A feed device for a vision-guided display test line

Abstract

The application discloses a kind of visual guidance type display test line's feeding device, it is related to display test field, including conveyor belt and its one side bottom installation two mobile platforms.The present application, display screen is stably conveyed to the suction position under mechanical arm using conveyor belt, after display screen is stationary, accurate grabbing is completed by suction cup, to cope with the possible problems of skew and offset in conveying process, equipped with monitoring camera mounted on guide mechanism, can real-time acquisition position deviation and identify display screen surface defects, avoid abnormal product into subsequent process, in the identification process, by driving rotating rod linkage gear and arc gear, make camera position and visual angle dynamic change, realize greater range of attitude monitoring, in addition, there is second mounting bracket, camera can be smoothly moved along arc track and realize angle fine adjustment.

Description

Technical Field

[0001] This invention relates to the field of display testing technology, specifically to a feeding device for a vision-guided display test line. Background Technology

[0002] A monitor is a computer's I / O device, or output device. It is a display tool that displays electronic documents onto a screen via specific transmission equipment. The main purpose of monitor testing is to evaluate and verify the monitor's performance under different usage environments, ensuring that it meets design specifications, usage requirements, or industry standards.

[0003] For example, CN118373132A discloses a display screen testing machine and its operating method. The testing machine includes a display screen feeding mechanism, a display screen cleaning mechanism, a display screen testing mechanism, and a display screen unloading mechanism, which are connected in sequence. The display screen testing mechanism includes a rotary feeding and unloading device for rapid loading and unloading of display screens, a clamping adjustment device, an upper CCD imaging device, a lower CCD auxiliary alignment device, a testing frame, a precision positioning device, a transfer device, and a material handling and unloading transfer device. The rotary feeding and unloading device includes a rotary disk and a rotary drive motor. The rotary disk has multiple rotary stations, and multiple unloading positions are arranged side by side on each rotary station.

[0004] However, in the existing technology, the feeding process of the display test lacks real-time posture monitoring function, which makes it impossible to dynamically collect the posture data of the workpiece during the gripping process. If there is a deviation or tilt, the system cannot adjust in time, which will affect the accuracy of subsequent placement. Traditional manual visual inspection or fixed-angle camera inspection methods are difficult to identify small defects, with a high rate of missed detection, which can easily lead to defective products flowing into the next process. In addition, the monitoring angle of fixed cameras is limited, which cannot achieve all-round scanning of the workpiece and has blind spots, which can easily cause defective products to be mistakenly put into the testing process. Summary of the Invention

[0005] The purpose of this invention is to provide a feeding device for a visually guided display test line, in order to solve the problem mentioned in the background art of lacking real-time posture monitoring function, which leads to the inability to dynamically collect the posture data of the workpiece during the gripping process, and the inability of the system to adjust in time if there is a deviation or tilt.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a feeding device for a visually guided display test line, comprising a conveyor belt and two moving platforms mounted on the bottom of one side of the conveyor belt, a moving plate fixedly connected to the top of the moving platform, a robotic arm for transferring display components mounted on one side of the top of the moving plate, a shifting mechanism mounted on one side of the top of the moving platform, an adjustment mechanism being drivenly connected to the upper part of the shifting mechanism, and a guiding mechanism being drivenly connected to the inner side of the adjustment mechanism, the shifting mechanism being used to adjust the orientation of the adjustment mechanism and the guiding mechanism, and the device further comprising a visual guidance system for coordinating the adjustment mechanism, the guiding mechanism and the robotic arm;

[0007] The adjustment mechanism includes a support frame, a second slide rail fixedly connected to one end of the support frame, a rotating rod rotatably connected to the inner side of the support frame, a gear fixedly connected to the outer surface of the rotating rod, an arc plate slidably connected to the inner side of the second slide rail, and an arc rack meshing with the gear fixedly connected to the side wall of the arc plate.

[0008] The guiding mechanism includes a first mounting frame and a fixed rod fixedly connected to one end. An arc-shaped track is fixedly connected to one end of the fixed rod. A second sliding block is slidably connected to the inner side of the arc-shaped track. A second mounting frame is fixedly connected to one end of the second sliding block, and a mounting rod is fixedly connected to the inner side of the second sliding block. A monitoring camera is installed on the side wall of the second mounting frame. A drive assembly is drivenly connected to one side of the first mounting frame, and the drive assembly is drivenly connected to the second mounting frame.

[0009] Preferably, the drive assembly includes a drive rod, one end of which is rotatably connected to a first mounting bracket, and two second transmission rods are rotatably connected to both sides of one end of the drive rod. One end of each of the two second transmission rods is rotatably connected to a first connecting rod, and the outer surfaces of the two first connecting rods are rotatably connected to the first transmission rods. One end of each of the two first transmission rods is rotatably connected to the outer surface of the mounting rod.

[0010] Preferably, a geared motor is mounted on the side wall of the first mounting bracket, the output end of the geared motor is fixedly connected to one end of the drive rod, a second connecting rod is fixedly connected to one side wall of the first mounting bracket, and two third transmission rods are rotatably connected to the outer surface of the second connecting rod, with one end of each of the two third transmission rods rotatably connected to the two first connecting rods respectively.

[0011] Preferably, the switching mechanism includes a first slide rail, a slide groove in the middle of the first slide rail, a first sliding block slidably connected to the inner side of the slide groove, a center block fixedly connected to the top center of the first sliding block, a first rotating block rotatably connected to the outer surface of the center block, a touch plate fixedly connected to the outer surface of the first rotating block, and two limiting rods symmetrically fixedly connected to one side of the top of the first sliding block.

[0012] Preferably, a connector is rotatably connected to the inner side of one end of the first rotating block, a movable rod is fixedly connected to one end of the connector, a second rotating block is slidably connected to the outer surface of one end of the movable rod, and the bottom end of the second rotating block is rotatably connected to the top of the first sliding block.

[0013] Preferably, a spring is provided between the connector and the second rotating block, the spring is sleeved on the outer surface of the movable rod, a connecting block is fixedly connected to the center of the bottom of the first sliding block, the connecting block is slidably connected to the first slide rail, and a first connecting frame is fixedly connected to the bottom of the connecting block, the bottom of the first connecting frame is fixedly connected to the top of the movable plate, and limit blocks are fixedly connected to the top of both ends of the first slide rail.

[0014] Preferably, a rotating column is fixedly connected to the top of the first rotating block, a second connecting frame is fixedly connected to the top of the rotating column, the top of the second connecting frame is fixedly connected to the side wall of the support frame, a drive motor is installed on the top of the support frame, the output end of the drive motor is fixedly connected to the rotating rod, and one end of the first mounting frame is fixedly connected to the inner wall of the arc plate.

[0015] Preferably, it also includes a visual guidance system, which includes an adjustment module, a visual detection module and a grasping module. The adjustment module is equipped with an angle module and a reversing module. The adjustment module is used to change the position of the guidance mechanism and expand the monitoring range of the camera.

[0016] The visual inspection module is connected to the adjustment module and the grasping module respectively. The visual inspection module is used to receive the angle adjustment signal and the reversal signal transmitted by the adjustment module and transmit them to the monitoring camera.

[0017] The gripping module is equipped with a sensor module, which is used to control the robotic arm to perform gripping operations. The sensor module can also monitor the gripping situation in real time to ensure accurate gripping.

[0018] Preferably, it also includes a coordination module, which is signal-connected to the adjustment module and the vision detection module. One end of the coordination module is signal-connected to the conveying module and the moving module. The conveying module is used to convey the display screen component to the bottom of the robotic arm. After receiving the monitoring signal from the vision detection module, the coordination module can enable the conveying module to control the start and stop of the conveyor belt.

[0019] Preferably, the moving module transmits a moving signal to the moving platform, causing the moving platform to move the top moving plate, thereby changing the position of the robotic arm and the adjusting mechanism, and indirectly changing the position of the monitoring camera, so as to provide visual guidance during material feeding.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. In this invention, a conveyor belt is used to stably transport the display screen to the suction position below the robotic arm. After the display screen comes to rest, the robotic arm uses a suction cup to accurately grasp it. To address potential tilting and offset issues during transport, a monitoring camera mounted on the guiding mechanism is provided. This camera can collect positional deviations in real time and identify surface defects on the display screen, preventing defective products from entering subsequent processes. During the identification process, the position and viewing angle of the camera are dynamically changed by driving the rotating rod to link the gear and the arc rack, enabling a wider range of posture monitoring. In addition, a second mounting bracket is provided, allowing the camera to move smoothly along the arc track and achieve fine-tuning of the angle. This not only improves the grasping accuracy but also ensures the reliability of the handling and placement processes, thereby enhancing the overall level of automation and intelligent inspection.

[0022] 2. In this invention, a geared motor drives a drive rod to rotate, which in turn drives two second transmission rods to adjust the angle or move linearly. The power is then transmitted to the first transmission rod and the mounting rod via a first connecting rod, causing the mounting rod and the second mounting frame to work together to adjust the camera angle. During this process, the third transmission rod plays a coordinating and constraining role to prevent component misalignment or asynchrony. At the same time, the second sliding block moves smoothly under the guidance of the arc track, ensuring that the camera adjustment is accurate. Ultimately, the camera angle is matched with the working area of ​​the robotic arm, improving the intelligence and accuracy of the display screen's grasping and transfer operations.

[0023] 3. In this invention, the conveyor module controls the conveyor belt to achieve stable conveying of the display screen, supports the parallel operation of multiple conveyor belts to adapt to different testing needs, and has dynamic speed and path adjustment functions to ensure that the display screen stops accurately under the robotic arm. The monitoring camera scans the display screen from multiple angles, detects edge, angle, and surface defects, and generates recognition results, which are uploaded to the collaborative module as the basis for grasping. The robotic arm completes high-precision grasping under visual guidance. During the adsorption process, the sensing module monitors and analyzes the adsorption force and posture data in real time. During the grasping process, risk factors such as deviation and tilt are continuously detected, and the path is dynamically corrected to maintain a stable posture. During the placement stage, the monitoring camera assists in visual alignment. When the suction cup is released, the position and angle are ensured to be within the tolerance. If a defective product is found, the abnormality is immediately reported and the process is interrupted, and the product is guided to the waste area to ensure the consistency and stability of the production line quality. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a feeding device for a visually guided display test line according to the present invention.

[0025] Figure 2 This is a front view schematic diagram of the feeding device for a vision-guided display test line according to the present invention;

[0026] Figure 3This is a partial structural schematic diagram of a feeding device for a visually guided display test line according to the present invention.

[0027] Figure 4 This is a schematic diagram of the adjustment mechanism in the feeding device for a visually guided display test line according to the present invention.

[0028] Figure 5 This is a schematic diagram of the guiding mechanism in the feeding device for a visually guided display test line according to the present invention;

[0029] Figure 6 This is a schematic diagram of the adjustment mechanism and the switching mechanism in the feeding device for a visually guided display test line according to the present invention.

[0030] Figure 7 This is a schematic diagram of the transposition mechanism in the feeding device for a visually guided display test line according to the present invention.

[0031] Figure 8 This is a block diagram of a visual guidance system for a feeding device for a visually guided display test line according to the present invention.

[0032] Figure 9 This is a schematic diagram of the process of a visually guided display test line according to the present invention;

[0033] Figure 10 This is a schematic diagram showing the changes in the shifting and adjusting mechanisms of the feeding device for a visually guided display test line according to the present invention.

[0034] In the diagram: 1. Conveyor belt; 2. Robotic arm; 3. Moving platform; 31. Moving plate; 4. Changing mechanism; 41. First connecting frame; 42. First slide rail; 421. Slide groove; 422. Limiting block; 43. First sliding block; 431. Limiting rod; 44. First rotating block; 441. Touch plate; 442. Center block; 45. Second connecting frame; 46. Rotating column; 47. Second rotating block; 48. Movable rod; 481. Spring; 482. Connector; 49. Connecting block; 5. Adjusting mechanism; 51. Drive motor; 52. Support frame; 53. Second slide rail; 54. Rotating rod; 55. Gear; 56. Arc. 57. Rack and pinion; 6. Arc plate; 78. Guide mechanism; 69. First mounting bracket; 60. Gear motor; 61. Drive rod; 62. Fixed rod; 63. Arc track; 64. Second sliding block; 65. Second mounting bracket; 66. Monitoring camera; 67. Mounting rod; 68. First transmission rod; 69. First connecting rod; 60. Second transmission rod; 61. Third transmission rod; 62. Second connecting rod; 71. Conveying module; 72. Coordination module; 73. Angle module; 74. Reversing module; 75. Vision inspection module; 76. Moving module; 77. Grasping module; 78. Sensing module. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: Refer to Figures 1-5 As shown: A feeding device for a visually guided display test line includes a conveyor belt 1 and two moving platforms 3 installed at the bottom of one side. A moving plate 31 is fixedly connected to the top of the moving platform 3. A robotic arm 2 for transferring display components is installed on one side of the top of the moving plate 31. A switching mechanism 4 is installed on one side of the top of the moving platform 3. An adjustment mechanism 5 is driven to the upper part of the switching mechanism 4. A guiding mechanism 6 is driven to the inner side of the adjustment mechanism 5. The switching mechanism 4 is used to adjust the position of the adjustment mechanism 5 and the guiding mechanism 6. The device also includes a visual guidance system for coordinating the adjustment mechanism 5, the guiding mechanism 6 and the robotic arm 2.

[0037] The adjustment mechanism 5 includes a support frame 52, a second slide rail 53 is fixedly connected to one end of the support frame 52, a rotating rod 54 is rotatably connected to the inner side of the support frame 52, a gear 55 is fixedly connected to the outer surface of the rotating rod 54, an arc plate 57 is slidably connected to the inner side of the second slide rail 53, and an arc rack 56 that meshes with the gear 55 is fixedly connected to the side wall of the arc plate 57.

[0038] The guiding mechanism 6 includes a first mounting frame 61 and a fixed rod 63 fixedly connected to one end. An arc-shaped track 631 is fixedly connected to one end of the fixed rod 63. A second sliding block 64 is slidably connected to the inner side of the arc-shaped track 631. A second mounting frame 65 is fixedly connected to one end of the second sliding block 64, and a mounting rod 67 is fixedly connected to the inner side of the second sliding block 64. A monitoring camera 66 is mounted on the side wall of the second mounting frame 65. A drive assembly is drivenly connected to one side of the first mounting frame 61, and the drive assembly is drivenly connected to the second mounting frame 65.

[0039] In this embodiment, conveyor belt 1 is used to stably transport the display screen component. Once the display screen component is transported to the designated suction position below the robotic arm 2, conveyor belt 1 stops running to ensure the display screen remains stationary for subsequent gripping operations. At this time, the robotic arm 2 controls the suction cup connected to its end to accurately grip the display screen. However, during the transport process, due to factors such as friction, inertia, or interference between components, the display screen may experience tilting, misalignment, or other posture deviations.

[0040] Equipped with a monitoring camera 66, mounted on the guiding mechanism 6, the device can monitor the display screen's attitude and status from multiple angles and in all directions. The camera not only collects real-time information on the display screen's positional deviation, ensuring accurate alignment of the suction cup during gripping and preventing issues like misalignment or dropping, but also preliminarily identifies any abnormalities such as cracks or damage on the display screen's surface. If damage is detected, a signal is sent to prevent the robotic arm 2 from transferring the defective item to subsequent testing equipment, effectively reducing testing costs and the risk of equipment malfunction.

[0041] During monitoring and identification, the rotating rod 54 begins to rotate after being powered by the drive assembly, causing the connected gear 55 to rotate synchronously. The gear 55 further meshes with the arc-shaped rack 56 and applies a driving force to move it along a preset trajectory. The movement of the arc-shaped rack 56 will push the arc-shaped plate 57 connected to its inner side to deflect, thereby causing the monitoring camera 66 mounted on the arc-shaped plate 57 to produce dynamic changes in position and viewing angle, significantly expanding the camera's field of view to achieve effective identification of the display screen at a wider angle.

[0042] In addition, a second mounting bracket 65 and its matching sliding structure are provided. The second mounting bracket 65 can achieve curved displacement in the horizontal direction under the action of the drive component. The second sliding block 64 is installed in the arc-shaped track 631 and can slide smoothly along the track, allowing the monitoring camera 66 to be finely adjusted between different angles. This not only enhances the camera's real-time monitoring capability of the capture position, but also continues to monitor the working area below the display screen after the capture is completed, ensuring the safety and reliability of subsequent handling and placement processes.

[0043] Example 2: Figure 5 As shown, the drive assembly includes a drive rod 621, one end of which is rotatably connected to a first mounting bracket 61. Two second transmission rods 681 are rotatably connected to both sides of one end of the drive rod 621. One end of each of the two second transmission rods 681 is rotatably connected to a first connecting rod 68. The outer surfaces of both first connecting rods 68 are rotatably connected to first transmission rods 671, and one end of each first transmission rod 671 is rotatably connected to the outer surface of a mounting rod 67. A geared motor 62 is mounted on the side wall of the first mounting bracket 61. The output end of the geared motor 62 is fixedly connected to one end of the drive rod 621. A second connecting rod 69 is fixedly connected to the side wall of one end of the first mounting bracket 61. Two third transmission rods 682 are rotatably connected to the outer surface of the second connecting rod 69, and one end of each third transmission rod 682 is rotatably connected to one of the two first connecting rods 68.

[0044] In this embodiment, during the process of adjusting the angle of the monitoring camera 66, after the reduction motor 62 is powered on, its output shaft drives the drive rod 621 to rotate. As the first transmission link, the rotational power of the drive rod 621 will be synchronously transmitted to two second transmission rods 681 set on both sides of it, causing the two second transmission rods 681 to synchronously adjust their angles and move linearly.

[0045] Next, the two second transmission rods 681 distribute and transmit the power to the two first transmission rods 671 through their respective connected first connecting rods 68. After receiving the power, the two first transmission rods 671 transmit the force to the mounting rod 67, causing the mounting rod 67 to move in a predetermined direction.

[0046] The movement of mounting rod 67 will further drive the synchronous movement of the connected second mounting bracket 65, completing the angle adjustment operation of the camera mounting component. During this process, the coordinated movement of the two first connecting rods 68 not only distributes the power transmission but also, with the cooperation of the third transmission rod 682, achieves stable linkage of the entire mechanism. The third transmission rod 682 mainly plays a coordinating and constraining role, preventing the components from shifting or becoming asynchronous during movement.

[0047] Simultaneously, as the second mounting bracket 65 moves, the second sliding block 64 connected to it also moves. The movement trajectory of the second sliding block 64 is precisely limited by the arc-shaped track 631 set on the base, ensuring that it moves smoothly along the preset curved trajectory and avoiding unstable factors such as shaking or deviation. Ultimately, through the coordinated work of various components, the angle of the monitoring camera 66 can be precisely adjusted to ensure that the camera's viewing angle matches the working area of ​​the robotic arm 2, thereby effectively guiding the robotic arm 2 to perform the grasping and transfer operations of the display screen, improving the overall system's intelligence and operational precision.

[0048] Example 3: According to Figure 6 and Figure 7As shown, the switching mechanism 4 includes a first slide rail 42, a groove 421 in the middle of the first slide rail 42, a first sliding block 43 slidably connected to the inner side of the groove 421, a center block 442 fixedly connected to the top center of the first sliding block 43, a first rotating block 44 rotatably connected to the outer surface of the center block 442, a touch plate 441 fixedly connected to the outer surface of the first rotating block 44, and two limiting rods 431 symmetrically fixedly connected to one side of the top of the first sliding block 43. A connector 482 rotatably connects to the inner side of one end of the first rotating block 44, a movable rod 48 is fixedly connected to one end of the connector 482, and a second rotating block 47 slidably connects to the outer surface of one end of the movable rod 48. The bottom end of the second rotating block 47 is rotatably connected to the top of the first sliding block 43. A spring 481 is provided between the connector 482 and the second rotating block 47. The spring 481 is sleeved on the outer surface of the movable rod 48. A connecting block 49 is fixedly connected to the center of the bottom of the first sliding block 43. The connecting block 49 is slidably connected to the first slide rail 42, and a first connecting frame 41 is fixedly connected to the bottom of the connecting block 49. The bottom of the first connecting frame 41 is fixedly connected to the top of the moving plate 31. Limit blocks 422 are fixedly connected to the top of both ends of the first slide rail 42. A rotating column 46 is fixedly connected to the top of the first rotating block 44. A second connecting frame 45 is fixedly connected to the top of the rotating column 46. The top of the second connecting frame 45 is fixedly connected to the side wall of the support frame 52. A drive motor 51 is installed on the top of the support frame 52. The output end of the drive motor 51 is fixedly connected to the rotating rod 54. One end of the first mounting frame 61 is fixedly connected to the inner wall of the arc plate 57.

[0049] In this embodiment, during the display screen transfer operation, the moving platform 3 utilizes the principles of a motor and ball screw. Through the coordinated drive of two moving platforms 3, the moving plate 31 mounted on it moves smoothly along a predetermined path. Simultaneously with the movement of the moving plate 31, the robotic arm 2 and the adjustment mechanism 5 mounted on it also move synchronously, thereby achieving a coordinated transfer of the entire structure. During this process, the adjustment mechanism 5, in conjunction with the visual positioning function provided by the guiding mechanism 6, can dynamically and in real-time correct the display screen transfer path and posture, ensuring precise guidance and path consistency during the movement, effectively avoiding deviation and error accumulation.

[0050] As the movable plate 31 continues to move, the first connecting frame 41 fixed to it is also driven forward synchronously. The first connecting frame 41 is structurally connected to the connecting block 49 and the first sliding block 43, so its movement will also drive the overall movement of the above components. The first sliding block 43 is embedded in the slide groove 421 in the side wall of the first slide rail 42, and can slide linearly in the slide groove 421, thereby limiting and guiding the lateral movement of the connecting structure, ensuring the smoothness of the system movement and the stability of the structure.

[0051] As the first sliding block 43 gradually approaches the end position of the first slide rail 42, the touch plate 441 provided on the outer side of the first rotating block 44 will make physical contact with the limiting block 422. After being subjected to force, the touch plate 441 will push the first rotating block 44 to rotate. During this rotation, the first rotating block 44 will apply a driving force to the connector 482, thereby further driving the movable rod 48 connected to it to deflect and rotate.

[0052] One end of the movable rod 48 is connected to a second rotating block 47, which rotates synchronously under its drive. A spring 481 is provided, which releases elastic energy when compressed, thus providing a certain amount of reverse assistance to the first rotating block 44, enabling a rapid return to its original position. Simultaneously, the limiting rod 431 effectively restricts the rotation angle of the first rotating block 44, ensuring that its maximum rotation angle does not exceed ninety degrees, avoiding structural interference or positional deviation.

[0053] A rotating column 46 is provided on the top of the first rotating block 44. This column rotates synchronously under the drive of the rotating block, thereby adjusting the angles of the adjustment mechanism 5 and the guide mechanism 6 at the top of the second connecting frame 45. This structure maintains visual guidance continuity even after the display screen is transferred to the target workstation, ensuring that the adjustment mechanism 5 and guide mechanism 6 can still provide short-term auxiliary positioning even at the end of the transfer phase. This achieves high-precision placement and alignment of the display screen at the workstation, effectively improving the overall system's operational accuracy and automation efficiency.

[0054] Example 4: According to Figures 8-9 As shown, it also includes a visual guidance system, which includes an adjustment module 72, a visual detection module 75, and a grasping module 77. The adjustment module 72 is internally equipped with an angle module 73 and a reversing module 74. The adjustment module 72 is used to change the position of the guidance mechanism 6 and expand the monitoring range of the camera.

[0055] The visual inspection module 75 is connected to the adjustment module 72 and the grasping module 77 respectively. The visual inspection module 75 is used to receive the angle adjustment signal and the reversal signal transmitted by the adjustment module 72 and transmit them to the monitoring camera 66.

[0056] The gripping module 77 is equipped with a sensor module 78. The gripping module 77 is used to control the robotic arm 2 to perform gripping operations, and the sensor module 78 can monitor the gripping situation in real time to ensure accurate gripping.

[0057] It also includes a coordination module 71, which is connected to the adjustment module 72 and the vision detection module 75. One end of the coordination module 71 is connected to the conveying module 7 and the moving module 76. The conveying module 7 is used to convey the display screen component to the bottom of the robotic arm 2. After receiving the monitoring signal from the vision detection module 75, the coordination module 71 can control the conveyor belt 1 to start and stop.

[0058] The moving module 76 transmits a moving signal to the moving platform 3, causing the moving platform 3 to move the top moving plate 31, thereby changing the position of the robotic arm 2 and the adjusting mechanism 5, and indirectly changing the position of the monitoring camera 66, so as to provide visual guidance during material feeding.

[0059] In this embodiment, the conveying module 7 first controls the conveyor belt 1 to move along a preset trajectory to complete the task of conveying the display screen. To adapt to different production rhythms and complex path requirements, multiple conveyor belts 1 can be added to achieve batch or parallel conveying of the display screens. It has real-time control capabilities, dynamically adjusting the travel speed and path of the conveyor belt 1 according to process requirements to ensure that each display screen is stably conveyed to the preset position below the robotic arm 2. When the display screen reaches the target position, the conveyor belt 1 receives a stop signal from the conveying module 7 and quickly brakes, thereby providing a statically stable operating environment for subsequent gripping actions.

[0060] Subsequently, monitoring camera 66 is activated, performing multi-angle, all-around scanning of the display screen surface and its orientation. This stage includes the following key detection tasks: identifying the edges and corners of the display screen, calculating the deviation between the actual placement angle and the standard orientation, accurately obtaining the relative positional relationship between the display screen and the end effector of the robotic arm 2, checking for defects such as damage, cracks, and scratches on the display screen surface, and generating image recognition results. All detection results are packaged into detection signals and uploaded to the collaboration module 71 as an important input for subsequent grasping strategies.

[0061] After the monitoring confirms that the display screen is functioning normally, the grasping module 77 issues a grasping command, driving the robotic arm 2 to initiate the grasping process. At this time, the robotic arm 2 controls the suction cup at its end to slowly descend, performing high-precision positioning under the visual guidance of the monitoring camera 66, and realizing the adsorption action. To ensure the stability and safety of the adsorption process, a sensing module 78 is introduced to collect parameters such as the suction cup's adsorption force and contact state in real time, and performs fusion analysis with the posture data from the monitoring camera 66, uploading the data to the collaboration module 71 for global judgment.

[0062] During the grasping process, the collaborative module 71 will also record the following key status information: whether the display screen is shifted or tilted due to excessive grasping force or suction cup misalignment, whether there are foreign objects or impurities under the display screen that may affect subsequent placement operations, and whether the display screen posture matches the planned path.

[0063] Based on this real-time collected data, the movement trajectory of the robotic arm 2 can be dynamically adjusted to ensure that the display screen remains stable and in the correct posture during movement, preventing secondary damage caused by vibration or tilt.

[0064] After the display screen is moved to the target workstation, the monitoring camera 66 turns again, coordinating with the terminal positioning action of the robotic arm 2 to provide visual assistance and guidance for the placement process. The robotic arm 2 slowly descends to the predetermined height, and fine-tunes the suction cup release point based on the last posture detection data to ensure that the display screen is accurately placed in the designated area of ​​the workstation. After confirming that the position and angle errors are within the tolerance range, the suction cup is released, completing the cycle.

[0065] If, at any stage of the process, the monitoring camera 66 detects damage or other non-conforming features on the display screen, it will immediately send an abnormal signal to the coordination module 71. The coordination module 71 will interrupt the current gripping or transferring command of the robotic arm 2 and initiate an abnormal handling process, guiding the robotic arm 2 to transport the display screen to a designated waste area to prevent defective products from flowing into subsequent processes, thereby ensuring the consistency and stability of the entire production line's quality.

[0066] The device's operation and working principle are as follows: The conveyor module 7 controls the conveyor belt 1 to transport the display screen. Multiple conveyor belts 1 can be added during the feeding process to achieve real-time control and conveying route adjustment. When the display screen reaches the designated position below the robotic arm 2, the conveyor belt 1 brakes after receiving a stop signal. Subsequently, the monitoring camera 66 performs an all-around scan of the display screen, detecting its angular deviation and positional offset from the gripping point of the robotic arm 2. It also identifies surface damage, cracks, and other defects and generates detection signals.

[0067] If the display screen is functioning normally, the gripping module 77 sends a gripping command to the robotic arm 2. The robotic arm 2 then drives the end-effector suction cup to descend, precisely aligning and adsorbing the display screen under the visual guidance of the monitoring camera 66. During the gripping process, the monitoring camera 66 collects real-time posture data of the display screen after it is gripped. When adjusting the camera angle, the reduction motor 62 drives the drive rod 621 to rotate, simultaneously moving the two second transmission rods 681. The second transmission rods 681 transmit force to the two first transmission rods 671 through the first connecting rod 68, thereby pushing the mounting rod 67 to move the second mounting frame 65. During this process, the two first connecting rods 68 maintain stable movement with the cooperation of the third transmission rod 682. The second mounting frame 65 drives the second sliding block 64 to move along the trajectory defined by the arc track 631, thereby changing the angle of the monitoring camera 66. This enables real-time monitoring of the robotic arm 2 during the suction and transfer of the display screen, as well as observation of the situation below the display screen after suction, providing all-round guidance for the robotic arm 2 in feeding the screen.

[0068] When the drive motor 51 drives the rotating rod 54 to rotate, it drives the gear 55 to rotate. The gear 55 pushes the arc-shaped rack 56 to move the arc-shaped plate 57, thereby adjusting the position of the guide mechanism 6 and expanding the monitoring range of the monitoring camera 66. The sensing module 78 monitors the suction cup's gripping status in real time, and transmits the data to the coordination module 71 to determine whether the display screen is shifted or tilted due to the gripping force, and records whether there are foreign objects under the display screen, providing a reference for subsequent workstation placement. The system fine-tunes the movement trajectory of the robotic arm 2 based on the visual data to ensure a stable transfer process.

[0069] Two mobile platforms 3 drive the mobile plate 31 to move, synchronously driving the robotic arm 2 and the adjustment mechanism 5 to move. During the transfer process, the adjustment mechanism 5 and the guide mechanism 6 provide visual guidance to maintain synchronous movement. With the coordinated action of the components of the transfer mechanism 4, the adjustment mechanism 5 and the guide mechanism 6 at the top of the second connecting frame 45 can be controlled to rotate, ensuring that the display screen can still be accurately placed through short-term visual guidance after being transferred to the workstation.

[0070] Guided by the rotating monitoring camera 66, robotic arm 2 slowly descends and places the display screen at the designated position on the workstation. The camera performs a final check on the display screen's orientation and positional deviation. Once confirmed, robotic arm 2 releases the suction cup, completing one transport cycle. If monitoring camera 66 detects damage to the display screen at any stage, it immediately sends an abnormal signal to the coordination module 71. The coordination module 71 then cuts off the robotic arm 2's gripping and transfer commands and transports the damaged part to the waste area.

[0071] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A feeding device for visual guidance type display test line, comprising a conveying belt (1) and two moving platforms (3) mounted on the bottom of one side of the conveying belt (1), the top of the moving platform (3) is fixedly connected with a moving plate (31), and the top of the moving plate (31) is mounted with a mechanical arm (2) for transferring display components, characterized in that: The mobile platform (3) top side is provided with a transposition mechanism (4), the upper transmission connection of the transposition mechanism (4) is provided with an adjusting mechanism (5), the inner side transmission connection of the adjusting mechanism (5) is provided with a guide mechanism (6), the transposition mechanism (4) is used for adjusting the position of the adjusting mechanism (5) and the guide mechanism (6), and the device further comprises a visual guide system for coordinating the adjusting mechanism (5), the guide mechanism (6) and the mechanical arm (2); The adjusting mechanism (5) comprises a support frame (52), one end of the support frame (52) is fixedly connected with a second sliding rail (53), the inner side of the support frame (52) is rotatably connected with a rotating rod (54), the outer surface of the rotating rod (54) is fixedly connected with a gear (55), the inner side of the second sliding rail (53) is slidably connected with an arc-shaped plate (57), and the side wall of the arc-shaped plate (57) is fixedly connected with an arc-shaped rack (56) engaged with the gear (55); The guide mechanism (6) comprises a first mounting frame (61) and a fixed rod (63) fixedly connected to one end of the first mounting frame (61), one end of the fixed rod (63) is fixedly connected with an arc-shaped track (631), the inner side of the arc-shaped track (631) is slidably connected with a second sliding block (64), one end of the second sliding block (64) is fixedly connected with a second mounting frame (65), the inner side of the second mounting frame (65) is fixedly connected with a mounting rod (67), and the side wall of the second mounting frame (65) is provided with a monitoring camera (66), one side of the first mounting frame (61) is transmissionally connected with a driving assembly, and the driving assembly is transmissionally connected with the second mounting frame (65); The driving assembly comprises a driving rod (621), one end of the driving rod (621) is rotatably connected with the first mounting frame (61), one end of the driving rod (621) is rotatably connected with a second transmission rod (681) on both sides, one end of each of the two second transmission rods (681) is rotatably connected with a first connecting rod (68), and the outer surfaces of the two first connecting rods (68) are rotatably connected with a first transmission rod (671), and one end of each of the two first transmission rods (671) is rotatably connected with the outer surface of the mounting rod (67).

2. A vision guided display test line feed apparatus according to claim 1, wherein: The side wall of the first mounting frame (61) is provided with a speed reducer (62), the output end of the speed reducer (62) is fixedly connected with one end of the driving rod (621), one end of the first mounting frame (61) is fixedly connected with a second connecting rod (69), the outer surface of the second connecting rod (69) is rotatably connected with two third transmission rods (682), and one end of each of the two third transmission rods (682) is rotatably connected with the two first connecting rods (68).

3. The apparatus of claim 1, wherein: The transposition mechanism (4) comprises a first sliding rail (42), a sliding groove (421) is formed in the middle of the first sliding rail (42), a first sliding block (43) is slidably connected to the inner side of the sliding groove (421), a central block (442) is fixedly connected to the top of the first sliding block (43), a first rotating block (44) is rotatably connected to the outer surface of the central block (442), a touch plate (441) is fixedly connected to the outer surface of the first rotating block (44), and two limiting rods (431) are symmetrically fixedly connected to the top of the first sliding block (43).

4. A vision guided display test line feed device according to claim 3, wherein: One end of the first rotating block (44) is rotatably connected to a connecting head (482), the connecting head (482) is fixedly connected to a movable rod (48) at one end, a second rotating block (47) is slidably connected to the outer surface of the movable rod (48) at one end, and the second rotating block (47) is rotatably connected to the top of the first sliding block (43) at the bottom.

5. A vision guided display test line feed apparatus according to claim 4, wherein: A spring (481) is arranged between the connecting head (482) and the second rotating block (47), the spring (481) is sleeved on the outer surface of the movable rod (48), a connecting block (49) is fixedly connected to the bottom of the first sliding block (43), the connecting block (49) is slidably connected to the first sliding rail (42), and a first connecting frame (41) is fixedly connected to the bottom of the connecting block (49), the first connecting frame (41) is fixedly connected to the top of the moving plate (31), and limiting blocks (422) are fixedly connected to the top of both ends of the first sliding rail (42).

6. A vision guided display test line feed apparatus according to claim 5, wherein: A rotating column (46) is fixedly connected to the top of the first rotating block (44), a second connecting frame (45) is fixedly connected to the top of the rotating column (46), the second connecting frame (45) is fixedly connected to the side wall of the support frame (52), a driving motor (51) is installed on the top of the support frame (52), the output end of the driving motor (51) is fixedly connected to a rotating rod (54), and one end of the first mounting frame (61) is fixedly connected to the inner wall of the arc-shaped plate (57).

7. A vision guided display test line feed apparatus according to claim 6, wherein: The visual guidance system comprises an adjusting module (72), a visual detection module (75) and a grabbing module (77), the adjusting module (72) is internally provided with an angle module (73) and a reversing module (74), and the adjusting module (72) is used for changing the position of the guiding mechanism (6); The visual detection module (75) is signal connected with the adjusting module (72) and the grabbing module (77), the visual detection module (75) is used for receiving the angle adjustment signal and the reversing signal transmitted by the adjusting module (72) and transmitting them to the monitoring camera (66); The grabbing module (77) is internally provided with a sensing module (78), the grabbing module (77) is used for controlling the mechanical arm (2) to perform a grabbing operation, and the sensing module (78) is used for real-time understanding of the grabbing situation.

8. A vision guided display test line feed apparatus according to claim 7, wherein: The visual guidance system further comprises a cooperation module (71) which is signal connected with the adjusting module (72) and the visual detection module (75) respectively, and the cooperation module (71) is signal connected with the conveying module (7) and the moving module (76) respectively, the conveying module (7) is used for conveying the display screen component to below the mechanical arm (2), and the cooperation module (71) receives the monitoring signal of the visual detection module (75) and makes the conveying module (7) control the conveying belt (1) to start and stop.

9. A vision guided display test line feed apparatus according to claim 8, wherein: The moving module (76) transmits a moving signal to the moving platform (3), so that the moving platform (3) drives the moving plate (31) on the top to move, thereby changing the positions of the mechanical arm (2) and the adjusting mechanism (5), and indirectly changing the position of the monitoring camera (66).

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