Ultra-thin and ultra-large display screen fitting method, display screen and display equipment

Abstract

The invention discloses an ultra-thin and ultra-large display screen laminating method, a display screen and display equipment, and belongs to the technical field of display, a manipulator dispensing path is generated according to the characteristics of a laminating adhesive material and the size of the display screen, a manipulator feeding speed curve is constructed in combination with the limitation of a manipulator, and a manipulator feeding speed curve is constructed according to the dispensing path and the feeding speed curve. Laminating the laminating adhesive material to the surface of the display screen, pre-curing the laminating adhesive material, placing the pre-cured laminating adhesive material in a laminating press machine, laminating the pre-cured laminating adhesive material in a step-by-step pressure applying mode, and performing pressure uniformity detection to obtain a display screen assembly; and marking defect information of the display screen component image by adopting an image recognition technology so as to construct a comprehensive quality evaluation model, carrying out comprehensive quality evaluation on the display screen component, and then carrying out display screen component post-processing. The problems of precision and stability of gluing glue dispensing path planning, feeding speed control, pressure applying and gluing and quality detection in the gluing process of the ultra-thin and ultra-large display screen are solved.

Description

Technical Field

[0001] The present invention relates to the field of display technology, and more particularly to an ultra-thin and ultra-large display screen laminating method, a display screen and a display device. Background Art

[0002] With the development of display technology, the demand for ultra-thin and ultra-large displays in consumer electronics, commercial displays, industrial applications and other fields has increased dramatically. Such displays not only require high resolution, thinness and low energy consumption, but also require high-precision bonding during the production process. However, traditional bonding methods have many shortcomings, such as difficulty in ensuring bonding accuracy, low production efficiency, and delayed quality inspection. The introduction of intelligent production and detection technology can effectively improve the efficiency and reliability of the bonding process, and provide solutions for the mass production and high-quality production of ultra-thin and ultra-large displays.

[0003] A Chinese patent with publication number CN119024586A discloses a method for bonding a display screen, comprising: providing a cover plate and a TFT screen to be bonded, cleaning the surfaces of the cover plate and the TFT screen until they are clean; preheating the OCA optical glue, melting it to a transparent state and bonding it to the surface of the cover plate; bonding the TFT screen and the surface of the cover plate bonded with the OCA optical glue to form a preliminary bonded product; baking the preliminary bonded product at 50°C to 70°C for 3 to 5 hours; and irradiating the preliminary bonded product with UV light to solidify the transparent OCA optical glue, thereby achieving full bonding of the TFT screen and the cover plate.

[0004] Although the prior art softens the OCA optical glue and reduces the adhesion by adding a heat baking process, thereby reducing the stress on the TFT screen and reducing the uneven display, it still fails to solve the problem that when laminating ultra-thin and ultra-large display screens, the distribution of the glue and the pressure process cannot be accurately controlled, and the laminating quality is not fully tested and controlled, resulting in unstable laminating effects, uneven distribution of the glue, insufficient laminating strength, and difficulty in meeting the high-quality laminating requirements of large-size display screens. Therefore, in order to overcome these limitations, the present invention proposes an ultra-thin and ultra-large display screen laminating method, display screen, and display device. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method for bonding an ultra-thin and ultra-large display screen, a display screen and a display device, which solve the problems of accuracy and stability of glue dispensing path planning, feeding speed control, pressure bonding and quality inspection during the bonding process of ultra-thin and ultra-large display screens.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for laminating an ultra-thin and ultra-large display screen comprises the following steps:

[0008] Step S1: obtaining bonding materials, including a display screen, bonding adhesive materials, and a carrier substrate, and cleaning the display screen and the carrier substrate and placing them in a dust-free environment;

[0009] Step S2: based on the viscosity, fluidity, curing time of the bonding adhesive and the size of the display screen, mark key points, generate a robot dispensing path, and build a robot feeding speed curve in combination with the movement speed limit and acceleration limit of the robot. According to the bonding adhesive characteristics, the dispensing path and the feeding speed curve, the real-time dispensing flow of the robot is adaptively adjusted;

[0010] Step S3: the robot adheres the bonding adhesive material to the surface of the display screen according to the dispensing path and the feeding speed curve. After the bonding adhesive material is applied, the edge of the bonding adhesive material is pre-cured;

[0011] Step S4: performing laser positioning and alignment on the display screen and the carrier substrate, placing the pre-laminated display screen and the carrier substrate in a laminating press, laminating the display screen and the carrier substrate in a step-by-step pressure mode, acquiring force distribution data in real time, and performing pressure uniformity detection to obtain a display screen assembly consisting of the laminated display screen and the carrier substrate;

[0012] Step S5: Perform quality inspection on the display screen assembly, obtain the display screen assembly image, and perform image acquisition quality assessment on the acquired display screen assembly image according to the defect difference score. If the image acquisition quality assessment passes, use image recognition technology to mark the defect information of the display screen assembly image to construct a comprehensive quality assessment model, perform comprehensive quality assessment on the display screen assembly, and post-process the display screen assembly according to the comprehensive assessment result.

[0013] Specifically, the steps of generating the robot dispensing path include:

[0014] Get the size of the display screen, including the length and width of the display screen. In the plane rectangular coordinate system, take the upper left corner vertex of the display screen as the coordinate origin, the length is along the x-axis direction, and the width is along the y-axis direction. According to the maximum effective working stroke of the manipulator in the x-axis direction and the y-axis direction, respectively get the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction;

[0015] According to the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction, the length and width of each processing area are obtained, the display screen is divided into a plurality of processing areas, and the boundary vertex coordinates and position coordinates of each processing area are obtained;

[0016] According to the viscosity and fluidity of the bonding adhesive material and the empirical coefficient, the initial spacing of a single dispensing path in each processing area is obtained;

[0017] According to the initial spacing of a single dispensing path, the number of dispensing paths in the length direction of the processing area is calculated. If the number of dispensing paths is not an integer, the number of dispensing paths is rounded down and the spacing of the single dispensing paths is readjusted. Otherwise, no operation is performed.

[0018] Specifically, the steps of generating the robot dispensing path also include:

[0019] Each processing area is divided into processing sub-areas according to the interval of a single dispensing path. The width of the processing sub-area is consistent with the width of the processing area, and the length of the processing sub-area is the interval of a single dispensing path.

[0020] Get the coordinates of the boundary vertices of each processing sub-area, take the upper left vertex of each processing sub-area as the starting point, the upper right vertex as the end point, take the midpoint of the lower left vertex and the lower right vertex of the processing sub-area as the turning point, and use a V shape to mark the key points of the processing sub-area. The key points include the starting point, turning point, and end point.

[0021] Connect the starting point, turning point and end point in the processing sub-area in sequence to construct a single dispensing path for the processing sub-area, and connect the end points and starting points of adjacent single dispensing paths in the processing area to form a dispensing path for the processing area;

[0022] Take the top left corner of the display screen as the starting point of the robot dispensing path, and traverse each processing area of ​​the display screen in the order of first row and then column according to the position coordinates of the processing area. For each processing area currently traversed, add the dispensing path of the processing area to the robot dispensing path data structure;

[0023] If the starting point of the dispensing path of the currently traversed processing area coincides with the end point of the dispensing path of the previously traversed processing area, no processing is performed; otherwise, a transition path is constructed to connect the starting point of the dispensing path of the currently traversed processing area with the end point of the dispensing path of the previously traversed processing area;

[0024] Traverse the dispensing paths of all processing areas of the display screen, and add transition paths between the dispensing paths of the processing areas to obtain the dispensing path of the robot.

[0025] Specifically, the steps of generating the robot feeding speed curve include:

[0026] The robot dispensing path is divided into a plurality of robot execution paths based on the transition path in the robot dispensing path. Each robot execution path is divided into different execution stages, including a starting stage, a straight stage, a turning stage, and an ending stage.

[0027] Get the maximum speed and maximum acceleration of the robot, and set the initial acceleration of the starting stage according to the length of the execution distance and the target feeding speed of the starting stage, that is:

[0028]

[0029] Among them, a start is the initial acceleration at the start, S start is the length of the execution distance at the start stage, v s is the target feeding rate, a max is the maximum acceleration of the manipulator;

[0030] In the initial stage, time is used as the independent variable and uniformly accelerated linear motion is performed according to the initial acceleration to generate the initial stage feeding speed curve.

[0031] Specifically, the step of generating the manipulator feeding speed curve also includes:

[0032] Get the speed at the end of the initial stage. If it is equal to the target feeding speed, then generate the feeding speed curve of the straight-line stage according to the uniform linear motion; otherwise, calculate the path length to reach the target feeding speed according to the initial acceleration;

[0033] Obtain the speed at the turning stage, and calculate the required turning acceleration when the speed at the turning point of the turning stage is zero;

[0034] When entering the turning stage, take time as the independent variable and perform uniform deceleration linear motion according to the turning acceleration until reaching the turning point. After passing the turning point, take time as the independent variable and perform uniform acceleration linear motion according to the turning acceleration to generate the feeding speed curve of the turning stage;

[0035] Get the speed at the end stage, and calculate the required end acceleration when the speed at the end point of the end stage is zero;

[0036] If the end acceleration is greater than the maximum acceleration of the robot, an acceleration abnormality warning is issued and the execution stage is re-divided. Otherwise, with time as the independent variable, a uniform deceleration linear motion is performed according to the end acceleration to generate the end stage feeding speed curve;

[0037] According to the feeding speed curves of the starting stage, the straight stage, the turning stage and the ending stage, a complete feeding speed curve of the robot is formed.

[0038] Specifically, the steps of obtaining the robot dispensing flow rate include:

[0039] Set the thickness of the glue layer, according to the spacing of a single dispensing path, the viscosity, fluidity, and curing time of the adhesive material, and obtain the initial dispensing flow rate of the robot per unit time, that is:

[0040]

[0041] Where h is the set adhesive layer thickness, d is the spacing of a single dispensing path, μ is the fluidity of the adhesive, η is the viscosity of the adhesive, and t c is the curing time of the bonding adhesive, α is the flow rate empirical coefficient, obtained through simulation experiments;

[0042] The dispensing flow rate is proportional to the speed of the robot, that is, the dispensing flow rate per unit time will change with the speed of the robot. According to the robot feeding speed curve, the robot speed at time t is obtained. Combined with the flow correction coefficient, the dispensing flow rate is adaptively adjusted to obtain the robot dispensing flow rate at time t.

[0043] Specifically, the distributed pressure modes include:

[0044] Set three-step pressure application stages, including low pressure initial pressure stage, medium pressure stabilization stage, and high pressure final pressure stage, and set the maximum pressure for each pressure application stage, including the maximum pressure of the low pressure initial pressure stage, the maximum pressure of the medium pressure stabilization stage, and the maximum pressure of the high pressure final pressure stage;

[0045] In the low pressure initial stage, the pressure starts from zero and the low pressure rise rate v is set. l , pressure in v per second l The rate increases linearly until the pressure reaches the maximum pressure of the low pressure initial pressure stage;

[0046] In the medium pressure stabilization stage, the pressure starts from the maximum pressure in the low pressure initial pressure stage and increases based on the low pressure pressure rise rate to obtain the medium pressure rise rate, i.e., v m =γ×v l , where γ is a positive number greater than 1, and the pressure is based on the maximum pressure in the low pressure initial stage, with a rate of v per second. m The rate increases linearly until the pressure reaches the maximum pressure of the medium pressure initial pressure stage;

[0047] In the high pressure final pressure stage, the pressure starts from the maximum pressure in the medium pressure initial pressure stage and increases based on the medium pressure rise rate to obtain the high pressure rise rate, i.e., v h =δ×v l , where δ is a positive number greater than γ, and the pressure is based on the maximum pressure in the medium pressure stable stage, with a rate of v per second. h The rate increases linearly until the pressure reaches the maximum pressure in the medium pressure initial pressure stage.

[0048] Specifically, the steps of display screen assembly quality inspection include:

[0049] Configure an acquisition threshold, acquire display screen component images according to the acquisition threshold, and perform image recognition on each display screen component image to obtain defect information in the display screen component image;

[0050] Randomly select defect information of two collected display component images for information comparison, and obtain defect difference scores by comparing the difference in the number of defect types, the data difference in the number of defects, and the difference in the size of defects at similar defect locations;

[0051] Configure a difference score threshold. If the defect difference score of the display component image is greater than the difference score threshold, a quality assessment warning is issued to remind maintenance personnel to inspect the image acquisition device to provide accurate image information. Otherwise, a display component quality assessment is performed.

[0052] Summarize the defect information in the collected display screen component images, obtain the union of the defect information in each display screen component image, and generate a defect information set;

[0053] Perform a comprehensive quality assessment on the display screen components according to the defect information set, build a comprehensive quality assessment model based on the defect type, defect quantity and defect size in the defect information set, and calculate the comprehensive quality assessment score of the display screen components;

[0054] Configure the evaluation score threshold, including the upper evaluation score threshold and the lower evaluation score threshold. If the comprehensive quality evaluation score of the display screen component is greater than the upper evaluation score threshold, subsequent processing is carried out. If the comprehensive quality evaluation score of the display screen component is less than the lower evaluation score threshold, defect repair is carried out, otherwise in-depth maintenance is carried out.

[0055] An ultra-thin and ultra-large display screen is used in the field of electrical equipment application technology, comprising a protective glass layer, a touch sensing layer, a polarizer layer, a liquid crystal display layer, a backlight layer, a heat dissipation layer, a drive circuit board layer and a back cover layer.

[0056] An ultra-thin and ultra-large display device is composed of a display screen and a device body connected by a flexible hinge. The flexible hinge is made of a high-strength stainless steel and flexible rubber composite material. The device body includes a body frame, a base, a bracket, an electronic component compartment and a heat dissipation component.

[0057] Beneficial effects of the present invention:

[0058] 1. The robot dispensing path generated according to the characteristics of the bonding adhesive and the size of the display screen is used to mark key points in a "V" shape and divide the fine processing area. Combined with the reasonable initial dispensing spacing calculation, the uniform laying of the bonding adhesive on the display screen is ensured.

[0059] 2. The pressure is precisely controlled at each stage, from low-pressure initial pressure to eliminate tiny bubbles, medium-pressure to stably fill the gap and initiate initial curing, to high-pressure final pressure to ensure full curing. This allows the display screen to fit closely to the carrier substrate, with strong intermolecular bonding, effectively preventing debonding during subsequent use and transportation, and improving the long-term stability of the product.

[0060] 3. Configure the acquisition threshold, difference score threshold, and evaluation score threshold to control the quality from the source of image acquisition. By comparing and summarizing defect information, use the comprehensive quality assessment model to accurately judge the quality level of display components, accurately screen out defective products, and take corresponding measures in time to prevent defective products from flowing into the next process, thereby ensuring the quality of the final product to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a flow chart of a method for laminating an ultra-thin and ultra-large display screen according to the present invention;

[0062] Figure 2 A flowchart of the specific steps of generating the dispensing path of the robot of the present invention;

[0063] Figure 3 A flow chart of the specific steps of generating a feeding speed curve of the manipulator of the present invention;

[0064] Figure 4 A flowchart of specific steps of pressure uniformity detection of the present invention;

[0065] Figure 5 The present invention is a flowchart of the specific steps of quality inspection of the display screen assembly. DETAILED DESCRIPTION

[0066] Example 1

[0067] See also Figure 1 This embodiment introduces a method for laminating an ultra-thin and ultra-large display screen, comprising the following steps:

[0068] Step S1: obtaining bonding materials, including a display screen, bonding adhesive materials, and a carrier substrate, and cleaning the display screen and the carrier substrate and placing them in a dust-free environment;

[0069] In this embodiment, a display screen, bonding adhesive material, and a carrier substrate are selected according to the final use and performance requirements of the product, a cleaning workstation is set up, and an ion air gun, a dust-free cloth, a high-purity isopropyl alcohol solvent, and a vacuum adsorption platform are equipped. The display screen and the carrier substrate are placed on the vacuum adsorption platform, the ion air gun is turned on, the surface static electricity is neutralized, and dust adsorption is reduced. A dust-free cloth is dipped in a proper amount of isopropyl alcohol solvent to clean the bonding surface of the display screen and the carrier substrate, and impurities such as oil and dust on the surface are removed. After cleaning, the display screen and the substrate are transferred to a dust-free environment.

[0070] Step S2: Based on the viscosity, fluidity, curing time of the bonding adhesive and the size of the display screen, the robot dispensing path is generated by marking key points in a 'V' shape, and the robot feeding speed curve is constructed in combination with the movement speed limit and acceleration limit of the robot. In addition, the real-time dispensing flow of the robot is adaptively adjusted according to the bonding adhesive characteristics, the dispensing path and the feeding speed curve, so that the robot can run smoothly during feeding and prevent the bonding adhesive from splashing or unevenly distributed due to inertia.

[0071] In this embodiment, a rheometer is used to test the viscosity and fluidity of the bonding adhesive to obtain the viscosity, fluidity and curing time of the bonding adhesive. A three-dimensional scanner is used to scan the display screen to obtain the size of the display screen, including length and width. The scanned point cloud data is processed and converted into a three-dimensional model. Path smoothness constraints are set, and a path planning algorithm is used to generate a dispensing path to avoid sharp turns and other situations that may lead to uneven distribution of the bonding adhesive. The generated dispensing path can shorten the feeding time as much as possible while ensuring uniform distribution of the bonding adhesive. Combined with the movement speed limit and acceleration limit of the robot, with time as the horizontal axis and the feeding speed of the robot as the vertical axis, a feeding speed curve of the robot is generated, so that in the initial stage, a lower acceleration is used to slowly start the robot, and the speed gradually increases to avoid the inertial splashing of the bonding material caused by instantaneous high-speed start; in the feeding process, the speed is dynamically adjusted according to the complexity of the path, and a stable speed is maintained in the straight section when the bonding material is evenly distributed. The speed and acceleration are reduced at the corners or near the edge of the display screen where fine control is required; in the ending stage, the speed is decelerated in advance to prevent the bonding material from being unevenly accumulated due to sudden stop, and according to the bonding material characteristics, the dispensing path and the feeding speed curve, the initial dispensing flow of the robot is first calculated, and then the flow is adaptively adjusted in real time in combination with the speed, so as to comprehensively ensure that the bonding material is evenly and stably distributed on the display screen during the bonding process to achieve high-quality bonding.

[0072] See also Figure 2 Preferably, the specific steps of generating the robot dispensing path include:

[0073] Get the size of the display screen, including the length and width of the display screen. In the plane rectangular coordinate system, take the upper left corner vertex of the display screen as the coordinate origin, the length is along the x-axis direction, set to L, and the width is along the y-axis direction, set to W. According to the maximum effective working stroke of the manipulator in the x-axis direction and the y-axis direction, respectively get the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction, that is:

[0074]

[0075]

[0076] Among them, N x N is the number of rows of the processing area divided by the display screen in the x-axis direction. y is the number of columns of the processing area divided by the display screen in the y-axis direction, x max and max is the maximum effective working stroke of the manipulator in the x-axis and y-axis directions at a time, Ψ(·) is the upward rounding function;

[0077] According to the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction, the length and width of each processing area are obtained, the display screen is divided into multiple processing areas, and the boundary vertex coordinates and position coordinates of each processing area are obtained, the boundary vertex coordinates include the upper left corner coordinates, the lower left corner coordinates, the upper right corner coordinates, and the lower right corner coordinates, and the position coordinates are the row and column positions of the processing area on the display screen;

[0078] According to the viscosity and fluidity of the bonding adhesive, the initial spacing of a single dispensing path in each processing area is obtained, that is:

[0079]

[0080] Where d1 is the initial spacing of a single dispensing path, κ is an empirical coefficient with a value range of [0.5, 2] obtained by experiment, μ is the fluidity of the bonding adhesive, and η is the viscosity of the bonding adhesive;

[0081] According to the initial spacing of a single dispensing path, the number of dispensing paths in the length direction of the processing area is calculated. If the number of dispensing paths is not an integer, the number of dispensing paths is rounded down and the spacing of a single dispensing path is readjusted, otherwise no operation is performed; this avoids situations such as incomplete coverage of bonding glue or repeated dispensing due to unreasonable spacing, and further optimizes the uniformity and accuracy of dispensing.

[0082] Each processing area is divided into processing sub-areas according to the interval of a single dispensing path. The width of the processing sub-area is consistent with the width of the processing area, and the length of the processing sub-area is the interval of a single dispensing path.

[0083] Get the coordinates of the boundary vertices of each processing sub-area, take the upper left vertex of each processing sub-area as the starting point, the upper right vertex as the end point, take the midpoint of the lower left vertex and the lower right vertex of the processing sub-area as the turning point, and use a "V" shape to mark the key points of the processing sub-area. The key points include the starting point, turning point, and end point. This defines the key positions where the bonding material flows within the sub-area, which helps to plan a smooth and reasonable dispensing path that meets the characteristics of the bonding material and actual operation requirements, and ensures the continuity and effectiveness of dispensing.

[0084] The starting point, turning point and end point in the processing sub-area are connected in sequence to construct a single dispensing path for the processing sub-area, and the end points and starting points of adjacent single dispensing paths in the processing area are connected to form the dispensing path for the processing area; the specific laying trajectory of the bonding material in each processing area is clarified, so that the bonding material can be distributed in the corresponding area in an orderly manner according to the predetermined plan, so as to achieve the bonding material coverage effect required for bonding.

[0085] Taking the top left corner vertex of the display screen as the starting point of the robot's dispensing path, each processing area of ​​the display screen is traversed in the order of rows first and columns according to the position coordinates of the processing area. For each processing area currently traversed, the dispensing path of the processing area is added to the robot's dispensing path data structure; the dispensing paths of each scattered processing area are integrated to provide an overall path planning basis for the subsequent continuous and smooth dispensing operation, ensuring that the robot can dispense glue to each area in sequence.

[0086] If the starting point of the dispensing path of the currently traversed processing area coincides with the end point of the dispensing path of the previously traversed processing area, no processing is performed; otherwise, a transition path is constructed to connect the starting point of the dispensing path of the currently traversed processing area with the end point of the dispensing path of the previously traversed processing area;

[0087] If the currently traversed processing area is in the same row and adjacent to the last traversed processing area, the transition path moves along the x-axis direction of the display screen, and the moving distance is the distance between the end point and the starting point of the dispensing path of the two processing areas; if they are adjacent processing areas in different rows, the transition path first moves along the u-axis direction to the position corresponding to the next row, and then moves to the starting point of the processing area according to the horizontal distance. The moving distance is calculated and determined based on the boundary coordinates of the processing area.

[0088] Traverse the dispensing paths of all processing areas of the display screen, and add transition paths between the dispensing paths of the processing areas to obtain the dispensing path of the robot; cover all processing areas of the entire display screen that need to be dispensed and the reasonable connection method between the processing areas, and can guide the robot to perform dispensing operations in a predetermined order, trajectory and spacing, so as to achieve accurate, uniform and continuous distribution of the bonding adhesive when the display screen is bonded, ensuring the smooth completion of the dispensing work and the quality and effect of product bonding.

[0089] See also Figure 3 Preferably, the specific steps of generating the manipulator feeding speed curve include:

[0090] Based on the transition path in the robot dispensing path, the robot dispensing path is divided into multiple robot execution paths. For each robot execution path, it is divided into different execution stages, including the starting stage, the straight stage, the turning stage and the ending stage; so that the subsequent fine-tuning of the robot movement speed can be carried out in a targeted manner according to the characteristics of different stages, laying the foundation for achieving uniform and smooth distribution of bonding adhesive materials.

[0091] Get the maximum speed and maximum acceleration of the robot, and set the initial acceleration of the starting stage according to the length of the execution distance and the target feeding speed of the starting stage, that is:

[0092]

[0093] Among them, a start is the initial acceleration at the start, S start is the length of the execution distance at the start stage, v s is the target feeding rate, a max It is the maximum acceleration of the robot; it avoids the problem of the laminating adhesive material splashing due to inertia caused by starting too quickly, resulting in waste of laminating adhesive material, uneven distribution and possible pollution to the display screen.

[0094] In the initial stage, time is used as the independent variable and uniformly accelerated linear motion is performed according to the initial acceleration to generate a starting stage feeding speed curve; this ensures that the bonding adhesive can be laid in a stable and controllable state in the initial stage, avoiding defects such as bonding adhesive accumulation or breakpoints caused by initial speed fluctuations.

[0095] Get the speed at the end of the initial stage. If it is equal to the target feeding speed, then generate the feeding speed curve of the straight-line stage according to the uniform linear motion; otherwise, calculate the path length to reach the target feeding speed according to the initial acceleration, that is:

[0096]

[0097] Among them, S1 is the path length to reach the target feeding speed. If it is greater than the execution distance of the straight-line stage, an acceleration abnormality warning is issued and the execution stage is re-divided. Otherwise, with time as the independent variable, uniformly accelerated linear motion is performed according to the initial acceleration until the target feeding speed is reached, and uniform linear motion is performed to generate a straight-line stage feeding speed curve; ensure that no matter what the initial acceleration is in the straight-line segment, it can eventually be adjusted to a suitable stable speed, so that the bonding material can evenly and completely cover the straight-line segment area, avoiding the phenomenon of missing or accumulation of bonding material.

[0098] Get the speed at the turning stage, and calculate the required turning acceleration when the speed at the turning point of the turning stage is zero, that is:

[0099]

[0100] Among them, v turn is the speed at the turning stage, S turn is the execution distance from the starting point of the turning phase to the turning point, a turn is the turning acceleration;

[0101] When entering the turning stage, with time as the independent variable, uniform deceleration linear motion is performed according to the turning acceleration until reaching the turning point. After passing the turning point, with time as the independent variable, uniform acceleration linear motion is performed according to the turning acceleration to generate the turning stage feeding speed curve; the bonding adhesive can still be evenly and continuously laid in the complex turning path to meet the bonding requirements of the edges and special-shaped areas of the display screen.

[0102] Get the speed at the end stage, and calculate the required end acceleration when the speed at the end of the end stage is zero, that is:

[0103]

[0104] Among them, v end is the speed to the end stage, S end is the execution distance from the starting point of the end phase to the end point of the end phase, a end is the end acceleration;

[0105] If the end acceleration is greater than the maximum acceleration of the robot, an acceleration abnormality warning is issued and the execution stage is re-divided. Otherwise, with time as the independent variable, a uniform deceleration linear motion is performed according to the end acceleration to generate the end stage feeding speed curve;

[0106] According to the feeding speed curves of the starting stage, straight stage, turning stage, and ending stage, a complete feeding speed curve of the robot is formed. This guides the feeding speed changes of the robot during the entire dispensing process to ensure that the bonding adhesive can be evenly and smoothly distributed on the display screen to achieve high-quality display screen bonding. Build a complete speed guide throughout the entire dispensing process. The robot operates according to the feeding speed curve, automatically and accurately adjusts the speed at different stages, and comprehensively guarantees that the bonding adhesive can be evenly and smoothly distributed on the display screen from the starting point to the end point, whether it is a straight line, a turn, or the starting and ending areas, and finally achieves high-quality and high-reliability bonding effects for ultra-thin and ultra-large displays, effectively improving product yield and production efficiency.

[0107] Preferably, the specific steps of obtaining the robot dispensing flow rate include:

[0108] Set the thickness of the glue layer, according to the spacing of a single dispensing path, the viscosity, fluidity, and curing time of the adhesive material, and obtain the initial dispensing flow rate of the robot per unit time, that is:

[0109]

[0110] Where h is the set adhesive layer thickness, d is the spacing of a single dispensing path, v is the fluidity of the adhesive, η is the viscosity of the adhesive, and t c is the curing time of the bonding adhesive, and α is the flow rate empirical coefficient, which is obtained through simulation experiments. According to the characteristics of the bonding adhesive itself and the dispensing path planning, the appropriate bonding adhesive output per unit time under ideal conditions can be preliminarily determined.

[0111] The dispensing flow rate is proportional to the speed of the robot, that is, the dispensing flow rate per unit time will change with the robot speed. According to the robot feeding speed curve, the robot speed at time t is obtained, and the dispensing flow rate is adaptively adjusted in combination with the flow correction coefficient to obtain the robot dispensing flow rate at time t, that is:

[0112] Q(t)=β×Q×v(t)

[0113] Among them, Q(t) is the dispensing flow rate of the robot at time t, v(t) is the robot speed at time t, and β is the flow correction coefficient obtained by experiment. At different stages, the dispensing flow rate is changed in real time according to the actual speed of the robot, so that the bonding adhesive can always be laid in the most appropriate amount under various complex dispensing paths and speed change scenarios, thereby maximizing the uniformity and accuracy of the distribution of the bonding adhesive and the degree of compliance with the display screen bonding process requirements, which ultimately helps to improve the overall quality and yield rate of display screen bonding.

[0114] Step S3: According to the dispensing path of the robot, the feeding speed curve and the real-time dispensing flow rate, the bonding adhesive is bonded to the surface of the display screen. After the bonding adhesive is applied, the edge of the bonding adhesive is pre-cured to prevent the bonding adhesive from shifting, laying a solid foundation for subsequent operations.

[0115] In this embodiment, during the operation of the robot, the bonding adhesive material is distributed according to the robot dispensing path, the feeding speed curve and the real-time dispensing flow rate. Once the dispensing work is completed, the edge of the bonding adhesive material is pre-cured to prevent the bonding adhesive material from shifting during the subsequent operation. The purpose of pre-curing is to quickly form a preliminary cured layer in the edge area of ​​the bonding adhesive material to fix the position of the bonding adhesive material.

[0116] Step S4: laser positioning is used to align the display screen and the carrier substrate, and the pre-laminated display screen and the carrier substrate are placed in a laminating press, and the display screen and the carrier substrate are laminated using a step-by-step pressure mode, and force distribution data is obtained in real time, and pressure uniformity detection is performed to obtain a display screen assembly consisting of the laminated display screen and the carrier substrate;

[0117] In this embodiment, a high-precision laser emitting and receiving device is selected. Four laser positioning sensors are symmetrically arranged on the bonding workbench according to the placement area of ​​the display screen and the carrier substrate, respectively located near the four corners of the workbench. The four laser sensors simultaneously emit laser beams to the display screen and the carrier substrate. According to the received laser feedback data, the micro-displacement platform under the workbench is driven to move the display screen according to the calculated adjustment amount so that the display screen is aligned with the carrier substrate. After completing the laser positioning alignment, the pre-pressing device located above the workbench is started. The pre-pressing device uses a pressure head made of flexible silicone bonding adhesive, and its shape is adapted to the bonding surface contour of the display screen and the carrier substrate to ensure uniform pressure distribution. The pre-pressing device is driven by air pressure, and the pressure can be accurately controlled to apply pre-pressure to the display screen and the carrier substrate for pre-bonding. At this time, the bonding adhesive begins to play a preliminary role in viscosity, but has not yet been fully cured and still has a certain fluidity, ready for subsequent formal bonding. A bonding press with pressure control and data acquisition functions is selected. The bonding press has multiple pressure sensors integrated inside, which are evenly distributed under the pressure plate to form a pressure monitoring array. The pressure values ​​at different positions during the press process are measured in real time. In addition, the press is also equipped with a heating device, which can heat the display assembly during the bonding process to meet the curing requirements of the heat-curing bonding adhesive. According to the characteristics of the bonding adhesive and the bonding requirements of the display assembly, a three-step press mode is set. The first step is the low-pressure initial pressure stage. The main purpose of this stage is to further compact the display and the carrier substrate, so that the bonding adhesive is more evenly distributed and possible tiny bubbles are eliminated; the second step is the medium-pressure stabilization stage. At this time, the bonding adhesive gradually fills all gaps under pressure, and a preliminary thermal curing reaction begins at the same time; the third step is the high-pressure final pressure stage. This stage ensures that the bonding adhesive is fully cured, and the display and the carrier substrate are tightly combined to achieve the final bonding strength requirements. During the entire press process, the pressure sensor array inside the press continuously collects pressure data at each position. Based on statistical principles, the collected pressure data is processed to determine whether the pressure distribution is uniform. If the pressure deviation exceeds the allowable range, an early warning will be issued to prompt the operator to check and adjust. Possible adjustment measures include checking whether the display screen or the carrier substrate is placed flat, cleaning impurities on the surface of the pressure plate, etc., to ensure that the pressure uniformity meets the requirements during the entire bonding process.

[0118] Preferably, the distributed pressure mode includes:

[0119] Set three-step pressure application stages, including low pressure initial pressure stage, medium pressure stabilization stage, and high pressure final pressure stage, and set the maximum pressure for each pressure application stage, including the maximum pressure in the low pressure initial pressure stage Maximum pressure during medium pressure stabilization phase Maximum pressure at high pressure final stage

[0120] In the low pressure initial stage, the pressure starts from zero and the low pressure rise rate v is set. l , pressure in v per second l The rate of linear increase, that is, the low pressure P l and low pressure time t l The relationship is P l =v l ×t l , until the pressure reaches the maximum pressure of the low pressure initial pressure stage Relatively low pressure is used to make the display screen and the supporting substrate fit more closely at the beginning. The bonding adhesive material begins to extend evenly under pressure based on its own viscosity and fluidity, filling the tiny gaps and using the pressure difference to squeeze out any tiny bubbles that may exist.

[0121] In the medium pressure stabilization stage, the pressure starts from the maximum pressure in the low pressure initial pressure stage and increases based on the low pressure pressure rise rate to obtain the medium pressure rise rate v m =γ×v l , where γ is a positive number greater than 1, and the pressure is based on the maximum pressure in the low pressure initial stage, with a rate of v per second. m The rate of increase is linear, that is, the medium pressure P m With medium pressure time t m The relationship is Until the pressure reaches the maximum pressure of the medium pressure initial pressure stage During this stage, as the pressure increases, the bonding adhesive material flows faster and gradually fills all the gaps between the display and the carrier substrate based on its rheological properties. The molecular chains gradually cross-link, improving the initial strength of the material.

[0122] In the high pressure final pressure stage, the pressure starts from the maximum pressure in the medium pressure initial pressure stage and increases based on the medium pressure rise rate to obtain the high pressure rise rate v h =δ×v l , where δ is a positive number greater than γ, and the pressure is based on the maximum pressure in the medium pressure stable stage, with a rate of v per second. h The rate of increase is linear, that is, the high pressure P h With high pressure time t h The relationship is Until the pressure reaches the maximum pressure of the medium pressure initial pressure stage The high-intensity pressure causes the molecular chains of the bonding adhesive to be deeply cross-linked and entangled, ensuring that the bonding adhesive is fully cured. From the material mechanics level, it guarantees that the display screen and the carrier substrate are tightly combined to achieve the final bonding strength standard.

[0123] See also Figure 4 Preferably, the specific steps of pressure uniformity detection include:

[0124] When the pre-laminated display screen and carrier substrate are placed in the laminating press and the step-by-step press mode is started, the data acquisition function of the pressure sensor array inside the press is turned on. The pressure sensors are evenly distributed under the press plate and can sense the pressure conditions at different positions in real time.

[0125] Set the pressure sensor to collect data at fixed time intervals to ensure that sufficiently detailed and continuous pressure data changes can be obtained during the pressure application process, providing sufficient data basis for subsequent accurate analysis of pressure uniformity;

[0126] The pressure values ​​collected by the pressure sensor are classified and stored according to the position number corresponding to each pressure sensor, and the collection time is marked to form a dynamically updated pressure data record library;

[0127] Configure the evaluation cycle. Every other evaluation cycle, extract the pressure value collected by the pressure sensor in the current evaluation cycle from the stored pressure data record library for the subsequent calculation of the reference pressure value. The selection of the evaluation cycle duration needs to comprehensively consider factors such as the overall duration of the pressure application process and the characteristics of the bonding adhesive. It must ensure that the pressure changes can be reflected in a timely manner, but it should not be too frequent, resulting in excessive calculations and affecting the real-time performance of the system.

[0128] The pressure values ​​of the pressure sensors extracted during the evaluation period are summed up and then divided by the total number of pressure sensors to obtain a reference pressure value during the period;

[0129] Configure the pressure deviation range, which is set according to the characteristics of the bonding adhesive, bonding process requirements and past practical experience. For the pressure value collected by each pressure sensor during the evaluation period, calculate the difference between it and the reference pressure value, i.e., the pressure deviation value, and obtain the deviation of each pressure sensor position relative to the average pressure level;

[0130] Check each pressure deviation value in turn. If all pressure deviation values ​​are within the pressure deviation range, the pressure distribution at the current moment is determined to be uniform, indicating that the pressure application process is proceeding normally and the bonding quality is under control in terms of pressure uniformity. Otherwise, if a pressure deviation value exceeds the pressure deviation range, the pressure distribution is determined to be uneven, which means that there are risk factors that affect the bonding quality and corresponding processing is required in a timely manner.

[0131] When it is determined that the pressure distribution is uneven, the early warning mechanism is triggered, and the operator is reminded through sound and light alarms that uneven pressure has occurred during the current pressurization process, so that the operator can be aware of it in time and take appropriate measures to deal with it.

[0132] Step S5: Perform quality inspection on the display screen assembly, obtain the display screen assembly image, and perform image acquisition quality assessment on the acquired display screen assembly image according to the defect difference score. If the image acquisition quality assessment passes, use image recognition technology to mark the defect information of the display screen assembly image to construct a comprehensive quality assessment model, perform comprehensive quality assessment on the display screen assembly, and post-process the display screen assembly according to the comprehensive assessment result.

[0133] In this embodiment, an image acquisition device is used to acquire images of the display screen assembly, and the acquired images are preprocessed first, including grayscale, noise reduction, contrast enhancement and other operations, to improve the image quality, so that the algorithm can more accurately identify defects. Then, a deep learning-based convolutional neural network model is used to scan and analyze each image pixel by pixel. The convolutional neural network model is trained with a large amount of labeled display screen defect image data, and can identify defect types including bright spots, dark spots, bad lines, afterimages, etc., and further obtain its shape, size and other characteristics, and mark the location, size and type of the defect on the display screen. Finally, the detection results of all images are summarized, and the display screen assembly is comprehensively evaluated in combination with the detected display defects to score the display screen assembly, and post-processing is performed according to the quality level, including defect repair, deep maintenance, and continued processing.

[0134] See also Figure 5 Preferably, the specific steps of quality inspection of the display screen assembly include:

[0135] Configure the acquisition threshold to measure the number of display screen component images collected, collect display screen component images according to the acquisition threshold, and perform image recognition on each display screen component image to obtain defect information in the display screen component image, including defect type, defect number, defect size and defect location;

[0136] Randomly select the defect information of two collected display component images for information comparison. By comparing the difference in the number of defect types, the data difference in the number of defects, and the difference in the size of defects at similar defect locations, the defect difference score is obtained, that is:

[0137]

[0138] Among them, D score is the defect difference score, and are the number of defects in the two collected display component images, m i,1 and m i,2 are the number of defects of the i-th defect type in the two acquired display component images, is the sum of all defect types, Γ j,1is the defect size of the jth defect in the first display component image, Γ j,2 is the size of the defect in the second display component image that is closest to the jth defect position in the first display component image, m1 * is the number of defects in the first display component image, and They are the non-negative weighted coefficients of the difference in the number of defect types, the data difference in the number of defects, and the difference in the defect sizes at similar defect locations, obtained by experiments;

[0139] Configure a difference score threshold. If the defect difference score of the display component image is greater than the difference score threshold, a quality assessment warning is issued to remind maintenance personnel to inspect the image acquisition device to provide accurate image information. Otherwise, a display component quality assessment is performed.

[0140] Summarize the defect information in the collected display component images, obtain the union of the defect information in each display component image, and generate a defect information set, that is, obtain the defect type, defect quantity, defect size and defect position of all defects in the collected display component images;

[0141] The display screen components are comprehensively evaluated according to the defect information set, and a comprehensive quality evaluation model is constructed by combining the defect type, defect quantity and defect size in the defect information set to calculate the comprehensive quality evaluation score of the display screen components, namely:

[0142]

[0143] Among them, Q score is the comprehensive quality assessment score of the display components, Q max is the maximum value of the comprehensive quality evaluation score of the display components. is the sum of all defect types, ω q is the non-negative weighting coefficient of the qth defect type, and its value is obtained by experiment. is the number of defects of the qth defect type, Γ p is the defect size of the pth defect of the qth defect type;

[0144] Configure the evaluation score threshold, including the upper evaluation score threshold and the lower evaluation score threshold. If the comprehensive quality evaluation score of the display screen component is greater than the upper evaluation score threshold, subsequent processing is performed. If the comprehensive quality evaluation score of the display screen component is less than the lower evaluation score threshold, defect repair is performed to repair detail defects. Otherwise, in-depth repair is performed.

[0145] Example 2

[0146] This embodiment introduces an ultra-thin and ultra-large display screen, which is applied to the field of electrical equipment application technology, including a protective glass layer, a touch sensing layer, a polarizer layer, a liquid crystal display layer, a backlight layer, a heat dissipation layer, a driving circuit board layer, and a back cover layer;

[0147] The protective glass layer is used to protect the internal display components from external physical impact, scratches, etc., and to ensure light transmittance, clarity and visibility of the display;

[0148] The touch sensing layer integrates capacitive touch sensing technology, and is composed of a touch electrode array made of transparent conductive material evenly distributed on the glass substrate;

[0149] The polarizer layer contains two layers of polarizers that are perpendicular to each other and are located on the upper and lower sides of the liquid crystal display layer to enhance the contrast and color saturation of the displayed image, making the image display clearer and more vivid;

[0150] The liquid crystal display layer is composed of liquid crystal molecules sandwiched between two transparent conductive glass substrates, which is used to control the electric field changes of the liquid crystal molecules corresponding to each pixel to ensure the accuracy and stability of the image display;

[0151] The backlight layer adopts an edge-entry or direct-down backlight design. By placing multiple small cold cathode fluorescent lamps or light-emitting diode light strips on the side of the display screen, the light is evenly guided to the entire display area using a light guide plate to provide higher brightness uniformity and contrast. It is suitable for electrical equipment with high display quality requirements.

[0152] The heat dissipation layer is made of graphite heat sink or metal heat sink with high thermal conductivity to avoid problems such as display performance degradation and shortened life due to overheating;

[0153] The driver circuit board layer is used to carry the driver chip, control circuit and signal interface of the display screen. The driver chip is responsible for decoding and processing the image signal and touch signal transmitted from the device host, and converting them into electrical signals suitable for the operation of various components of the display screen to control the display status of each pixel. The circuit board adopts multi-layer printed circuit board technology to achieve high-density circuit wiring. The signal interface part provides connection methods with the electrical device host, including HDMI, DisplayPort, and USB-C, to ensure stable and high-speed data transmission.

[0154] The back cover is made of plastic, metal or composite material to protect the internal components.

[0155] Example 3

[0156] This embodiment introduces an ultra-thin and ultra-large display device, which is composed of a display screen and a device body connected by a flexible hinge, the flexible hinge is made of a high-strength stainless steel and flexible rubber composite material, and the device body includes a body frame, a base, a bracket, an electronic component compartment, and a heat dissipation component;

[0157] The body frame is used to strengthen the thickness of key stress-bearing parts, including the display connection area and the base support points, to ensure that it can withstand external impacts such as daily handling and minor collisions, while meeting the requirements of ultra-thin and ultra-large display devices for a simple and exquisite appearance;

[0158] The base is used to ensure the stability of the display device on the flat surface;

[0159] The bracket is used to achieve vertical lifting and lowering adjustment, horizontal rotation and pitch angle adjustment of the display screen through an electric push rod or a mechanical gear structure;

[0160] The electronic component compartment is used to house core components such as the mainboard, power module, and signal processing chip, ensuring that the display device can quickly process massive amounts of image and video data and smoothly run various complex software applications;

[0161] The heat dissipation component is used to quickly transfer heat to the cooling fins through the microchannel heat pipes built into the key heat-generating components and the phase change heat absorption principle of the coolant.

[0162] Working principle and effect:

[0163] First, obtain bonding materials such as display screen, bonding adhesive, and carrier substrate, clean the display screen and carrier substrate, and place them in a dust-free environment. Then, based on the viscosity, fluidity, curing time of the bonding adhesive and the size of the display screen, construct a plane rectangular coordinate system with the vertex in the upper left corner of the display screen as the coordinate origin, and divide the display screen processing area in combination with the maximum effective working stroke of the manipulator in the coordinate axis direction, and obtain the boundary vertices and position coordinates of each area; determine the initial spacing of a single dispensing path based on the characteristics of the bonding adhesive combined with the empirical coefficient, and obtain the actual spacing after calculation and adjustment. Based on this, divide the processing sub-areas, use the "V" shape to mark the key points, connect them in sequence to construct the dispensing path, traverse each area in the order of first row and then column, add the transition path, and finally generate the dispensing path of the manipulator. At the same time, the robot execution path is divided based on the transition path in the robot dispensing path. For the execution stages such as starting, straight line, turning, and ending, the corresponding acceleration is calculated based on the maximum speed and maximum acceleration of the robot, combined with the execution distance of each stage, the target feeding speed and other parameters. With time as the independent variable, the feeding speed curve of each stage is generated through uniform acceleration, uniform speed, and uniform deceleration linear motion, and then a complete robot feeding speed curve is formed; the initial dispensing flow of the robot is obtained according to the set glue layer thickness, the spacing of a single dispensing path, the characteristics of the bonding glue material and the flow experience coefficient, and the dispensing flow is adaptively adjusted by combining the robot feeding speed curve and the flow correction coefficient. Then, the robot bonds the bonding glue material to the surface of the display screen according to the dispensing path and the feeding speed curve, and pre-cures the edge of the bonding glue material after completion. After that, the display screen and the carrier substrate are positioned and aligned using laser technology, and placed in a bonding press. A step-by-step pressure mode is used, which includes three stages: low-pressure initial pressure, medium-pressure stability, and high-pressure final pressure. Each stage is linearly increased according to the set maximum pressure and pressure rise rate. The force distribution data is obtained in real time for pressure uniformity detection, and the bonding of the display screen and the carrier substrate is completed to obtain the display screen assembly. Finally, the display screen assembly is quality inspected, and the display screen assembly image is collected by configuring the acquisition threshold. The defect information is obtained through image recognition. Two images are randomly selected to compare the defect type, quantity, location and size difference, and the defect difference score is calculated. The difference score threshold is used to determine whether to issue an early warning; the defect information in the collected image is summarized to generate a defect information set, and a comprehensive quality assessment model is constructed based on the defect information set. Combined with the assessment score threshold, the subsequent processing method is determined based on the comprehensive quality assessment score of the display screen assembly, including subsequent processing, defect repair or deep maintenance.

[0164] Through the above-mentioned bonding method and subsequent testing process, the bonding operation of ultra-thin and ultra-large display screens can be completed accurately. In the bonding process, it is ensured that the bonding adhesive is dispensed reasonably and the bonding is uniform and accurate, which effectively improves the bonding quality of the display screen components; in the quality inspection link, the display screen components of different quality states are accurately screened to achieve targeted subsequent processing, thereby improving the overall production yield rate, ensuring the display function of the ultra-thin and ultra-large display screens used in electrical equipment, and the structural stability and performance of the display device formed by connecting it to the equipment body through a specific flexible hinge.

[0165] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for laminating an ultra-thin and ultra-large display screen, characterized in that: The following steps are involved: Step S1: obtaining bonding materials, including a display screen, bonding adhesive materials, and a carrier substrate, and cleaning the display screen and the carrier substrate and placing them in a dust-free environment; Step S2: based on the viscosity, fluidity, curing time of the bonding adhesive and the size of the display screen, mark key points, generate a robot dispensing path, and build a robot feeding speed curve in combination with the movement speed limit and acceleration limit of the robot. According to the bonding adhesive characteristics, the dispensing path and the feeding speed curve, the real-time dispensing flow of the robot is adaptively adjusted; Step S3: the robot adheres the bonding adhesive material to the surface of the display screen according to the dispensing path and the feeding speed curve. After the bonding adhesive material is applied, the edge of the bonding adhesive material is pre-cured; Step S4: performing laser positioning and alignment on the display screen and the carrier substrate, placing the pre-laminated display screen and the carrier substrate in a laminating press, laminating the display screen and the carrier substrate in a step-by-step pressure mode, acquiring force distribution data in real time, and performing pressure uniformity detection to obtain a display screen assembly consisting of the laminated display screen and the carrier substrate; Step S5: Perform quality inspection on the display screen assembly, obtain the display screen assembly image, and perform image acquisition quality assessment on the acquired display screen assembly image according to the defect difference score. If the image acquisition quality assessment passes, use image recognition technology to mark the defect information of the display screen assembly image to construct a comprehensive quality assessment model, perform comprehensive quality assessment on the display screen assembly, and post-process the display screen assembly according to the comprehensive assessment result.

2. The method for laminating an ultra-thin and ultra-large display screen according to claim 1, characterized in that: The steps of generating the robot dispensing path include: Get the size of the display screen, including the length and width of the display screen. In the plane rectangular coordinate system, take the upper left corner vertex of the display screen as the coordinate origin, the length is along the x-axis direction, and the width is along the y-axis direction. According to the maximum effective working stroke of the manipulator in the x-axis direction and the y-axis direction, respectively get the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction; According to the number of processing areas divided by the display screen in the x-axis direction and the y-axis direction, the length and width of each processing area are obtained, the display screen is divided into a plurality of processing areas, and the boundary vertex coordinates and position coordinates of each processing area are obtained; According to the viscosity and fluidity of the bonding adhesive material and the empirical coefficient, the initial spacing of a single dispensing path in each processing area is obtained; According to the initial spacing of a single dispensing path, the number of dispensing paths in the length direction of the processing area is calculated. If the number of dispensing paths is not an integer, the number of dispensing paths is rounded down and the spacing of the single dispensing paths is readjusted. Otherwise, no operation is performed.

3. The method for laminating an ultra-thin and ultra-large display screen according to claim 2, characterized in that: The step of generating the robot dispensing path also includes: Each processing area is divided into processing sub-areas according to the interval of a single dispensing path. The width of the processing sub-area is consistent with the width of the processing area, and the length of the processing sub-area is the interval of a single dispensing path. Get the coordinates of the boundary vertices of each processing sub-area, take the upper left vertex of each processing sub-area as the starting point, the upper right vertex as the end point, take the midpoint of the lower left vertex and the lower right vertex of the processing sub-area as the turning point, and use a V shape to mark the key points of the processing sub-area. The key points include the starting point, turning point, and end point. Connect the starting point, turning point and end point in the processing sub-area in sequence to construct a single dispensing path for the processing sub-area, and connect the end points and starting points of adjacent single dispensing paths in the processing area to form a dispensing path for the processing area; Take the top left corner of the display screen as the starting point of the robot dispensing path, and traverse each processing area of ​​the display screen in the order of first row and then column according to the position coordinates of the processing area. For each processing area currently traversed, add the dispensing path of the processing area to the robot dispensing path data structure; If the starting point of the dispensing path of the currently traversed processing area coincides with the end point of the dispensing path of the previously traversed processing area, no processing is performed; otherwise, a transition path is constructed to connect the starting point of the dispensing path of the currently traversed processing area with the end point of the dispensing path of the previously traversed processing area; Traverse the dispensing paths of all processing areas of the display screen, and add transition paths between the dispensing paths of the processing areas to obtain the dispensing path of the robot.

4. The method for laminating an ultra-thin and ultra-large display screen according to claim 1, characterized in that: The step of generating the manipulator feeding speed curve comprises: The robot dispensing path is divided into a plurality of robot execution paths based on the transition path in the robot dispensing path. Each robot execution path is divided into different execution stages, including a starting stage, a straight stage, a turning stage, and an ending stage. Get the maximum speed and maximum acceleration of the robot, and set the initial acceleration of the starting stage according to the length of the execution distance and the target feeding speed of the starting stage, that is: Among them, a start is the initial acceleration at the start, S start is the length of the execution distance at the start stage, v s is the target feeding rate, a max is the maximum acceleration of the manipulator; In the initial stage, time is used as the independent variable and uniformly accelerated linear motion is performed according to the initial acceleration to generate the initial stage feeding speed curve.

5. The method for laminating an ultra-thin and ultra-large display screen as claimed in claim 4, characterized in that: The step of generating the manipulator feeding speed curve also includes: Get the speed at the end of the initial stage. If it is equal to the target feeding speed, then generate the feeding speed curve of the straight-line stage according to the uniform linear motion; otherwise, calculate the path length to reach the target feeding speed according to the initial acceleration; Obtain the speed at the turning stage, and calculate the required turning acceleration when the speed at the turning point of the turning stage is zero; When entering the turning stage, take time as the independent variable and perform uniform deceleration linear motion according to the turning acceleration until reaching the turning point. After passing the turning point, take time as the independent variable and perform uniform acceleration linear motion according to the turning acceleration to generate the feeding speed curve of the turning stage; Get the speed at the end stage, and calculate the required end acceleration when the speed at the end point of the end stage is zero; If the end acceleration is greater than the maximum acceleration of the robot, an acceleration abnormality warning is issued and the execution stage is re-divided. Otherwise, with time as the independent variable, a uniform deceleration linear motion is performed according to the end acceleration to generate the end stage feeding speed curve; According to the feeding speed curves of the starting stage, the straight stage, the turning stage and the ending stage, a complete feeding speed curve of the robot is formed.

6. The method for laminating an ultra-thin and ultra-large display screen according to claim 1, characterized in that: The steps of obtaining the robot dispensing flow rate include: Set the thickness of the glue layer, according to the spacing of a single dispensing path, the viscosity, fluidity, and curing time of the adhesive material, and obtain the initial dispensing flow rate of the robot per unit time, that is: Where h is the set adhesive layer thickness, d is the spacing of a single dispensing path, μ is the fluidity of the adhesive, η is the viscosity of the adhesive, and t c is the curing time of the bonding adhesive, α is the flow rate empirical coefficient, obtained through simulation experiments; The dispensing flow rate is proportional to the speed of the robot, that is, the dispensing flow rate per unit time will change with the speed of the robot. According to the robot feeding speed curve, the robot speed at time t is obtained. Combined with the flow correction coefficient, the dispensing flow rate is adaptively adjusted to obtain the robot dispensing flow rate at time t.

7. The method for laminating an ultra-thin and ultra-large display screen according to claim 1, characterized in that: The distributed pressure mode includes: Set three-step pressure application stages, including low pressure initial pressure stage, medium pressure stabilization stage, and high pressure final pressure stage, and set the maximum pressure for each pressure application stage, including the maximum pressure of the low pressure initial pressure stage, the maximum pressure of the medium pressure stabilization stage, and the maximum pressure of the high pressure final pressure stage; In the low pressure initial stage, the pressure starts from zero and the low pressure rise rate v is set. l , pressure in v per second l The rate increases linearly until the pressure reaches the maximum pressure of the low pressure initial pressure stage; In the medium pressure stabilization stage, the pressure starts from the maximum pressure in the low pressure initial pressure stage and increases based on the low pressure pressure rise rate to obtain the medium pressure rise rate, i.e., v m =γ×v l , where γ is a positive number greater than 1, and the pressure is based on the maximum pressure in the low pressure initial stage, with a rate of v per second. m The rate increases linearly until the pressure reaches the maximum pressure of the medium pressure initial pressure stage; In the high pressure final pressure stage, the pressure starts from the maximum pressure in the medium pressure initial pressure stage and increases based on the medium pressure rise rate to obtain the high pressure rise rate, i.e., v h =δ×v l , where δ is a positive number greater than γ, and the pressure is based on the maximum pressure in the medium pressure stable stage, with a rate of v per second. h The rate of increase is linear until the pressure reaches the maximum pressure of the medium pressure initial pressure stage.

8. The method for laminating an ultra-thin and ultra-large display screen according to claim 1, characterized in that: The steps of the display screen assembly quality inspection include: Configure an acquisition threshold, acquire display screen component images according to the acquisition threshold, and perform image recognition on each display screen component image to obtain defect information in the display screen component image; Randomly select defect information of two collected display component images for information comparison, and obtain defect difference scores by comparing the difference in the number of defect types, the data difference in the number of defects, and the difference in the size of defects at similar defect locations; Configure a difference score threshold. If the defect difference score of the display component image is greater than the difference score threshold, a quality assessment warning is issued to remind maintenance personnel to inspect the image acquisition device to provide accurate image information. Otherwise, a display component quality assessment is performed. Summarize the defect information in the collected display screen component images, obtain the union of the defect information in each display screen component image, and generate a defect information set; Perform a comprehensive quality assessment on the display screen components according to the defect information set, build a comprehensive quality assessment model based on the defect type, defect quantity and defect size in the defect information set, and calculate the comprehensive quality assessment score of the display screen components; Configure the evaluation score threshold, including the upper evaluation score threshold and the lower evaluation score threshold. If the comprehensive quality evaluation score of the display screen component is greater than the upper evaluation score threshold, subsequent processing is carried out. If the comprehensive quality evaluation score of the display screen component is less than the lower evaluation score threshold, defect repair is carried out, otherwise in-depth maintenance is carried out.

9. An ultra-thin and ultra-large display screen, applied in the field of electrical equipment application technology, which is based on an ultra-thin and ultra-large display screen bonding method according to any one of claims 1 to 8, characterized in that: The display screen comprises a protective glass layer, a touch sensing layer, a polarizer layer, a liquid crystal display layer, a backlight layer, a heat dissipation layer, a driving circuit board layer and a rear cover layer.

10. An ultra-thin and ultra-large display device, which is based on the ultra-thin and ultra-large display screen in claim 9 and is connected to a device body by a flexible hinge, characterized in that: The flexible hinge is made of a high-strength stainless steel and flexible rubber composite material, and the device body includes a body frame, a base, a bracket, an electronic component compartment and a heat dissipation component.

Images