Liquid crystal panel cleaning robot and cleaning control method thereof

Abstract

The invention relates to the technical field of display screen cleaning, and provides a liquid crystal panel cleaning robot which comprises a base, a cleaning mechanism, a fixing mechanism and a pushing mechanism, the fixing mechanism at least comprises a conveying support, a conveying chain plate, a driving part and a suction cup assembly, and a feeding mechanical arm and a discharging mechanical arm are arranged at the two ends of the fixing mechanism; the pushing mechanism is used for pushing the suction cup assembly to get close to the cleaning mechanism, and the liquid crystal panel adsorbed to the suction cup assembly is tightly attached to the cleaning mechanism to be cleaned. Through cooperation of the pushing mechanism, the cleaning mechanism and the conveying chain plate, feeding and discharging are automatic, the liquid crystal panel on the liquid crystal panel can be pushed to the cleaning mechanism for cleaning work, continuity of cleaning work of the liquid crystal panel is achieved, feeding, discharging and cleaning of the liquid crystal panel are conducted synchronously, cleaning work can be conducted in batches, and the production efficiency is improved. And the cleaning efficiency of the liquid crystal panel is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of display screen cleaning, and particularly relates to a liquid crystal panel cleaning robot and a cleaning control method thereof. Background Art

[0002] LED display screens have been deeply loved by people in recent years. During the production process of display screens, various stains are likely to adhere to the display screens, such as dust, oil stains, etc.; therefore, it is necessary to clean the display screens and clean the surfaces of the display screens. Currently, there are devices for cleaning the surfaces of display screens in various ways.

[0003] CN115684194U discloses an intelligent display screen cleaning system, including a dust-free box body, a conveying device, a cleaning roller group, an exhaust fan, an image acquisition device, an adjustable lighting device, a dirt cleaning device, an air inlet, a central control unit, and a display unit, for correspondingly adjusting relevant devices according to primary dirt information and secondary dirt information; by actively changing the lighting angle of the display screen to be cleaned, the problem of inaccurate acquisition of the surface dirt image of the display screen to be cleaned is avoided.

[0004] CN113369185B discloses a cleaning device for a display screen, including a base, a first telescopic rod fixedly connected to the base, a top plate fixedly connected to the output shaft of the first telescopic rod, a vertical plate fixedly connected perpendicularly to the top plate, an abutting plate fixedly connected to one side of the lower end of the vertical plate, a sliding groove formed in the vertical plate, a slider slidably disposed in the sliding groove, a threaded rod rotatably connected to the slider through a bearing, a moving block threadedly penetrating through the threaded rod, the moving block slidably disposed in the sliding groove, a connecting block fixedly connected to the moving block, the threaded rod threadedly penetrating through the connecting block, hinge plates hinged to both sides of the connecting block, brushes hinged to the lower ends of the two hinge plates, a limiting mechanism disposed between the two brushes, a T-shaped block fixedly connected to the slider, and a second telescopic rod fixedly connected to the top plate, the output end of the second telescopic rod being fixedly connected to the T-shaped block, capable of clamping display screens of different sizes during cleaning.

[0005] In the prior art, when cleaning the surface of a display screen, existing cleaning devices usually require manual fixation of the display screen to the clamping mechanism and then cleaning of the display screen; however, the method of manual loading and fixation has low efficiency. After cleaning one display screen, it is necessary to stop the machine to disassemble and fix the display screen, and continuous cleaning of the display screen cannot be carried out, and the cleaning efficiency is affected. Summary of the Invention

[0006] In the prior art, when cleaning the surface of a display screen, continuous and efficient cleaning work cannot be performed, and the cleaning liquid cannot be added in a timely manner according to requirements by manual addition or automatic addition, and the addition amount of the added cleaning liquid cannot be guaranteed.

[0007] In view of this, the present invention aims to provide a liquid crystal panel cleaning robot. In the present invention, the cleaning robot includes a base, a cleaning mechanism and a fixing mechanism disposed on the base. The fixing mechanism at least includes a conveying bracket, a conveying chain plate, a conveying driving member for driving the conveying of the conveying chain plate, and a plurality of suction cup assemblies disposed on the conveying chain plate. The suction cup assemblies are used for adsorbing and fixing the liquid crystal panel; the cleaning mechanism performs cleaning work on the liquid crystal panel on the suction cup assemblies at the cleaning station, and at least one of the suction cup assemblies is located within the cleaning station; Feeding robotic arms and discharging robotic arms are provided at both ends of the fixing mechanism. The feeding robotic arm and the discharging robotic arm are respectively used for feeding and discharging the liquid crystal panel on the suction cup assemblies; A pushing mechanism is further provided on the base. The pushing mechanism is used to push the suction cup assemblies within the cleaning station towards the cleaning mechanism, so that the liquid crystal panel adsorbed on the suction cup assemblies is pressed against the cleaning mechanism for cleaning.

[0008] Further, the cleaning mechanism includes a support plate, an adjusting cylinder, a cleaning bracket, a winding roller, an unwinding roller, a conveying roller, a cleaning motor and a cleaning cloth. The support plate is disposed on the base, and the adjusting cylinder is mounted on the support plate. The adjusting cylinder is connected to the cleaning bracket to control the cleaning bracket to approach or move away from the fixing mechanism; The winding roller, the unwinding roller and the conveying roller are all mounted on the cleaning bracket. The cleaning motor drives the winding roller and the unwinding roller to rotate for winding and unwinding work; at least two conveying rollers are provided. The cleaning cloth is tensioned on the winding roller, the conveying rollers and the unwinding roller. The cleaning cloth between the conveying rollers forms a vertically arranged cleaning area, and at least a part of the cleaning area is located within the cleaning station.

[0009] Further, the cleaning cloth includes a porous cleaning layer and a swinging cleaning layer. The porous cleaning layer faces the fixing mechanism. Brush hairs are provided on the swinging cleaning layer, and the brush hairs pass through the porous cleaning layer to contact the liquid crystal panel; The cleaning mechanism further includes a pressing roller mounted on the cleaning bracket and a pressing motor for driving the pressing roller to rotate. The pressing roller is in contact with the swinging cleaning layer, and the pressing motor can drive the pressing roller to rotate at a rotation speed different from that of the conveying roller.

[0010] Further, the pushing mechanism includes a fixed column, a rotating plate sleeved outside the fixed column, an arc plate disposed on the rotating plate, and a pushing plate and a liquid supply plate disposed on the fixed column; The fixed column is installed on the conveying support, and a rotation driving member for driving the rotation plate to rotate is arranged on the conveying support; two moving grooves are formed in the side of the fixed column, and one end of the material pushing plate and the liquid supply plate are respectively inserted into one of the moving grooves and are slidably connected with the moving grooves. A first return spring is arranged on the side of the moving groove far away from the rotation plate; the arc-shaped plate can rotate with the rotation plate and sequentially contact the material pushing plate and the liquid supply plate, driving the material pushing plate and the liquid supply plate to move in the moving grooves. The material pushing plate is arranged in the cleaning station and can contact the suction cup assembly; the liquid supply plate can contact the cleaning mechanism and convey cleaning liquid to the cleaning mechanism.

[0011] Further, a liquid storage cavity for storing cleaning liquid is formed in the fixed column, a piston member is arranged in the liquid storage cavity, and one end of the liquid supply plate extends into the liquid storage cavity and is connected with the piston member; liquid supply channels are formed in both the piston member and the liquid supply plate, and a liquid supply port is formed on the contact surface of the liquid supply plate with the cleaning mechanism, and the liquid supply port is communicated with the liquid supply channel. One end of the fixed column is provided with a liquid replenishing cylinder, one end of the liquid replenishing cylinder is inserted into the fixed column and is threadedly connected with the fixed column, a liquid replenishing port is formed in the liquid replenishing cylinder, and the liquid replenishing port is communicated with the liquid storage cavity; one-way valves are arranged in both the liquid replenishing port and the liquid supply channel.

[0012] Further, a water retreating roller is arranged on the conveying support on the side close to the blanking robotic arm; a water retreating motor for controlling the rotation of the water retreating roller is installed on the conveying support; a water scraping strip is arranged at one end of the water retreating roller, and a drainage groove is arranged on the water-facing surface of the water scraping strip.

[0013] Further, an elastic air bag is arranged at one end of the water retreating roller far away from the water scraping strip, and an exhaust hole is arranged on the side of the elastic air bag; an ultra-fine fiber cloth is arranged outside the elastic air bag, and a unwinding mechanism and a winding mechanism for the ultra-fine fiber cloth are arranged in the water retreating roller; an adjusting plate is arranged at the bottom of the elastic air bag, and a plurality of adjusting cylinders with different installation angles are installed inside the water retreating roller, and the output end of the adjusting cylinder is connected with the adjusting plate through a hinge seat.

[0014] Further, the conveying chain plate comprises a plurality of conveying plates connected in sequence, and adjacent conveying plates are hinged; through holes are formed in each of the conveying plates, and the suction cup assembly is arranged inside the through holes. A sliding column is connected to the suction cup assembly, the sliding column is slidably connected with the through hole, a second return spring is sleeved on the sliding column, a limiting block is connected to the sliding column, and the second return spring connects the limiting block and the conveying plate.

[0015] The present invention also discloses a cleaning control method for a liquid crystal panel, which is applicable to the above-mentioned liquid crystal panel cleaning robot, and includes the following steps: Step 1, when the loading robotic arm performs the loading work, obtain an image of the liquid crystal panels in the loading area to be cleaned in the current batch, determine the pollution degree of the liquid crystal panels according to the image, determine the cleaning mode of the cleaning mechanism according to the pollution degree, and issue a corresponding cleaning instruction; Step 2, in response to the cleaning instruction, adjust the cleaning mode of the cleaning mechanism to perform the cleaning work on the liquid crystal panels; Among them, in Step 2, the adjusting the cleaning mode of the cleaning mechanism includes: Adjust the cleaning mechanism to the continuous cleaning mode according to the continuous cleaning instruction. In the continuous cleaning mode, rotate the cleaning bracket in the cleaning mechanism to rotate the cleaning cloth to a state parallel to the conveying chain plate, and control the adjusting cylinder to drive the cleaning cloth to contact multiple liquid crystal panels on the conveying chain plate at the same time, and perform the cleaning work on multiple liquid crystal panels at the same time; Adjust the cleaning mechanism to the independent cleaning mode according to the continuous cleaning instruction. In the independent cleaning mode, rotate the cleaning bracket to rotate the cleaning cloth to a state perpendicular to the conveying chain plate, control the adjusting cylinder to drive the cleaning cloth to be spaced from the conveying chain plate, and drive the liquid crystal panels to contact the cleaning cloth in turn through the pushing mechanism, and perform the cleaning work on the liquid crystal panels one by one.

[0016] Further, the determining the pollution degree of the liquid crystal panels to be cleaned in the current batch according to the image and determining the cleaning mode of the cleaning mechanism according to the pollution degree includes: Judge whether there are impurities that need to be dissolved by the cleaning liquid on the liquid crystal panel according to the image; When there are no impurities that need to be dissolved by the cleaning liquid on the liquid crystal panel, determine that the pollution degree is slight pollution, and the corresponding cleaning mode is the continuous cleaning mode; When there are impurities that need to be dissolved by the cleaning liquid on the liquid crystal panel, determine that the pollution degree is severe pollution, and the corresponding cleaning mode is the independent cleaning mode.

[0017] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: First, through the settings of the conveying chain plate, the loading robotic arm, and the unloading robotic arm, and by the cooperation of the loading robotic arm and the unloading robotic arm with the conveying chain plate, the automatic loading and unloading of the liquid crystal panel are realized. Moreover, with the cooperation of the pushing mechanism, the liquid crystal panel on the liquid crystal panel can be pushed to the cleaning mechanism for cleaning, achieving the continuity of the cleaning work of the liquid crystal panel, enabling the loading, unloading, and cleaning of the liquid crystal panel to be carried out synchronously, and being able to perform the cleaning work in batches, improving the cleaning efficiency of the liquid crystal panel.

[0018] Second, through the setting of the pressing roller, the cleaning cloth can be made to closely adhere to the liquid crystal panel, ensuring the cleaning effect of the cleaning cloth on the liquid crystal panel. At the same time, when cleaning, by changing the conveying speed of the pressing roller, the conveying speed of the swinging cleaning layer is made different from that of the porous cleaning layer, causing slight wrinkles to be generated at the bottom of the porous cleaning layer by the swinging cleaning layer, enabling the bristles to change their orientation and swing during cleaning, thereby improving the cleaning effect.

[0019] Third, through the setting of the pushing mechanism, not only can it cooperate with the conveying chain plate to intermittently and precisely push the liquid crystal panel towards the cleaning mechanism for cleaning; at the same time, it can stably and automatically add cleaning liquid to the cleaning cloth, and the amount of cleaning liquid added each time is quantitative; by rotating the rotating plate, the purpose of pushing the display screen to the cleaning cloth and adding cleaning liquid to the cleaning cloth can be achieved, and the control is stable and convenient.

[0020] Fourth, the cleaning control method disclosed in the present invention divides the mode of the cleaning mechanism into a continuous cleaning mode and an independent cleaning mode, and can select different cleaning modes according to the pollution degree of different liquid crystal panels, improving the cleaning efficiency on the premise of ensuring the cleaning effect.

[0021] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a schematic diagram of the cleaning mechanism in an embodiment of the present invention; Figure 3 is a schematic structural diagram of the fixing mechanism in an embodiment of the present invention; Figure 4 is a schematic structural diagram of the pushing mechanism in an embodiment of the present invention; Figure 5 is a cross-sectional schematic diagram of the pushing mechanism in an embodiment of the present invention; Figure 6 Schematic installation diagram of the liquid replenishment cylinder in an embodiment of the present invention; Figure 7 Schematic structural diagram of the pressing roller in an embodiment of the present invention; Figure 8 Schematic cross-sectional view of the water drainage roller in an embodiment of the present invention; Figure 9 Schematic structural diagram of the water drainage roller in an embodiment of the present invention.

[0023] Explanation of reference numerals in the drawings: 1. Base; 2. Loading robotic arm; 3. Unloading robotic arm; 4. Cleaning mechanism; 41. Support plate; 42. Adjusting cylinder; 43. Cleaning bracket; 431. Unwinding roller; 432. Rewinding roller; 433. Conveying roller; 44. Cleaning cloth; 441. Porous cleaning layer; 442. Oscillating cleaning layer; 443. Brush bristles; 45. Pressing roller; 46. Water drainage roller; 461. Water scraping strip; 462. Elastic airbag; 463. Exhaust hole; 464. Ultra-fine fiber cloth; 465. Unwinding mechanism; 466. Rewinding mechanism; 467. Adjusting cylinder; 5. Fixing mechanism; 51. Conveying support; 52. Conveying plate; 53. Conveying gear; 54. Suction cup assembly; 55. Slide column; 56. Second return spring; 57. Limit block; 6. Pushing mechanism; 61. Fixed column; 611. Movable groove; 612. First return spring; 62. Rotating plate; 621. Driving gear; 622. Ratchet teeth; 63. Arc plate; 64. Pushing plate; 65. Liquid supply plate; 66. Liquid storage cavity; 67. Piston part; 68. Liquid replenishment cylinder. Detailed description of the specific implementation mode

[0024] The following is a detailed description of the specific implementation mode of the present invention in conjunction with the accompanying drawings. It should be understood that the specific implementation mode described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to implement the embodiments of the present invention described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0027] In the prior art, when cleaning the surface of a display screen, existing cleaning equipment usually requires manual fixing of the display screen to a clamping mechanism, and then cleaning the display screen; however, the method of manual feeding and fixing has low efficiency. After each cleaning of a display screen, it is necessary to stop the machine to disassemble and fix the display screen, and it is impossible to continuously clean the display screen, and the cleaning efficiency is affected; at the same time, the amount of cleaning liquid added when cleaning the display screen is likely to affect the cleaning effect. Currently, the method of manual addition or automatic addition cannot add the cleaning liquid in a timely manner according to requirements, and cannot ensure the quantitative addition.

[0028] The present invention provides a liquid crystal panel cleaning robot, as Figure 1 shown. In this embodiment, the cleaning robot includes a base 1. The base 1 is used for overall support. Shock-absorbing feet can be provided at the bottom for support, or walking feet or universal wheels can be provided for movement; a cleaning mechanism 4 for cleaning the liquid crystal panel and a fixing mechanism 5 for fixing the liquid crystal panel are provided on the base 1.

[0029] Among them, as Figure 3As shown, the fixing mechanism 5 includes a conveying support 51, a conveying chain plate, a conveying driving member, and a suction cup assembly 54. The conveying support 51 is fixed on the base 1. The conveying chain plate includes a plurality of sequentially connected conveying plates 52, and adjacent conveying plates 52 are hinged by a hinge shaft; the conveying driving member includes a conveying gear 53 rotatably mounted on the conveying support 51 and a conveying motor for driving the conveying gear 53 to rotate. There are four conveying gears 53, two in a group on one side, and the two conveying gears 53 in a group are coaxially connected by a rotating shaft. The conveying motor drives the rotating shaft to rotate, thereby driving the two conveying gears 53 to rotate, and then driving the two conveying gears 53 on the other side to rotate through the transmission between the conveying chain plates. The two ends of the hinge shaft between the conveying plates 52 are embedded in the tooth grooves of the two conveying gears 53, and the conveying chain plate is driven to convey when the conveying gears 53 rotate; and in this embodiment, the conveying chain plate is vertically arranged for conveying, so that the display screen can be vertically fixed on the conveying plate 52; a through hole is formed in each conveying plate 52, and the suction cup assembly 54 is arranged in the through hole. The suction cup assembly 54 is used to adsorb and fix the liquid crystal panel. The suction cup assembly 54 is composed of a plurality of suction cups to adsorb the liquid crystal panel, and each suction cup assembly 54 is connected to an air pump through an air suction pipe to supply each suction cup assembly 54 to adsorb and fix the liquid crystal panel.

[0030] The cleaning mechanism 4 performs cleaning work on the liquid crystal panel adsorbed and fixed on the suction cup assembly 54 at the cleaning station. In this embodiment, one suction cup assembly 54 is located inside the cleaning station, that is, one conveying plate 52 is located at the cleaning station, that is, one liquid crystal panel is located inside the cleaning station. As the conveying chain plate conveys, each conveying plate 52 and the liquid crystal panel thereon can sequentially pass through the cleaning station for cleaning work; the cleaning station in this embodiment refers to the working position on the base 1 for cleaning the liquid crystal panel; a loading robotic arm 2 and an unloading robotic arm 3 are respectively arranged at both ends of the fixing mechanism 5. The loading robotic arm 2 and the unloading robotic arm 3 have the same structure and are used to cooperate with the suction cup assembly 54 to load and unload the liquid crystal panel. Since the robotic arm is a relatively mature structure, it will not be described in detail in this embodiment; the loading robotic arm 2 and the unloading robotic arm 3 can be provided with clamping jaws to clamp and grab the liquid crystal panel or be provided as suction cups for adsorption. The loading robotic arm 2 transfers the liquid crystal panel on other production lines to the fixing mechanism 5, and the unloading robotic arm 3 transfers the liquid crystal panel on the fixing mechanism 5 to other production lines; the loading robotic arm 2 and the unloading robotic arm 3 cooperate with the suction cup assembly 54 on the conveying plate 52 to work. During loading, when the liquid crystal panel on the loading robotic arm 2 is adsorbed and fixed by the suction cup assembly 54, the loading robotic arm 2 releases the fixation of the liquid crystal panel; during unloading, when the liquid crystal panel on the unloading robotic arm 3 is adsorbed and fixed, the suction cup assembly 54 releases the fixation of the liquid crystal panel; so as to realize the automatic loading and unloading of the liquid crystal panel on the conveying chain plate.

[0031] During cleaning in this embodiment, the conveying chain plate starts intermittently. That is, after a suction cup assembly 54 and the liquid crystal panel adsorbed thereon are conveyed to the cleaning station, the conveying chain plate stops conveying. After cleaning is completed by the cleaning mechanism 4, the conveying chain plate continues to convey one station, moving the next conveying plate 52 and the liquid crystal panel adsorbed thereon to the cleaning station for cleaning work, and continuously repeating this cycle for continuous cleaning work.

[0032] To enable the liquid crystal panel on the conveying chain plate to be close to the cleaning mechanism 4 for cleaning; as Figure 3 shown, a sliding column 55 is connected to the suction cup assembly 54. The sliding column 55 is horizontally arranged and is slidably connected to the through hole through the through hole, and the suction cup assembly 54 cannot pass through the through hole; one end of the sliding column 55 is connected to the suction cup assembly 54, and the other end is connected to a limit block 57. The limit block 57 is arranged on the side of the through hole away from the suction cup assembly 54 and cannot pass through the through hole; a second return spring 56 is sleeved on the sliding column 55. The second return spring 56 connects the limit block 57 and the conveying plate 52, and the second return spring 56 is arranged on the side of the through hole away from the suction cup assembly 54; the second return spring 56 is used for the reset work after the suction cup assembly 54 moves; a pushing mechanism 6 is arranged on the base 1. The pushing mechanism 6 is installed on the conveying support 51. The pushing mechanism 6 is used to push the suction cup assembly 54 in the cleaning station towards the cleaning mechanism 4, so that the liquid crystal panel adsorbed on the suction cup assembly 54 is close to the cleaning mechanism 4 for cleaning; during cleaning, the pushing mechanism 6 pushes the limit block 57 at one end of the sliding column 55, driving the sliding column 55, the suction cup assembly 54, and the liquid crystal panel on the suction cup assembly 54 to move, so that the liquid crystal panel is close to the cleaning mechanism 4 and is close to the cleaning cloth 44 on the cleaning mechanism 4 for cleaning work. After cleaning is completed, the pushing mechanism 6 resets, and the sliding column 55, the suction cup assembly 54, and the liquid crystal panel on the suction cup assembly 54 are reset under the action of the second return spring 56; the reset suction cup assembly 54 and the liquid crystal panel are separated from the contact with the cleaning mechanism 4, which can ensure the stability of the conveying of the conveying chain plate.

[0033] As Figure 2As shown in the figure, the cleaning mechanism 4 includes a support plate 41, an adjusting cylinder 42, a cleaning bracket 43, a winding roller 432, an unwinding roller 431, a conveying roller 433, a cleaning motor, and a cleaning cloth 44. In this embodiment, the support plate 41 is vertically arranged on the base 1, and the adjusting cylinder 42 is installed on the support plate 41. The output end of the adjusting cylinder 42 is connected to the cleaning bracket 43 to control the cleaning bracket 43 to approach or move away from the fixing mechanism 5. The distance between the cleaning mechanism 4 and the conveying chain plate can be controlled by the adjusting cylinder 42. At the same time, when maintenance is required, the cleaning bracket 43 is controlled to move away from the conveying chain plate to create enough space. The installation of the cleaning bracket 43 can be set in various styles. In this embodiment, the cleaning bracket 43 is fixed on the support plate 41 and moves together with the support plate 41. In other embodiments, the cleaning bracket 43 can be set to be rotatably installed with the support plate 41 to adjust the angle of the overall cleaning cloth 44. In this embodiment, the support plate 41 is fixed on the base 1. In other embodiments, the bottom of the support plate 41 is set to be hinged to the base 1. When maintenance or replacement is required, the support plate 41 is directly rotated to lay the cleaning bracket 43 flat for the staff to carry out maintenance work. The winding roller 432, the unwinding roller 431, and the conveying roller 433 are all installed on the cleaning bracket 43 and can rotate on the cleaning bracket 43. The cleaning motor drives the winding roller 432 and the unwinding roller 431 to rotate for the winding and unwinding of the cleaning cloth 44, and the feeding rate of the winding roller 432 is the same as the feeding rate of the unwinding roller 431 to ensure the stable conveying of the cleaning cloth 44. In this embodiment, two conveying rollers 433 are provided. The cleaning cloth 44 is tensioned on the winding roller 432, the conveying rollers 433, and the unwinding roller 431. The cleaning cloth 44 is fed by the unwinding roller 431, conveyed by the conveying rollers 433, and wound by the winding roller 432. The cleaning cloth 44 between the conveying rollers 433 forms a vertically arranged cleaning area, and at least part of the cleaning area is located within the cleaning station, that is, part of the vertically arranged cleaning cloth 44 contacts the liquid crystal panel to clean the surface of the liquid crystal panel. During the cleaning work, the winding roller 432 continuously feeds the material, and the conveying rollers 433 convey the material. In the cleaning area, the continuously conveyed cleaning cloth 44 contacts the surface of the liquid crystal panel to clean the surface of the cleaning panel. After cleaning, the contaminated cleaning cloth 44 continues to be conveyed and wound by the winding roller 432.

[0034] Through the settings of the conveying chain plate, the loading manipulator 2, and the unloading manipulator 3, the present invention realizes the automatic loading and unloading of the liquid crystal panel through the cooperation of the loading manipulator 2 and the unloading manipulator 3 with the conveying chain plate. And through the cooperation of the pushing mechanism 6, the liquid crystal panel on the liquid crystal panel can be pushed to the cleaning mechanism 4 for cleaning work, realizing the continuity of the cleaning work of the liquid crystal panel, enabling the loading, unloading, and cleaning of the liquid crystal panel to be synchronized, and being able to carry out the cleaning work in batches, improving the cleaning efficiency of the liquid crystal panel.

[0035] In order to improve the cleaning effect on the surface of the display screen; as Figure 7 shown, the cleaning cloth 44 is set as a porous cleaning layer 441 and a swinging cleaning layer 442. The porous cleaning layer 441 is set as a dust-free cloth, and the swinging cleaning layer 442 is set as a non-woven fabric. The porous cleaning layer 441 faces the fixing mechanism 5 and contacts the liquid crystal panel for wiping work. On the side of the swinging cleaning layer 442 facing the porous cleaning layer 441, bristles 443 are provided. The bristles 443 are set as ultra-fine fiber soft brushes. A plurality of perforations are formed in the porous cleaning layer 441, and the bristles 443 pass through the perforations in the porous cleaning layer 441 and contact the liquid crystal panel. The cleaning mechanism 4 further includes a pressing roller 45 and a pressing motor. The pressing roller 45 is installed on the cleaning bracket 43, and the motor shaft of the pressing motor is connected to the pressing roller 45 to drive the pressing roller 45 to rotate. The pressing roller 45 contacts the swinging cleaning layer 442 to block or change the conveyance of the swinging cleaning layer 442. In order to be able to change the conveyance rate and direction of the swinging cleaning layer 442, ribs are provided outside the pressing roller 45, and raised ribs are formed at the bottom of the swinging cleaning layer 442. The ribs and the ribs are arranged in parallel. When the pressing roller 45 rotates, the cooperation between the ribs and the ribs can reduce the sliding between the pressing roller 45 and the swinging cleaning layer 442. The pressing motor can drive the pressing roller 45 to rotate at a rotation rate different from that of the conveying roller 433.

[0036] The setting of the pressing roller 45 always presses the cleaning cloth 44 tightly. The cooperation between the pressing roller 45 and the pushing mechanism can ensure that the cleaning cloth 44 is tightly attached to the surface of the liquid crystal panel, ensuring the cleaning effect. The conveying state of the pressing roller 45 is divided into two types. First, the rotation rate of the pressing roller 45 is the same as that of the conveying roller 433, the unwinding roller 431, and the winding roller 432, playing a function of coordinated conveyance. Second, the conveying rate of the pressing roller 45 is changed to be greater than or less than the conveying rate of the conveying roller 433, so that the conveying rate of the swinging cleaning layer 442 is different from that of the porous cleaning layer 441, causing the swinging cleaning layer 442 to move relative to the porous cleaning layer 441 during conveyance, and the swinging cleaning layer 442 generates minute wrinkles at the bottom of the porous cleaning layer 441. At this time, since the bristles 443 are fixed on the swinging cleaning layer 442, the bristles 443 will change their orientation during cleaning, improving the cleaning effect. By frequently changing the rotation rate of the pressing roller 45, the bristles 443 can be made to swing for cleaning.

[0037] In order to stably push the display screen to be tightly attached to the cleaning cloth 44 for cleaning work; as Figure 4 and Figure 5As shown, the push mechanism 6 is configured as a fixed column 61, a rotating plate 62, an arc plate 63, a push plate 64 and a liquid supply plate 65; the fixed column 61 is horizontally fixedly installed on the conveying bracket 51 and is located between the conveying chain plates on both sides; the rotating plate 62 is sleeved on the outside of the fixed column 61, and a bearing is arranged between the rotating plate 62 and the fixed column 61 so that the rotating plate 62 can rotate outside the fixed column 61, and the rotating plate 62 is configured as a disc-shaped structure; the arc plate 63 is fixed on the rotating plate 62 on the side facing the conveying plate 52 and is located at the edge of the rotating plate 62; The push plate 64 and the liquid supply plate 65 are slidably arranged on the fixed column 61 and are arranged vertically with the fixed column 61. The push plate 64 and the liquid supply plate 65 are arranged vertically. A rotating driving member for driving the rotating plate 62 to rotate is arranged on the conveying bracket 51. In this embodiment, the rotating driving member is arranged as a rotating motor, a transmission gear 621 and a gear 622. The rotating motor is installed on the conveying bracket 51. The output shaft of the rotating motor is connected to the transmission gear 621 to drive the transmission gear 621 to rotate. The gear 622 is arranged on the periphery of the rotating plate 62, and the transmission gear 621 is driven by the rotating motor. The gear 622 meshes with the transmission gear 621 for transmission, thereby driving the rotating plate 62 to rotate; two movable grooves 611 are provided on the side of the fixed column 61, and one end of the push plate 64 and the liquid supply plate 65 are respectively inserted into one of the movable grooves 611 and slidably connected with the movable groove 611, and one end of the push plate 64 and the liquid supply plate 65 extends into the movable groove 611 and cannot be separated from the movable groove 611; a first return spring 612 is provided in the movable groove 611, and the first return spring 612 is provided on the side of the movable groove 611 away from the rotating plate 62, and the first return spring The spring 612 is used to reset the push plate 64 and the liquid supply plate 65 after they move; the arc plate 63 can rotate with the rotating plate 62 and contact the push plate 64 and the liquid supply plate 65 in turn, and the arc plate 63 can only contact the push plate 64 or the liquid supply plate 65 at the same time, and cannot contact the push plate 64 and the liquid supply plate 65 at the same time; drive the push plate 64 and the liquid supply plate 65 to move in the movable groove 611; the push plate 64 is arranged in the cleaning station and can contact the suction cup assembly 54; the liquid supply plate 65 can contact the cleaning mechanism 4 and transport cleaning liquid to the cleaning mechanism 4.

[0038] The way the material pushing mechanism 6 controls the movement of the material pushing plate 64 and the liquid supply plate 65 is as follows: By controlling the rotation of the rotation motor to drive the transmission gear 621 to rotate, thereby driving the rotation of the rotation plate 62. The arc plate 63 on the rotation plate 62 rotates accordingly. The two ends of the arc plate 63 are provided with sliding surfaces. When the arc plate 63 rotates to contact the liquid supply plate 65, it gradually pushes the liquid supply plate 65 to move towards the cleaning cloth 44 until the liquid supply plate 65 tightly adheres to the surface of the cleaning cloth 44. The cleaning liquid is added to the surface of the cleaning cloth 44 through the liquid supply plate 65, so that the cleaning liquid impregnates the surface of the cleaning cloth 44 and remains on the cleaning cloth 44. As the rotation plate 62 continues to rotate, the arc column disengages from the contact with the liquid supply plate 65 and instead contacts the material pushing plate 64. The liquid supply plate 65 is reset under the first return spring 612 and disengages from the cleaning cloth 44. As the rotating arc plate 63 contacts the material pushing plate 64, it gradually pushes the material pushing plate 64 to move in the moving groove 611, so that the material pushing plate 64 moves in the direction away from the rotation plate 62 and closer to the conveying plate 52. The material pushing plate 64 pushes the sliding column 55, the suction cup assembly 54, and the liquid crystal panel on the suction cup assembly 54 to move, so that the liquid crystal panel tightly adheres to the cleaning cloth 44, and the liquid crystal panel is wiped and cleaned as the cleaning cloth 44 is conveyed and moved. And while the rotation plate 62 is rotating, the cleaning cloth 44 is also being conveyed. After the cleaning liquid is added through the liquid supply plate 65, a cleaning liquid adding area is formed on the cleaning cloth 44. When the subsequent pushing plate pushes the liquid crystal panel to move and fit with the cleaning cloth 44, the cleaning liquid adding area on the cleaning cloth 44 just conveys to contact the liquid crystal panel. With the conveyance of the conveying chain plate, the conveyance of the cleaning cloth 44, and the rotation, the automatic continuous cleaning work of the liquid crystal panel on the conveying chain plate is realized.

[0039] In addition, since the rotation speed of the rotation plate 62 is constant, the contact time between the arc plate 63 and the liquid supply plate 65 and the material pushing plate 64 is the same when the rotation plate 62 rotates, that is, the time for pushing the liquid supply plate 65 and the material pushing plate 64 to move is the same, indicating that the contact time between the liquid supply plate 65 and the liquid crystal panel and the cleaning cloth 44 is the same. Then the cleaning liquid adding area on the cleaning cloth 44 just coincides with the contact area between the liquid crystal panel and the cleaning cloth 44. That is, since the action of the material pushing mechanism 6 and the conveyance of the cleaning cloth 44 are synchronized, when the liquid crystal panel is pushed by the material pushing plate 64 to start contacting the cleaning cloth 44, the cleaning liquid adding area on the cleaning cloth 44 just starts to contact the liquid crystal panel. When first contacting, the dry cleaning cloth 44 without added cleaning liquid first preliminarily wipes the surface of the liquid crystal panel, wiping off the dust adsorbed on the surface. The cleaning liquid adding area on the cleaning cloth 44 starts to contact the liquid crystal panel, and cooperates with the cleaning liquid to wipe the liquid crystal panel.

[0040] In order to achieve the function of automatic liquid supply when the liquid supply rod moves; a liquid storage cavity 66 is opened on the fixed column 61, and cleaning liquid is stored in the liquid storage cavity 66. The liquid storage cavity 66 is opened on one side of the fixed column 61 away from the rotating plate 62; a piston member 67 is arranged in the liquid storage cavity 66, and the piston member 67 is slidably arranged in the liquid storage cavity 66 and can be pushed by the liquid supply plate 65; the part of the liquid supply plate 65 located in the movable groove 611 extends towards the inside of the liquid storage cavity 66, so that the liquid supply plate 65 is connected to the piston member 67 to ensure that the piston member 67 and the liquid supply plate 65 move synchronously; liquid supply channels are opened in both the piston member 67 and the liquid supply plate 65, and the liquid supply channel in the piston member 67 is communicated with the liquid supply channel in the liquid supply plate 65. A liquid supply port is opened on the contact surface of the liquid supply plate 65 and the cleaning mechanism 4, and the liquid supply port is communicated with the liquid supply channel to discharge the cleaning liquid in the cleaning channel onto the cleaning cloth 44; when the liquid supply plate 65 moves towards the cleaning cloth 44, the liquid supply plate 65 synchronously drives the piston member 67 to move in the liquid storage cavity 66. The piston member 67 squeezes the cleaning liquid in the liquid storage cavity 66, and the cleaning liquid is squeezed into the liquid supply channel and discharged from the liquid supply port onto the cleaning cloth 44, realizing that while the liquid supply plate 65 moves, the cleaning liquid is synchronously added to the cleaning cloth 44.

[0041] In order to replenish the cleaning liquid in the liquid storage cavity 66 in real time and ensure the stability of the cleaning liquid supply; as Figure 6 shown, a liquid replenishing cylinder 68 is arranged at one end of the fixed column 61. A threaded hole is opened on the fixed column 61, and the threaded hole is communicated with the liquid supply cavity. An external thread is arranged on the outer part of the liquid replenishing cylinder 68. One end of the liquid replenishing cylinder 68 is inserted into the threaded hole of the fixed column 61 and is threadedly connected with the fixed column 61; a sealing ring is arranged on the outer wall of the liquid replenishing cylinder 68 to ensure the sealing of the liquid supply cavity; a liquid replenishing port is opened at one end of the liquid replenishing cylinder 68 facing the liquid storage cavity 66, and the liquid replenishing port is communicated with the liquid storage cavity 66 so that the liquid in the liquid replenishing cylinder 68 can enter the liquid storage cavity 66; the automatic liquid replenishment of the liquid storage cavity 66 in this embodiment relies on the negative pressure formed when the liquid supply plate 65 and the piston member 67 are reset to drive the cleaning liquid in the liquid replenishing cylinder 68 into the liquid storage cavity 66, so that the cleaning liquid in the liquid storage cavity 66 is always in a full storage state; the liquid replenishing cylinder 68 in this embodiment is a disposable item and is made of a plastic structure. A cavity for storing the cleaning liquid is arranged in the liquid replenishing cylinder 68, a plug body is arranged in the cavity, and one end of the liquid replenishing cylinder 68 away from the liquid storage cavity 66 is open; when feeding by the negative pressure in the liquid storage cavity 66, the cleaning liquid in the liquid replenishing cylinder 68 enters the liquid storage cavity 66, and the plug body moves towards the direction close to the liquid storage cavity 66; when the plug body moves to the bottom, the liquid replenishing cylinder 68 is screwed out for replacement with a new one, and the replacement is convenient; one-way valves are arranged in both the liquid replenishing port and the liquid supply channel to prevent external air from entering the liquid storage cavity 66, ensure the stability of liquid replenishment, and only allow the cleaning liquid to flow in the direction of the liquid replenishing cylinder 68, the liquid storage cavity 66, and the liquid supply channel in sequence.

[0042] To avoid waste of the cleaning liquid caused by the cleaning liquid flowing out of the liquid supply port and dripping onto the base 1 when the liquid supply rod moves, a rubber chamber can be provided at the liquid supply port. The cleaning liquid in the liquid supply port is discharged into the rubber chamber, and when the liquid supply plate 65 contacts and presses the cleaning cloth 44, the liquid in the rubber chamber is squeezed out onto the cleaning cloth 44.

[0043] Through the setting of the pushing mechanism 6, it can not only cooperate with the conveying chain plate to intermittently and accurately push the liquid crystal panel towards the cleaning mechanism 4 for cleaning; at the same time, it can stably and automatically add the cleaning liquid onto the cleaning cloth 44, and the amount of cleaning liquid added each time is quantitative; by rotating the rotating plate 62, the purpose of pushing the display screen to the cleaning cloth 44 and adding the cleaning liquid onto the cleaning cloth 44 can be achieved, and the control is stable and convenient.

[0044] To be able to remove the residual cleaning liquid on the surface of the display screen and prevent the display screen from re-adsorbing dust after cleaning; as Figure 8 and Figure 9 shown, a water drainage roller 46 is provided on the conveying support 51, and the water drainage roller 46 is arranged on the side close to the blanking robotic arm 3; a water drainage motor is provided on the conveying support 51, and the water drainage motor is connected to the water drainage roller 46 to control the rotation of the water drainage roller 46; a water scraping strip 461 is provided at one end of the water drainage roller 46, and the water scraping strip 461 is made of a flexible material, such as silicone or synthetic rubber. When the water drainage roller 46 rotates, the water scraping strip 461 contacts the surface of the liquid crystal panel to scrape off the cleaning liquid on the surface of the liquid crystal panel; a drainage groove is provided on the water-facing surface of the water scraping strip 461 to allow the cleaning liquid scraped off from the surface of the liquid crystal panel to be discharged in time from the drainage groove; it should be noted that when the pushing rod does not push the suction cup assembly 54, the surface of the suction cup assembly 54 is flush with the surface of the conveying plate 52, and the liquid crystal panel adsorbed on the suction cup assembly 54 will protrude slightly from the conveying plate 52 to allow the water scraping strip 461 to contact and scrape the liquid crystal panel.

[0045] In order to further remove the cleaning liquid and moisture on the surface of the liquid crystal panel; at one end of the water-removing roller 46 far from the wiper strip 461, an elastic airbag 462 is provided. The elastic airbag 462 protrudes from the water-removing roller 46. When the water-removing roller 46 rotates, the elastic airbag 462 contacts the liquid crystal panel and is squeezed; an exhaust hole 463 is provided on the side of the elastic airbag 462, and the exhaust hole 463 is inclined to exhaust; an ultra-fine fiber cloth 464 is provided outside the elastic airbag 462. A unwinding mechanism 465 and a winding mechanism 466 for the ultra-fine fiber cloth 464 are provided inside the water-removing roller 46. The unwinding and winding of the ultra-fine fiber cloth 464 are carried out by the unwinding mechanism 465 and the winding mechanism 466; when the water-removing roller 46 rotates, first the wiper strip 461 contacts the liquid crystal panel, and most of the cleaning liquid on the liquid crystal panel is scraped off by the wiper strip 461, and then the ultra-fine fiber cloth 464 contacts the liquid crystal panel, and the water stains remaining on the liquid crystal panel are wiped dry by the ultra-fine fiber cloth 464. When the ultra-fine fiber cloth 464 contacts the liquid crystal panel, the elastic airbag 462 is squeezed. While ensuring that the ultra-fine fiber cloth 464 is fully attached to the liquid crystal panel, the gas in the elastic airbag 462 is discharged and blown towards the liquid crystal panel for further water removal work.

[0046] It should be noted that only the wiper strip 461 and the ultra-fine fiber cloth 464 on the water-removing roller 46 contact the liquid crystal panel; and the width of the ultra-fine fiber cloth 464 is the same as the width of the liquid crystal panel. The exhaust holes 463 of the elastic airbag 462 are provided on both sides of the ultra-fine fiber cloth 464 without being blocked by the ultra-fine fiber cloth 464. The exhaust holes 463 are inclined so that when exhausting, air is blown towards the liquid crystal panel near the middle; the unwinding mechanism 465 and the winding mechanism 466 are used to unwind and wind when the ultra-fine limiting part is used a certain number of times, and the ultra-fine fiber cloth 464 is replaced to ensure the water removal effect; at the same time, an adjusting plate is provided at the bottom of the elastic airbag 462, and a plurality of adjusting cylinders 467 with different installation angles are installed inside the water-removing roller 46. The output ends of the plurality of adjusting cylinders 467 are all connected to the adjusting plate through hinge seats, so as to adjust the orientation and extrusion amount of the elastic airbag 462.

[0047] The present invention also discloses a cleaning control method for a liquid crystal panel, which is applicable to the above-mentioned liquid crystal panel cleaning robot, and includes the following steps: Step 1, when the loading robotic arm 2 transports the liquid crystal panel to be cleaned towards the conveying chain plate in the loading area, obtain the image of the liquid crystal panel to be cleaned in the loading area, determine the pollution degree of the liquid crystal panel according to the image, determine the cleaning mode of the cleaning mechanism 4 according to the pollution degree, and issue a corresponding cleaning instruction; Step 2, in response to the cleaning instruction, adjust the cleaning mode of the cleaning mechanism 4, start the conveying chain plate and the cleaning cloth 44 for conveying, and carry out the cleaning work on the liquid crystal panel; Among them, in step two, adjusting the cleaning mode of the cleaning mechanism 4 specifically includes: According to the continuous cleaning instruction, the cleaning mechanism 4 is adjusted to the continuous cleaning mode. In the continuous cleaning mode, the cleaning bracket 43 in the cleaning mechanism 4 is rotated to rotate the cleaning cloth 44 to a state parallel to the conveying chain plate. The adjusting cylinder 42 is controlled to drive the cleaning cloth 44 to contact a plurality of liquid crystal panels on the conveying chain plate at the same time. The conveying chain plate and the cleaning cloth 44 continue to convey without stopping, and the cleaning cloth 44 wipes the liquid crystal panels during the conveying process in sequence, and the cleaning cloth 44 simultaneously cleans a plurality of liquid crystal panels on the conveying chain plate; According to the continuous cleaning instruction, the cleaning mechanism 4 is adjusted to the independent cleaning mode. In the independent cleaning mode, the cleaning bracket 43 is rotated to rotate the cleaning cloth 44 to a state perpendicular to the conveying chain plate. The adjusting cylinder 42 is controlled to drive the cleaning cloth 44 to be arranged at an interval from the conveying chain plate. During cleaning, the cleaning cloth 44 continues to convey, the conveying chain plate stops conveying, and the liquid crystal panel is driven by the pushing mechanism to move into contact with the cleaning cloth 44 for cleaning, and a cleaning liquid is added to the cleaning cloth 44. After cleaning, the conveying chain plate continues to convey, and so on, cleaning the liquid crystal panels on the conveying chain plate one by one.

[0048] In step one, according to the image, the pollution degree of the liquid crystal panels in the batch to be cleaned is determined, and the cleaning mode of the cleaning mechanism 4 is determined according to the pollution degree, specifically including: Judge whether there are impurities on the liquid crystal panel that need to be dissolved by the cleaning liquid according to the image; When there are no impurities on the liquid crystal panel that need to be dissolved by the cleaning liquid, it is determined that the pollution degree is slight pollution, and the corresponding cleaning mode is the continuous cleaning mode, and a continuous cleaning instruction is issued; When there are impurities on the liquid crystal panel that need to be dissolved by the cleaning liquid, it is determined that the pollution degree is severe pollution, and the corresponding cleaning mode is the independent cleaning mode, and an independent cleaning instruction is issued.

[0049] In addition, in the continuous cleaning mode, the loading robotic arm 2 real-time obtains the image of the liquid crystal panel it loads, and real-time monitors the pollution degree of the loaded liquid crystal panel. When a severely polluted liquid crystal panel appears in the continuous cleaning mode, an independent cleaning instruction is issued, and the cleaning mechanism 4 is adjusted to the independent cleaning mode to realize the switching between the continuous cleaning mode and the independent cleaning mode, and ensure the cleaning effect of the liquid crystal panel.

[0050] The above-mentioned liquid crystal panel of the batch to be cleaned refers to a batch of liquid crystal panels produced in the same time period, and the pollution degree on them is basically the same. Therefore, obtaining multiple liquid crystal panels in the same batch can basically determine the pollution degree of the batch. Obtaining an image through a camera and processing the image, and judging the pollution degree according to the processed image are relatively mature existing technologies, which will not be elaborated in this embodiment. Regarding how to determine whether there are impurities such as oil stains and crystals on the liquid crystal panel according to the image, in this embodiment, the reflective and spot areas are determined through the image color, and the strip-shaped and wavy traces on the liquid crystal panel are determined to make a judgment, but it is not limited to the above methods.

[0051] This cleaning control method divides the cleaning mode of the cleaning robot into two types. The first is the independent cleaning mode, that is, the above-mentioned cleaning mode. The cleaning cloth 44 cleans the independent liquid crystal panel at the cleaning station. The cleaning work needs to be carried out after the conveying chain plate stops. At this time, the cleaning cloth 44 is arranged crosswise and perpendicularly to the conveying chain plate, as shown in Figure 1 shown, which is used for the cleaning work that requires adding cleaning liquid and is used for liquid crystal panels with a higher pollution degree. The liquid crystal panels are cleaned independently in sequence. The second is the continuous cleaning mode. In this mode, the cleaning bracket 43 is rotatably installed on the support plate 41 through a turntable, and the adjusting cylinder 42 is installed on the turntable. During cleaning, the cleaning bracket 43 is rotated to turn the cleaning cloth 44 to a state parallel to the conveying chain plate (not shown in the figure). At this time, the conveying chain plate does not need to stop cleaning. The adjusting cylinder 42 directly drives the cleaning cloth 44 to contact multiple liquid crystal panels on the conveying chain plate (without controlling the pushing mechanism to push the liquid crystal panel to move). The cleaning cloth 44 and the conveying chain plate are conveyed simultaneously and in opposite conveying directions. During cleaning, the cleaning cloth 44 wipes multiple liquid crystal panels synchronously, which can ensure the cleaning of the liquid crystal panel without stopping the machine, and has high cleaning efficiency. However, it is only applicable to liquid crystal panels with a low pollution degree, and is usually used for cleaning liquid crystal panels that do not adsorb oil stains but only adsorb dust. The cleaning work can be completed only by brushing off the dust with the brush bristles 443.

[0052] Cameras are provided on both the loading robot arm 2 and the unloading robot arm 3 for image acquisition and uploading to the main controller. The image obtained by the camera on the loading robot arm 2 can judge the pollution degree of the liquid crystal panel of the batch to be cleaned, mainly to judge whether there are impurities such as oil stains that need to be dissolved in addition to surface impurities such as dust. The image obtained by the camera on the unloading robot arm 3 can judge whether the cleaning of the liquid crystal panel is comprehensive and whether there are still impurities on the liquid crystal panel after cleaning. Note that in any cleaning mode, that is, when the cleaning bracket 43 rotates at any angle during cleaning, the cleaning cloth 44 and the conveying chain plate always remain relatively arranged.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A liquid crystal panel cleaning robot, comprising a base (1), a cleaning mechanism (4) and a fixing mechanism (5) provided on the base (1), characterized in that, The fixing mechanism (5) at least includes a conveying bracket (51), a conveying chain plate, a conveying driving member for driving the conveying of the conveying chain plate, and a plurality of suction cup assemblies (54) provided on the conveying chain plate. The suction cup assemblies (54) are used for adsorbing and fixing the liquid crystal panel; the cleaning mechanism (4) performs cleaning work on the liquid crystal panel on the suction cup assemblies (54) at the cleaning station, and at least one of the suction cup assemblies (54) is located within the cleaning station. Feeding robotic arms (2) and discharging robotic arms (3) are provided at both ends of the fixing mechanism (5). The feeding robotic arms (2) and the discharging robotic arms (3) are respectively used for feeding and discharging the liquid crystal panel on the suction cup assemblies (54). A pushing mechanism (6) is further provided on the base (1). The pushing mechanism (6) is used to push the suction cup assemblies (54) within the cleaning station towards the cleaning mechanism (4), so that the liquid crystal panel adsorbed on the suction cup assemblies (54) is pressed against the cleaning mechanism (4) for cleaning.

2. The liquid crystal panel cleaning robot according to claim 1, wherein The cleaning mechanism (4) includes a support plate (41), an adjusting cylinder (42), a cleaning bracket (43), a winding roller (432), an unwinding roller (431), a conveying roller (433), a cleaning motor, and a cleaning cloth (44). The support plate (41) is arranged on the base (1), and the adjusting cylinder (42) is installed on the support plate (41). The adjusting cylinder (42) is connected to the cleaning bracket (43) to control the cleaning bracket (43) to approach or move away from the fixing mechanism (5). The winding roller (432), the unwinding roller (431), and the conveying roller (433) are all installed on the cleaning bracket (43). The cleaning motor drives the winding roller (432) and the unwinding roller (431) to rotate for winding and unwinding operations; at least two conveying rollers (433) are provided. The cleaning cloth (44) is tensioned on the winding roller (432), the conveying rollers (433), and the unwinding roller (431). The cleaning cloth (44) between the conveying rollers (433) forms a vertically arranged cleaning area, and at least a part of the cleaning area is located within the cleaning station.

3. The liquid crystal panel cleaning robot according to claim 2, wherein, The cleaning cloth (44) includes a porous cleaning layer (441) and a swinging cleaning layer (442). The porous cleaning layer (441) faces the fixing mechanism (5). Brush hairs (443) are provided on the swinging cleaning layer (442), and the brush hairs (443) pass through the porous cleaning layer to contact the liquid crystal panel. The cleaning mechanism (4) further includes a pressing roller (45) installed on the cleaning bracket (43) and a pressing motor for driving the pressing roller (45) to rotate. The pressing roller (45) is in contact with the swinging cleaning layer (442), and the pressing motor can drive the pressing roller (45) to rotate at a rotation speed different from that of the conveying rollers (433).

4. The liquid crystal panel cleaning robot according to any one of claims 1-3, characterized in that, The pusher mechanism (6) includes a fixed column (61), a rotating plate (62) sleeved outside the fixed column (61), an arc plate (63) arranged on the rotating plate (62), a pusher plate (64) and a liquid supply plate (65) arranged on the fixed column (61); The fixed column (61) is installed on the conveying support (51), and a rotating driving member for driving the rotating plate (62) to rotate is arranged on the conveying support (51); two movable grooves (611) are formed in the side of the fixed column (61), one end of the pusher plate (64) and the liquid supply plate (65) are respectively inserted into one of the movable grooves (611) and are slidably connected with the movable grooves (611), and a first return spring (612) is arranged on the side of the movable groove (611) far from the rotating plate (62); the arc plate (63) can rotate with the rotating plate (62) and sequentially contact the pusher plate (64) and the liquid supply plate (65), driving the pusher plate (64) and the liquid supply plate (65) to move in the movable groove (611); The pusher plate (64) is arranged in the cleaning station and can contact the suction cup assembly (54); the liquid supply plate (65) can contact the cleaning mechanism (4) and convey cleaning liquid to the cleaning mechanism (4).

5. The liquid crystal panel cleaning robot according to claim 4, wherein A liquid storage cavity (66) for storing cleaning liquid is formed in the fixed column (61), a piston member (67) is arranged in the liquid storage cavity (66), one end of the liquid supply plate (65) extends into the liquid storage cavity (66) and is connected with the piston member (67); liquid supply channels are formed in both the piston member (67) and the liquid supply plate (65), and a liquid supply port is formed on the contact surface of the liquid supply plate (65) and the cleaning mechanism (4), and the liquid supply port is communicated with the liquid supply channel; One end of the fixed column (61) is provided with a liquid replenishing cylinder (68), one end of the liquid replenishing cylinder (68) is inserted into the fixed column (61) and is threadedly connected with the fixed column (61), a liquid replenishing port is formed on the liquid replenishing cylinder (68), and the liquid replenishing port is communicated with the liquid storage cavity (66); one-way valves are arranged in both the liquid replenishing port and the liquid supply channel.

6. The liquid crystal panel cleaning robot according to any one of claims 1-3, characterized in that, A water drainage roller (46) is arranged on the conveying support (51) on the side close to the blanking robotic arm (3); a water drainage motor for controlling the rotation of the water drainage roller (46) is installed on the conveying support (51); a water scraping strip (461) is arranged at one end of the water drainage roller (46), and a drainage groove is arranged on the water-facing surface of the water scraping strip (461).

7. The liquid crystal panel cleaning robot according to claim 6, wherein, An elastic airbag (462) is provided at one end of the water drainage roller (46) far from the wiper strip (461), and an exhaust hole (463) is provided on the side of the elastic airbag (462); an ultra-fine fiber cloth (464) is provided outside the elastic airbag (462), and a unwinding mechanism (465) and a winding mechanism (466) for the ultra-fine fiber cloth (464) are provided inside the water drainage roller (46); an adjusting plate is provided at the bottom of the elastic airbag (462), and a plurality of adjusting cylinders (467) with different installation angles are installed inside the water drainage roller (46), and the output end of the adjusting cylinder (467) is connected to the adjusting plate through a hinge seat.

8. The liquid crystal panel cleaning robot according to any one of claims 1-3, characterized in that, The conveying chain plate includes a plurality of conveying plates (52) connected in sequence, and adjacent conveying plates (52) are hinged; through holes are opened on each of the conveying plates (52), and the suction cup assembly (54) is arranged inside the through holes; A sliding column (55) is connected to the suction cup assembly (54), the sliding column (55) is slidably connected to the through hole, a second return spring (56) is sleeved on the sliding column (55), a limiting block (57) is connected to the sliding column (55), and the second return spring (56) connects the limiting block (57) and the conveying plate (52).

9. A cleaning control method for a liquid crystal panel, applicable to the liquid crystal panel cleaning robot as described in claim 1, characterized in that: When the loading robotic arm (2) performs the loading work, an image of the liquid crystal panel of the batch to be cleaned in the loading area is acquired, the pollution degree of the liquid crystal panel is determined according to the image, the cleaning mode of the cleaning mechanism (4) is determined according to the pollution degree, and a corresponding cleaning instruction is issued; In response to the cleaning instruction, the cleaning mode of the cleaning mechanism (4) is adjusted to perform the cleaning work on the liquid crystal panel; The adjusting the cleaning mode of the cleaning mechanism (4) includes: Adjusting the cleaning mechanism (4) to a continuous cleaning mode according to a continuous cleaning instruction. In the continuous cleaning mode, the cleaning bracket (43) in the cleaning mechanism (4) is rotated to rotate the cleaning cloth (44) to a state parallel to the conveying chain plate, and the adjusting cylinder (42) is controlled to drive the cleaning cloth (44) to contact a plurality of the liquid crystal panels on the conveying chain plate at the same time, and the cleaning work on the plurality of liquid crystal panels is performed at the same time; Adjusting the cleaning mechanism (4) to an independent cleaning mode according to a continuous cleaning instruction. In the independent cleaning mode, the cleaning bracket (43) is rotated to rotate the cleaning cloth (44) to a state perpendicular to the conveying chain plate, and the adjusting cylinder (42) is controlled to drive the cleaning cloth (44) to be spaced from the conveying chain plate, and the pushing mechanism is used to drive the liquid crystal panels to contact the cleaning cloth (44) in sequence, and the cleaning work on the liquid crystal panels is performed one by one.

10. The cleaning control method according to claim 9, characterized in that, The determining the pollution degree of the liquid crystal panel of the batch to be cleaned according to the image and determining the cleaning mode of the cleaning mechanism (4) according to the pollution degree includes: Judging whether there are impurities that need to be dissolved by the cleaning liquid on the liquid crystal panel according to the image; When there are no impurities on the liquid crystal panel that need to be dissolved by the cleaning liquid, it is determined that the degree of contamination is slight contamination, and the corresponding cleaning mode is the continuous cleaning mode; When there are impurities on the liquid crystal panel that need to be dissolved by the cleaning liquid, it is determined that the degree of contamination is severe contamination, and the corresponding cleaning mode is the independent cleaning mode.

Images