket 601 is disposed on the base. 50, is set to carry the alignment drive source 602. According to the detection needs, the alignment drive source 602 is arranged on the alignment bracket 601 along the X direction or the Y direction. The alignment drive source 602 can be a servo motor. The camera 603 uses the alignment bracket 601 to erect the alignment camera 603 , so that the alignment camera 603 can align the curved screen while the curved screen passes through the alignment bracket 601 . The alignment drive source 602 drives the alignment camera 603 to move through the alignment mounting plate to realize the position adjustment of the alignment camera 603, so that the position of the alignment camera 603 and the positioning point of the curved surface to be detected are directly set. The mechanism can transport the curved screen to the outer arc long side detection mechanism 11 or the outer arc short side detection mechanism 12 .

In one embodiment, the number of alignment cameras 603 may be multiple, and the plurality of alignment cameras 603 are arranged in parallel and spaced apart. Optionally, in this embodiment, the number of alignment cameras 603 is two, and the number of alignment cameras 603 It can be adjusted according to actual production needs.

The working process of the outer arc detection of the curved screen crack detection device provided in this embodiment is as follows:

1. The first correction platform 42 located in the upstream accepts the curved screen provided by the feeding and handling correction double manipulator 82, and according to the position of the curved screen detected by the alignment mechanism 60, the position of the curved screen is corrected and the curved screen is transported to the outside The lower side of the arc length edge detection assembly 111 .

2. The outer arc long side detection component 111 detects the outer arc long side crack of the curved screen.

3. The first correction platform 42 located upstream transports the curved screen to the lower side of the rotation suction assembly 54 of the rotation mechanism 5 .

4. The rotating mechanism 5 absorbs the curved screen on the upstream first correction platform 42, rotates the curved screen by 90° in the A plane, and rotates the curved screen; at the same time, the upstream first correction platform 42 is transported to the feeding material The side where the correction double manipulator 82 is located moves, and the first correction platform 42 located downstream moves to the lower side of the rotary adsorption assembly 54 and receives the rotated curved screen adsorbed by the rotary adsorption assembly 54 .

5. The first correction platform 42 located downstream moves to the lower side of the outer arc short side detection mechanism 12, and the outer arc short side detection mechanism 12 detects the outer arc short side crack of the curved screen.

As shown in Figure 1 and Figure 10, after the outer arc detection is completed, the curved screen enters the inner arc detection stage. Since the inner arc and the outer arc are located on opposite sides of the curved screen, the curved screen needs to be flipped 180 degrees before entering the inner arc detection stage. °. To this end, the curved screen crack detection device further includes a turning mechanism 6, which is arranged between the outer arc detection mechanism 1 and the inner arc detection mechanism 2, and is configured to turn the curved screen conveyed on the conveying device by 180°.

In one embodiment, as shown in FIG. 10 , the turning mechanism 6 includes a turning bracket 61 , a turning Z-direction driving source 62 , a turning driving source 63 and a turning adsorption assembly 64 , the lower end of the turning bracket 61 is connected to the base 50 , and the turning Z The cylinder to the driving source 62 is connected to the inversion bracket 61 , the output end of the inversion Z-direction driving source 62 is connected to the inversion driving source 63 to drive the inversion driving source 63 to rise and fall, and the output end of the inversion driving source 63 is connected to the inversion adsorption assembly 64 , Optionally, the inversion driving source 63 extends along the Y direction to drive the inversion adsorption assembly 64 to rotate around the Y direction. When the inversion mechanism 6 is working, the inversion Z-direction driving source 62 drives the inversion driving source 63 and the inversion adsorption assembly 64 to move downward, the inversion adsorption assembly 64 adsorbs the curved screen located on the first conveying mechanism 4, and then the inversion driving source 63 drives the inversion The adsorption assembly 64 is turned 180°, and the originally downward facing surface of the curved screen is now set upward, that is, the 180° inversion of the curved screen is realized.

As shown in Figures 1 and 11, according to the layout of the curved screen crack detection equipment, the inner arc detection mechanism 2 is located on the side of the outer arc detection mechanism 1 along the Y direction, so in order to transport the curved screen to the inner arc detection mechanism 2, The curved screen crack detection device further includes a handling manipulator 20, the handling manipulator 20 is configured to adsorb the curved screen on the flipping adsorption assembly 64, and place the curved screen on the second conveying mechanism 10, wherein the second conveying mechanism 10 is the first conveying mechanism Part of the device, the second conveying mechanism 10 is arranged to transport the curved screen for the inner arc detection mechanism 2 .

The conveying manipulator 20 includes a conveying bracket 201, a Y-direction drive source 202, a Z-direction drive source 203, and a conveying suction assembly 204. The lower end of the conveying bracket 201 is connected to the base 50, and can be optionally a gantry, and the Y-direction drive source is conveyed. 202 is connected to the conveying bracket 201, the output end of the conveying Y-direction drive source 202 is connected to the conveying Z-direction drive source 203, and is set to drive the conveying Z-direction drive source 203 to reciprocate along the Y direction, and the output end of the conveying Z-direction drive source 203 It is connected with the conveying suction assembly 204 to drive the conveying suction assembly 204 to rise and fall to realize the adsorption of the curved screen placed on the first conveying mechanism 4 or placing the adsorbed curved screen on the second conveying mechanism 10 .

As shown in FIG. 1 , after the curved screen is positioned on the second conveying mechanism 10 , the inner arc detection stage can be entered, and the mechanism for performing the inner arc detection is the inner arc detection mechanism 2 . In order to detect the long side and the short side of the inner arc, optionally, the inner arc detection mechanism 2 includes an inner arc long side detection mechanism 21 and an inner arc short side detection mechanism 22, and the inner arc long side detection mechanism 21 is configured to detect the curved screen The long-side crack of the inner arc, the inner-arc short-side detection mechanism 22 is set to detect the short-side crack of the inner arc of the curved screen.

Optionally, the structures of the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22 are the same, and the structure of the inner arc long side detection mechanism 21 is described as an example below. As shown in FIG. 12, the inner arc long side detection mechanism 21 includes an inner arc long side detection component 212 and an inner arc long side adjustment component 211. The inner arc long side detection component 212 is configured to detect the inner arc long side crack of the curved screen. The arc length adjustment component 211 is connected to the inner arc length detection component 212, and the inner arc length adjustment component 211 can adjust the position of the inner arc length detection component 212 relative to the curved screen. By setting the inner arc long side adjustment component 211 to adjust the position of the inner arc long side detection component 212, the detection accuracy of the curved screen crack detection device is ensured and the curved screen crack detection device can be applied to curved screens of different sizes.

Optionally, two sets of inner arc long edge detection components 212 and inner arc long edge adjustment components 211 are provided in the X direction, and the two sets of inner arc long edge detection components 212 and the inner arc long edge adjustment components 211 are mirror image settings, and two sets of The inner arc long side detection components 212 respectively detect the inner arc long sides of the curved screen. Since the long side of the inner arc has a certain bending direction, the two symmetrically arranged long sides of the inner arc can make the detection result more accurate by mirroring the two sets of the detecting components 212 and adjusting components 211 of the long side of the inner arc.

In the following, a set of inner arc long side detection components 212 and inner arc long side adjustment components 211 are used as an example for description. As shown in FIG. The side moving drive source 2112, the inner arc long side moving platform 2113 and the inner arc long side adjusting plate 2114, the inner arc long side detection bracket 2111 is a gantry structure, the inner arc long side detection bracket 2111 is arranged on the base 50, and is arranged as The drive source 2112 is moved on the long side of the carrying inner arc. The inner arc long side moving drive source 2112 can be a moving motor, a moving cylinder or manually driven by an operator. 2113 is provided with an inner arc long side detection component 212, the inner arc long side moving drive source 2112 can drive the inner arc long side moving platform 2113, and drive the inner arc long side adjustment plate 2114 and the inner arc long side detection component 212 to approach. The inner arc long side of the curved screen moves in the direction of the inner arc long side, and the inner arc long side moving drive source 2112 can drive the inner arc long side detection component 212 to move along the Y direction through the inner arc long side moving platform 2113, so as to realize the inner arc long side detection component 212 along the Y direction Adjusts the position relative to the long edge of the inner arc in the surface screen.

A second arc hole 2115 is opened on the inner arc long side adjusting plate 2114, and the inner arc long side detection component 212 passes through the second arc hole 2115 and can be slidably matched with the second arc hole 2115, and is configured to adjust the inner arc The angle of the long edge detection assembly 212 . Since the long sides of the inner arc are rounded corners on both sides of the curved screen along the length direction, and the rounded corners are arc-shaped structures, the long-side detection component 212 of the inner arc passes through the second arc-shaped hole 2115 and can slide with the second arc-shaped hole 2115 In cooperation, the diameter and setting position of the second arc-shaped hole 2115 match the diameter and position of the long side of the inner arc, so that the inner arc long side detection component 212 can better detect cracks on the long side of the inner arc. In one embodiment, the inner arc long side detection component 212 is provided with an inner arc long side locking member, and the inner arc long side locking member is released, so that the inner arc long side detection component 212 can follow the inner wall of the second arc hole 2115 Sliding, when the inner arc long side detection assembly 212 moves to the preset position of the inner arc long side, tighten the inner arc long side locking member to fix the inner arc long side detection assembly 212, the fixing effect is good, and avoids the detection process. The positional movement of the long-side detection component 212 of the middle inner arc affects the accuracy of the detection result.

In one embodiment, each group of inner arc long side detection components 212 includes three inner arc long side detection cameras, and the three inner arc long side detection cameras all slide along the second arc hole 2115, and the three inner arc long side detection cameras all slide along the second arc hole 2115. The distance between the cameras is adjustable, which is used to meet the detection requirements of curved screens of different sizes, and has strong versatility. The three inner arc long side detection cameras can jointly take pictures of the cracks on the inner arc long side in the curved screen, and the detection accuracy is high.

Optionally, the first conveying device includes a second conveying mechanism 10 and a lifting robot 30;

The second conveying mechanism 10 includes:

The second driving source 101 extends along the direction in which the inner arc long side detection mechanism 21 , the lifting manipulator 30 and the inner arc short side detection mechanism 22 are arranged;

Two second correction platforms 102 are arranged to carry the curved screen and adjust the position of the curved screen in the plane, and the second driving source 101 is arranged to drive one of the two second correction platforms 102 to The curved screen is transported to the inner arc long side detection mechanism 21, and the other of the two second correction platforms 102 is driven to transport the curved screen to the inner arc short side detection mechanism 22;

The lifting manipulator 30 is arranged between the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22, and is arranged to switch the curved screen between the two second correction platforms 102 .

As shown in FIG. 13 , the second conveying mechanism 10 includes a second driving source 101 and a second correction platform 102 , the second correction platform 102 is connected to the output end of the second driving source 101 , and the second correction platform 102 is configured to carry a curved screen And adjust the position of the curved screen in the A plane, so that the curved screen on the second correction platform 102 is adapted to the inner arc long side detection mechanism 21 or the inner arc short side detection mechanism 22 . In order to improve the detection efficiency, during the detection process, the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22 work simultaneously. In order to make the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22 work simultaneously, the number of the second correction platforms 102 is set to two.

In order to make the curved screen transfer from the second correction platform 102 located upstream to the second correction platform 102 located downstream. The first conveying device also includes a lifting robot 30, which is arranged between the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22, and is configured to switch the curved screen between the two second correction platforms 102. .

In one embodiment, the second driving source 101 extends along the direction in which the inner arc long side detection mechanism 21 , the lifting manipulator 30 and the inner arc short side detection mechanism 22 are arranged, and the two second correction platforms 102 are respectively connected to the second driving source 101 . the two outputs are connected. The second correction platform 102 located upstream can be moved to the lower side of the conveying robot 20, the inner arc long side detection mechanism 21 and the lifting robot 30 in sequence, and the second correction platform 102 located downstream can be sequentially moved to the lifting robot 30, the inner arc short side. Edge detection mechanism 22 and downstream mechanism. Since the lifting manipulator 30 does not have the function of rotating the curved screen, in this embodiment, the second correction platform 102 can be rotated by a preset angle, so that the curved screen is transported from the inner arc long side detection mechanism 21 to the inner arc short side detection mechanism After 22, the inner arc short side detection mechanism 22 can be adapted. In this embodiment, the preset angle is 90°. In the above-mentioned inner arc detection mechanism 2, the inner arc long side detection mechanism 21 is located upstream of the inner arc short side detection mechanism 22. In other embodiments, the inner arc long side detection mechanism 21 may be located in the inner arc short side detection mechanism 22. Downstream of 22.

The structure of the second conveying mechanism 10 can be optionally the same as that of the first conveying mechanism 4 . Therefore, the structure of the second correction platform 102 is not described in detail.

The structure of the lifting robot 30 is not limited, as long as it can pick, place and lift the curved screen. In order to facilitate the adjustment of the position of the curved screen by the two second correction platforms 102 , a positioning mechanism 83 is provided upstream of the inner arc long side detection mechanism 21 and the inner arc short side detection mechanism 22 .

The process of detecting the inner arc by the curved screen crack detection device provided in this embodiment is as follows:

1. The second driving source 101 drives the second correction platform 102 located upstream to move under the conveying robot 20 , and accepts the curved screen adsorbed by the conveying robot 20 .

2. The second correction platform 102 located upstream adjusts the position of the curved screen according to the data detected by the positioning mechanism 83 , and transports the curved screen to the inner arc long side detection mechanism 21 .

3. The inner arc long side detection mechanism 21 detects the crack condition of the inner arc long side.

4. The second driving source 101 drives the second correction platform 102 located upstream to move to the lower side of the lifting robot 30, and the lifting robot 30 absorbs and lifts the curved screen.

5. The second driving source 101 drives the second correction platform 102 located downstream to move under the lifting robot 30 , and undertakes the curved screen adsorbed by the lifting robot 30 .

6. The second correction platform 102 located downstream corrects the position of the curved screen, and at the same time rotates the curved screen by 90° in the A plane, so as to adapt to the short side detection mechanism 22 of the inner arc.

7. The second drive source 101 drives the second correction platform 102 located downstream to move to the inner arc short side detection mechanism 22 .

8. The inner arc short side detection mechanism 22 detects the crack condition of the inner arc short side.

9. The second drive source 101 drives the second correction platform 102 located downstream to move to the downstream mechanism.

As shown in FIG. 1 and FIG. 14 , the above-mentioned downstream mechanism is the conveying and correcting single manipulator 7, and the conveying and correcting single manipulator 7 is arranged to adsorb the curved screen on the second correction platform 102 located downstream, and convey the curved screen along the Y direction to the The third conveying mechanism 40, the third conveying mechanism 40 conveys the curved screen to the hole area detection mechanism 3 along the X direction.

As shown in FIG. 14 , the transport correction single manipulator 7 includes a transport drive source 71 and a transport correction manipulator 72. The transport correction manipulator 72 is arranged to adsorb the curved screen and correct the position of the curved screen. The transport drive source 71 extends along the Y direction, and the transport The output end of the driving source 71 is connected to the transport correction robot 72 to drive the transport correction robot 72 to move along the Y direction and transport the curved screen. The structure of the conveying and correcting robot 72 is the same as that of the conveying and correcting single manipulator 7 , and therefore, its structure will not be repeated here.

The third conveying mechanism 40 includes a third driving source and a moving platform, the moving platform is connected to the output end of the third driving source, and the third driving source may be a linear module extending along the X direction.

In one embodiment, as shown in FIG. 15 , the hole area detection mechanism 3 includes a hole area detection component 31 and a hole area moving component 32. The hole area detection component 31 is configured to detect cracks around the camera hole in the curved screen, and the hole area moves. The component 32 is connected to the hole area detection component 31, and the hole area moving component 32 can drive the hole area detection component 31 to move toward the direction close to the camera hole. By setting the hole area moving component 32, the position of the hole area detection component 31 is adjusted to ensure the accuracy of the curved screen detection.

In one embodiment, the hole area moving component 32 includes a hole area moving driving source 321 and a hole area moving platform 322, the hole area moving driving source 321 can be a moving motor or a moving cylinder, and the hole area moving driving source 321 is arranged along the Y direction, The output end of the hole area moving driving source 321 is connected to the hole area moving platform 322, and the hole area moving platform 322 is provided with a hole area detecting component 31, and the hole area moving driving source 321 can drive the hole area detecting component through the hole area moving platform 322. 31 moves along the Y direction, so that the position of the hole area detection component 31 relative to the camera hole in the curved screen is adjusted along the Y direction.

Optionally, the hole area moving assembly 32 further includes a hole area Z-direction drive source 323, the hole area moving platform 322 is connected to the hole area detection component 31 through the hole area Z-direction drive source 323, and the hole area Z-direction drive source 323 can adjust the hole. The position of the area detection component 31 along the Z direction realizes the adjustment of the position of the hole area detection component 31 relative to the camera hole in the curved screen along the Z direction. In one embodiment, the Z-direction driving source 323 in the hole area can be directly adjusted manually, and a driving motor or driving cylinder can also be arranged along the Z-direction, and the specific form can be adjusted according to actual production needs.

Since the camera hole of the curved screen is a through-hole structure, cracks may occur on both sides of the curved screen around the camera hole. Therefore, two hole area detection components 31 and two hole area moving components 32 are provided. The hole area moving components 32 are respectively arranged on opposite sides of the curved screen, so that the two hole area detection components 31 are arranged facing each other. In order to realize one-time double-sided detection, the detection efficiency is high and the detection result is accurate.

Optionally, a discharging device 9 is also included, and the discharging device 9 includes a discharging mechanism 91 and a discharging and handling double manipulator 92;

The discharging and transporting double manipulators 92 are configured to transport the curved screens on the first conveying device and the second conveying device to the discharging mechanism 91 respectively;

The discharging mechanism 91 is configured to receive and transport the curved screen.

As shown in FIG. 16 and FIG. 17 , the discharging device 9 includes a discharging mechanism 91 and a discharging and conveying double manipulator 92 . The discharging and conveying double manipulator 92 is located at the upstream end of the discharging mechanism 91 , and the discharging and conveying double manipulator 92 is set as The curved screens conveyed by the two third conveying mechanisms 40 are respectively conveyed to the discharging mechanism 91, and the two third conveying mechanisms 40 are respectively the third conveying mechanism 40 corresponding to the first conveying device and the third conveying mechanism corresponding to the second conveying device. conveying mechanism 40 . The discharging mechanism 91 is configured to receive and transport the curved screen, so as to transport the curved screen to the downstream equipment.

As shown in FIG. 16 , the discharging and handling dual manipulators 92 include a discharging and conveying drive source 921 and two discharging manipulators 922 . The discharging manipulators 922 are set to adsorb the curved screen, and the output end of the discharging and conveying drive source 921 is connected to the discharging manipulators. 922 is connected, and drives the discharging manipulator 922 to move back and forth between the third conveying mechanism 40 and the discharging mechanism 91 along the Y direction. The discharging and conveying driving source 921 may be a linear module. The discharge manipulator 922 includes a discharge Z-direction drive source 9221 and a discharge adsorption assembly 9222. The output end of the discharge Z-direction drive source 9221 is connected to the discharge adsorption assembly 9222, and is configured to drive the discharge adsorption assembly 9222 to rise and fall along the Z direction. The discharge adsorption component 9222 is set to adsorb the curved screen. The output end of the discharging and conveying driving source 921 is connected to the discharging Z-direction driving source 9221 to drive the discharging and conveying manipulator 20 to move along the Y direction. The discharge Z-direction drive source 9221 can be a linear module, and the discharge adsorption component 9222 can absorb the curved screen by vacuum adsorption.

As shown in FIG. 17 , the discharging mechanism 91 is configured to convey the curved screen along the X direction. The discharging mechanism 91 provided in this embodiment includes a discharging bracket 911, a discharging belt drive source 912 and a discharging belt 913. The discharging belt drives The source 912 is disposed on the discharge bracket 911, the discharge belt 913 is rotatably disposed on the discharge support 911, and the discharge belt driving source 912 is drivingly connected with the discharge belt 913, and is configured to drive the discharge belt 913 to rotate. The discharging manipulator 922 places the curved screen on the discharging belt 913 , and the curved screen can be conveyed under the action of the frictional force of the discharging belt 913 . The discharge belt driving source 912 may be a motor or the like. Since the structure and working principle of the conveying mechanism for the rotation of the discharge belt 913 driven by the motor are related technologies, details are not described here.

Optionally, in order to remove the static electricity on the curved screen, an electrostatic bar 914 is also connected to the discharging bracket 911, and the static bar 914 is located on the upper side of the discharging belt 913, so as to eliminate the static electricity on the curved screen.

The working process of the curved screen crack detection device provided in this embodiment is as follows:

1. The upstream process places the curved screen to be detected on the feeding mechanism 81, and the feeding mechanism 81 transports the curved screen to the waiting area. The curved screen is placed on the first correction platform 42 located upstream of the first conveying mechanism 4 .

2. The first conveying mechanism 4 conveys the curved screen, and the outer arc detection mechanism 1 detects the cracks at the long side of the outer arc and the short side of the outer arc.

3. The turning mechanism 6 adsorbs the curved screen located on the first conveying mechanism 4 and turns the curved screen 180°.

4. The turning mechanism 6 places the curved screen on the conveying robot 20 , and the conveying robot 20 places the curved screen on the second conveying mechanism 10 .

5. The second conveying mechanism 10 conveys the curved screen, and the inner arc detection mechanism 2 detects the cracks at the long sides of the inner arc and the short sides of the inner arc.

6. The conveying and correcting single manipulator 7 adsorbs the curved screen on the second conveying mechanism 10 , and places the curved screen on the third conveying mechanism 40 , and the third conveying mechanism 40 conveys the curved screen to the hole area detection mechanism 3 .

7. The hole area detection mechanism 3 detects cracks around the camera hole.

8. The two discharging manipulators 922 of the dual manipulators 92 for discharging and transporting adsorb the curved screens on the two third conveying mechanisms 40 respectively, and transport them to the discharging mechanism 91, and the discharging mechanism 91 outputs the curved screens.

Claims

A curved screen crack detection device, comprising:

A first detection device, comprising an outer arc detection mechanism (1) configured to detect an outer arc crack of a curved screen, an inner arc detection mechanism (2) configured to detect an inner arc crack of the curved screen, and an inner arc detection mechanism (2) configured to detect the curved screen A hole area detection mechanism (3) for cracks around the holes on the screen;

A first conveying device configured to carry the curved screen and transport the curved screen to the outer arc detection mechanism (1), the inner arc detection mechanism (2) and the first detection device respectively A hole area detection mechanism (3).
The curved screen crack detection device according to claim 1, wherein the outer arc detection mechanism (1) comprises:

an outer arc long side detection mechanism (11), configured to detect long side cracks of the outer arc of the curved screen;

An outer arc short side detection mechanism (12) is configured to detect short side cracks of the outer arc of the curved screen.
The curved screen crack detection device according to claim 2, further comprising:

A rotation mechanism (5) is arranged between the outer arc long side detection mechanism (11) and the outer arc short side detection mechanism (12), and is arranged to rotate the curved screen by a preset angle in a plane.
The curved screen crack detection device according to claim 3, wherein the first conveying device comprises a first conveying mechanism (4), and the first conveying mechanism (4) comprises:

a first driving source (41) extending along the direction in which the outer arc long side detection mechanism (11), the rotation mechanism (5) and the outer arc short side detection mechanism (12) are arranged;

Two first correction platforms (42) are arranged to carry the curved screen and adjust the position of the curved screen in a plane, and the first drive source (41) is arranged to drive the two first correction platforms ( 42) one of the curved screen is conveyed to the outer arc long side detection mechanism (11), and the other one of the two first correction platforms (42) is driven to convey the curved screen to the An outer arc short side detection mechanism (12).
The curved screen crack detection device according to claim 1, further comprising:

A turning mechanism (6) is arranged between the outer arc detection mechanism (1) and the inner arc detection mechanism (2), and is arranged to turn the curved screen by 180°.
The curved screen crack detection device according to claim 1, wherein the inner arc detection mechanism (2) comprises:

an inner arc long side detection mechanism (21), configured to detect long side cracks of the inner arc of the curved screen;

An inner arc short side detection mechanism (22) is configured to detect short side cracks of the inner arc of the curved screen.
The curved screen crack detection device according to claim 6, wherein the first conveying device comprises a second conveying mechanism (10) and a lifting robot (30);

The second conveying mechanism (10) includes:

A second driving source (101) extends along the direction in which the inner arc long side detection mechanism (21), the lifting robot (30) and the inner arc short side detection mechanism (22) are arranged;

Two second correction platforms (102) are arranged to carry the curved screen and adjust the position of the curved screen in a plane, and the second drive source (101) is arranged to drive the two second correction platforms ( 102) to deliver the curved screen to the inner arc long side detection mechanism (21), and drive the other of the two second correction platforms (102) to deliver the curved screen to the An inner arc short side detection mechanism (22);

The lifting manipulator (30) is arranged between the inner arc long side detection mechanism (21) and the inner arc short side detection mechanism (22), and is arranged so that the curved screen is positioned between the two second sides. Switch between correction platforms (102).
The curved screen crack detection device according to any one of claims 1-7, further comprising:

The second detection device has the same structure as the first detection device and is symmetrically arranged with the first detection device;

a second conveying device, configured to convey the curved screen to the outer arc detection mechanism (1), inner arc detection mechanism (2) and hole area detection mechanism (3) of the second detection device, respectively;

A feeding device (8) is configured to convey the curved screen for the first conveying device and the second conveying device respectively.
The curved screen crack detection device according to claim 8, wherein the feeding device (8) comprises:

a feeding mechanism (81), configured to transfer the curved screen to the waiting area;

The feeding and handling correction double manipulators (82) are configured to grab the curved screen in the waiting area, adjust the position of the curved screen, and place the curved screen on the first conveying device and the curved screen respectively. on the second conveying device.
The curved screen crack detection device according to claim 8, further comprising a discharging device (9), the discharging device (9) comprising a discharging mechanism (91) and a discharging and handling double manipulator (92);

The discharging and handling double manipulators (92) are configured to respectively transport the curved screens on the first conveying device and the second conveying device to the discharging mechanism (91);

The discharging mechanism (91) is configured to receive and transport the curved screen.