Liquid crystal screen performance automatic inspection equipment and method based on collaborative robot

Abstract

The invention relates to the technical field of industrial automatic detection equipment, in particular to liquid crystal screen performance automatic inspection equipment and method based on a collaborative robot, and the equipment comprises a robot, a robot controller, a detection probe, a force sensing module, a position sensing module and a control system. A detection probe, a force sensing module and a position sensing module are integrally mounted at the free end of the robot mechanical arm; the control system dynamically adjusts the movement of the mechanical arm through the robot controller according to the actual screen position fed back by the position sensing module and the contact force between the probe and the screen detected by the force sensing module, so that the detection probe is precisely attached to the surface of the screen with the preset constant force. Through multi-sensor fusion and closed-loop control, automatic adaptation to the positions and heights of screens of different models is achieved, shutdown for manual adjustment is not needed, the production changing time is remarkably shortened, and the detection efficiency and precision and the flexibility level of a production line are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation detection equipment, and particularly relates to a liquid crystal screen performance automatic inspection equipment and method based on a collaborative robot. BACKGROUND

[0002] In the field of liquid crystal screen manufacturing, the performance inspection station at the end of the production line is a key link to ensure product quality. At present, fixed detection probe systems are generally used in this link, and precise detection equipment such as color analyzers and luminance meters are rigidly installed on preset rack structures, and their spatial coordinates remain unchanged after being set during production debugging. This fixed structure can maintain high detection stability in single model and large batch production scenarios, and has been widely used in the early industry.

[0003] However, as market demand becomes increasingly diversified, liquid crystal screen production lines need to frequently switch between different models and sizes of products, and the limitations of fixed detection probe structures gradually become apparent. Since the distribution of the points to be measured and the height of the screen differ for different products, the position and height of the probe need to be manually adjusted by the operator each time the model is changed, which prolongs the downtime of the production line and seriously hinders production efficiency and flexibility. SUMMARY

[0004] To solve the above technical problems, the present application provides a technical scheme of a liquid crystal screen performance automatic inspection equipment and method based on a collaborative robot.

[0005] The technical problems solved by the present application can be implemented by using the following technical scheme: A liquid crystal screen performance automatic inspection equipment based on a collaborative robot, comprising: a robot, the robot having a mechanical arm, the mechanical arm having a fixed end and a free end; a robot controller, electrically connected to the robot, for controlling the movement of the mechanical arm; a detection probe, installed at the free end of the mechanical arm; a force sensing module, installed at the free end of the mechanical arm, for real-time detection of the contact force between the detection probe and the liquid crystal screen; a position sensing module, installed at the free end of the mechanical arm, for detecting the actual position of the liquid crystal screen; a control system, electrically connected to the robot controller, the force sensing module, and the position sensing module, for controlling the movement of the mechanical arm according to the actual position and the contact force, so that the detection probe is attached to the surface of the liquid crystal screen with a preset contact force.

[0006] Preferably, the free end of the mechanical arm is provided with an actuator flange. One end of the force sensing module is connected with the actuator flange.

[0007] Preferably, a mounting plate is further included, which is connected to one end of the force sensing module away from the actuator flange.

[0008] Preferably, the detection probe and the position sensing module are both mounted on the mounting plate.

[0009] Preferably, the detection direction of the position sensing module is consistent with the detection direction of the detection probe.

[0010] Preferably, the control system includes an I / O module, and the signal output ends of the force sensing module and the position sensing module are electrically connected with the I / O module.

[0011] Preferably, a mounting base is further included, and the base of the robot is mounted on the mounting base. The fixed end of the mechanical arm is mounted on the base.

[0012] Preferably, the control system communicates with the robot controller through industrial Ethernet.

[0013] The application further provides a liquid crystal screen performance automatic inspection method based on a collaborative robot, which is applied to the liquid crystal screen performance automatic inspection device based on the collaborative robot. Step S1, the control system receives a model switching signal from a production line and calls a preset detection program corresponding to the model. Step S2, the control system controls the mechanical arm to move the detection probe to a preset position of a detection point. Step S3, the control system identifies a position deviation of the liquid crystal screen relative to the detection probe based on feedback data of the position sensing module. Step S4, the control system controls the mechanical arm to perform pose adjustment based on the position deviation. Step S5, the control system controls the mechanical arm to move the detection probe towards the liquid crystal screen and triggers the detection probe to perform a performance detection operation based on feedback data of the force sensing module. Step S6, after single-point detection is completed, the control system controls the mechanical arm to move away and iteratively performs steps S2 to S5 until detection of all detection points is completed.

[0014] Preferably, the step S5 includes: Step S51, the mechanical arm is controlled to move in a direction perpendicular to the surface of the liquid crystal screen. Step S52, real-time read the contact force detected by the force sensing module, when the contact force reaches the preset fitting threshold, control the mechanical arm to stop moving, and trigger the detection probe to perform performance detection operation.

[0015] Beneficial effects: the present application integrates force sensing and position sensing modules, so that the detection probe can automatically adapt to the position and height changes of different models of screens, without manual adjustment, the screen surface can be accurately fitted and the constant contact force can be maintained, thereby significantly shortening the downtime of production line change, effectively improving the production efficiency and the flexibility level of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the liquid crystal screen performance automatic inspection equipment of the present application; Figure 2 is a flow chart of the liquid crystal screen performance automatic inspection method of the present application.

[0017] Reference signs: 1, robot; 11, mechanical arm; 12, base; 2, robot controller; 3, detection probe; 4, force sensing module; 5, position sensing module; 6, control system; 7, mounting plate; 8, mounting base. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0020] The present application will be further described below with reference to the drawings and specific embodiments, but not as a limitation of the present application.

[0021] Reference Figure 1 , the present application provides a kind of liquid crystal screen performance automatic inspection equipment based on collaborative robot, comprising: Robot 1, the robot 1 has a mechanical arm 11, the mechanical arm 11 has fixed end and free end; Robot controller 2, electrically connected with the robot 1, for controlling the movement of the mechanical arm 11; Detection probe 3, is installed in the free end of the mechanical arm 11; A force sensing module 4 is installed at the free end of the mechanical arm 11 to detect the contact force between the detection probe 3 and the liquid crystal screen in real time. A position sensing module 5 is installed at the free end of the mechanical arm 11 to detect the actual position of the liquid crystal screen. A control system 6 is electrically connected with the robot controller 2, the force sensing module 4 and the position sensing module 5 respectively, and is configured to control the movement of the mechanical arm 11 according to the actual position and the contact force, so that the detection probe 3 is attached to the surface of the liquid crystal screen with a preset contact force.

[0022] Specifically, in the embodiment of the present application, the position sensing module 5 is used to automatically identify the spatial pose of the screen, and the force sensing module 4 is used to realize real-time closed-loop control of the contact force, so as to avoid frequent manual intervention and poor detection consistency caused by human adjustment errors, and to realize quick, automatic and accurate detection point switching and measurement between different types of screens, thereby significantly improving the flexibility and overall efficiency of the production line.

[0023] Specifically, the control system 6 obtains the actual three-dimensional coordinates of the screen through the position sensing module 5, and drives the robot 1 to move the detection probe 3 to the preprogrammed measurement point; then, under the feedback of the force sensing module 4, the mechanical arm 11 can make subtle adaptive adjustment to ensure that the probe lightly touches the screen surface with constant optimal contact force, thereby realizing full automation and high repeatability of the detection process, eliminating the efficiency bottleneck and quality fluctuation caused by manual operation, and making it possible to quickly respond to the diversified needs of production orders.

[0024] Among them, the present application selects PLC as the control system 6, PLC has excellent anti-interference ability and running stability, can reliably coordinate the work of robot 1, sensor and other units in the complex electromagnetic environment of industrial field; the position sensing module 5 adopts proximity radar sensor, based on its non-contact, fast response and accurate ranging characteristics, it can efficiently and losslessly identify the spatial position of screens of different sizes, and provide key data for accurate positioning of the mechanical arm 11; the force sensing module 4 selects torque sensor, which can directly and accurately measure the multi-dimensional force / torque signal generated when the probe contacts the screen, and provides core feedback for realizing accurate force closed-loop control.

[0025] This system configuration makes the equipment have both industrial reliability and precise control ability, which not only guarantees stable operation under frequent production change conditions, but also realizes micron-level positioning accuracy and millinewton-level force control accuracy, finally improves the production efficiency while ensuring the high accuracy and repeatability of the detection data.

[0026] Further, the robot 1 is preferably a six-axis articulated collaborative robot. This choice is based on its dual advantages in terms of motion flexibility and safety: On the one hand, the humanoid structure of the six rotary joints of the robot 1 enables flexible motion in multiple postures in three-dimensional space, enabling the detection probe 3 to accurately adapt to the complex measurement requirements of screens of different sizes and different installation angles; On the other hand, the robot 1 itself has force sensing and collision detection functions, which can form a collaborative protection mechanism with the force control module of the system, and can immediately stop or avoid once unintended contact force is detected, thereby effectively avoiding mechanical damage to the precision liquid crystal screen.

[0027] Through this design, the device not only breaks through the limitations of fixed detection systems in terms of accessibility and adaptability, and can complete measurement tasks of various complex spatial angles, but also improves the level of detection automation while ensuring the operation safety of high-value screen products during the production process.

[0028] As a preferred embodiment of the present application, the free end of the mechanical arm 11 is provided with an actuator flange; One end of the force sensing module 4 is connected with the actuator flange.

[0029] Specifically, since the force sensing module 4 needs to accurately sense the contact force between the detection probe 3 and the screen, its installation rigidity and measurement accuracy are crucial. In the embodiment of the present application, one end of the force sensing module 4 is directly and rigidly connected to the actuator flange at the free end of the mechanical arm 11 through high-strength bolts, ensuring a direct and gap-free force transmission path, so that the end force can be accurately fed back to the control system 6.

[0030] This approach not only establishes a stable and reliable mechanical connection, providing a structural basis for high-precision force control, but also forms a standard modular interface, facilitating the subsequent quick replacement of different types of detection probes 3 or sensors for different detection tasks.

[0031] In addition, other indirect force measurement schemes can also be used, such as installing a torque sensor at other non-end joints of the mechanical arm 11, or using flexible connecting elements, etc. However, such methods will cause attenuation and lag in the measurement signal of the end contact force due to factors such as joint clearance in the mechanical transmission chain, link deformation, or damping of flexible elements, making it difficult to truly reflect the instantaneous contact state between the probe and the screen, and thus making it difficult to achieve the high dynamic response and high-precision end force closed-loop control required by the system. Therefore, the present application discards such indirect measurement schemes and adopts the optimized design of directly installing the force sensing module 4 at the end of the mechanical arm 11, thereby ensuring the accuracy and real-time performance of force sensing from the root of the hardware.

[0032] As a preferred embodiment of the present application, a mounting plate 7 is further included, which is connected to the force sensing module 4 at an end away from the actuator flange.

[0033] Specifically, since efficiently and reliably integrating the detection probe 3 and the position sensing module 5 as two functional units at the end of the mechanical arm 11 is the key to realizing the system function, while also considering the convenience of daily calibration and maintenance, in the embodiment of the present application, a rectangular mounting plate 7 is provided as a modular integrated platform, which not only provides accurate mechanical positioning for each component, but also enables the entire end measurement system (probe and sensor) to be quickly disassembled and off-line calibrated as a whole unit, greatly improving the maintainability and flexibility of functional expansion of the equipment.

[0034] As a preferred embodiment of the present application, the detection probe 3 and the position sensing module 5 are both mounted on the mounting plate 7.

[0035] Specifically, to ensure that the measurement axis of the detection probe 3 can be accurately perpendicular to the screen surface, in the embodiment of the present application, the detection probe 3 is mounted by screws at the center position of one end of the mounting plate 7, with its detection head facing straight ahead; the position sensing module 5 is mounted by a bracket on the side surface of the mounting plate 7, and is arranged opposite to the position of the force sensing module 4, so as to stagger the space layout and avoid interference with the optical path or physical structure of the probe.

[0036] This centralized layout builds a compact and functionally integrated detection terminal, ensuring the determinacy of the spatial relationship of each component, and unifying the reference of position sensing and final detection.

[0037] Further specifically, to eliminate the spatial error that may be caused by the non-uniform measurement reference and ensure that the coordinate reference of position sensing and performance detection is strictly consistent, in the embodiment of the present application, the detection direction of the position sensing module 5 and the detection direction of the detection probe 3 are set to be consistent. This coaxial layout design enables the positioning point of the screen surface by the position sensing module 5 to be directly used as the target point for measurement by the detection probe 3, thereby realizing seamless connection from "sensing" to "detection" at the system level. Through precise tooling calibration, the detection beam of the position sensing module 5 is ensured to be parallel to the central axis of the detection probe 3, so that the system can realize the high-precision work process of "sensing is positioning, and positioning is measurement". This design not only avoids measurement deviation caused by parallax or Abbe error in principle, but also significantly improves the absolute positioning accuracy and reliability when quickly changing the detection of screens of different sizes and different installation attitudes in practical applications.

[0038] As a preferred embodiment of the present application, the control system 6 comprises an I / O module, and the signal output ends of the force sensing module 4 and the position sensing module 5 are electrically connected to the I / O module, respectively.

[0039] Specifically, in the embodiment of the present application, the I / O module is a standard component of the PLC control system, which is dedicated to collecting multi-channel digital and analog signals, can provide stable and isolated electrical interfaces for the two types of key real-time feedback information of torque data and position offset, and realizes synchronous data collection based on a unified sampling clock, thereby ensuring the consistency and real-time of system response.

[0040] In the implementation process, the analog voltage signal output by the force sensing module 4 (torque sensor) and the digital signal (or standard signal after analog-to-digital conversion) output by the position sensing module 5 (proximity radar sensor) are connected to the corresponding high-precision analog input channel and high-speed digital input channel of the I / O module, respectively. This connection mode builds a centralized and reliable signal acquisition link, which not only simplifies the system wiring structure, but also facilitates unified processing and analysis of all sensor data in the control program, providing synchronous and accurate data basis for subsequent implementation of high-dynamic response and high-precision robot 1 motion and force control algorithm.

[0041] As a preferred embodiment of the present application, it further comprises a mounting base 8, and the base 12 of the robot 1 is mounted on the mounting base 8. The fixed end of the mechanical arm 11 is mounted on the base 12.

[0042] Specifically, considering that ground vibration and personnel and equipment flow in the industrial field may affect the positioning accuracy of the robot 1, in the embodiment of the present application, the mounting base 8 is made of high-rigidity cast iron material and is firmly fixed to the foundation of the detection station by anchor bolts, thereby providing a stable working platform for the robot 1 with great mass, high inherent frequency and strong anti-interference capability.

[0043] This method effectively suppresses the slight shaking of the base 12 caused by external vibration and movement of the robot 1 by increasing the overall mass and rigidity of the system, and establishes an accurate spatial positioning reference for the detection unit at the end of the mechanical arm 11.

[0044] Further specifically, in the embodiment of the present application, the robot controller 2 and the control system 6 are integrated in the lower internal space of the mounting base 8, which realizes high integration of the equipment, saves the floor space of the production line, shortens the length of power and feedback cables between the robot 1 and the controller to improve signal quality and response speed, and forms a natural electromagnetic shield and physical protection using the metal structure of the base itself, thereby ensuring the operation reliability of the core electrical control system in complex industrial environments.

[0045] As a preferred embodiment of the present application, the control system 6 communicates with the robot controller 2 through industrial Ethernet.

[0046] Specifically, given that industrial Ethernet has high bandwidth, low latency, and excellent synchronization performance, it can meet the stringent requirements of precise motion control and real-time data interaction of the multi-axis robot 1. In the embodiment of the present application, the PLC control system as the control core of the device establishes a high-speed data connection with the robot controller 2 through a standard Modbus TCP protocol communication cable. The PLC periodically sends target pose instructions to the robot controller 2 and synchronously receives key position, running state, and alarm information of the robot 1, achieving millisecond-level instruction and state synchronization between the two.

[0047] This communication architecture not only ensures the precise coordination of the robot 1 motion trajectory and detection process, but also simplifies system wiring and takes advantage of the open nature of industrial Ethernet to reserve a standard interface for future connection to a factory-level MES system for data acquisition and remote monitoring.

[0048] Referring to Figure 2 The present application also includes a liquid crystal screen performance automatic inspection method based on a collaborative robot, which is applied to a liquid crystal screen performance automatic inspection device based on a collaborative robot as described above, and includes: Step S1, the control system 6 receives a model switching signal from the production line and calls a preset detection program corresponding to the model; Step S2, the control system 6 controls the mechanical arm 11 to move the detection probe 3 to a preset position of a detection point; Step S3, the control system 6 identifies the positional deviation of the liquid crystal screen relative to the detection probe 3 based on the feedback data of the position sensing module 5; Step S4, the control system 6 controls the mechanical arm 11 to perform pose adjustment based on the positional deviation; Step S5, the control system 6 controls the mechanical arm 11 to move the detection probe 3 towards the liquid crystal screen and triggers the detection probe 3 to perform performance detection operation based on the feedback data of the force sensing module 4; Step S6, after single-point detection is completed, the control system 6 controls the mechanical arm 11 to move away and iteratively performs steps S2 to S5 until detection of all detection points is completed.

[0049] Specifically, in the embodiment of the present application, in order to solve the problems of small position deviation in the incoming material placement, detection point position deviation, inaccurate fitting and the like caused by the lack of adaptive ability of the fixed probe, the real-time position sensing and active compensation mechanism is introduced through steps S3 and S4.

[0050] In the implementation, the position sensing module 5 (such as a proximity radar sensor) first accurately detects the spatial deviation (including distance and angle) of the actual surface of the screen relative to the preset target point of the probe, and then the control system 6 drives the mechanical arm 11 to perform corresponding translation and rotation adjustment, so that the probe is re-aligned with the theoretical detection point. This process effectively overcomes the problem of inaccurate measurement reference caused by inconsistent incoming material position of the screen, and eliminates the detection point position deviation from the root, laying a positional foundation for the subsequent accurate and safe fitting of the probe and the screen.

[0051] The position adaptive process is completely completed automatically by the device without the need for manual intervention or re-teaching, which not only greatly shortens the production line downtime caused by type change and position correction in the traditional fixed scheme, but also significantly improves the reliability and repeatability of the detection data, while avoiding the potential damage risk to the screen or probe caused by mechanical interference.

[0052] As a preferred embodiment of the present application, the step S5 comprises: Step S51, controlling the mechanical arm 11 to move in a direction perpendicular to the surface of the liquid crystal screen; Step S52, real-time reading of the contact force detected by the force sensing module 4, when the contact force reaches the preset fitting threshold, controlling the mechanical arm 11 to stop moving, and triggering the detection probe 3 to perform performance detection operation.

[0053] Specifically, in order to further ensure the accurate fitting of the probe and the screen surface without impact and full contact on the basis of position compensation, in the embodiment of the present application, a two-stage control strategy of "vertical close-in - force control trigger" is adopted, specifically: first, control the mechanical arm 11 to approach along the normal direction of the screen, eliminate the risk of tangential misplacement from the motion path; then through real-time force feedback to build a compliant contact control, and lock the position and trigger the detection when the preset contact force is reached.

[0054] This method ensures the physical safety of the contact process and the geometric consistency of the measurement state through the synergistic effect of trajectory planning and force control response, thereby ensuring accurate fitting and providing double protection for the reliability of the detection data.

[0055] Next, taking the first detection after the production line is switched to the "A model" liquid crystal screen as an example, the working process of the automatic inspection method is described in detail: 1) Program calling: the production line management system sends an "A model" signal to the PLC control system. After receiving the signal, the PLC immediately calls the detection path program previously edited for the A model from the internal memory.

[0056] 2) Preliminary positioning: the PLC control system controls the movement of the robot arm 11 of the robot 1 through the robot controller 2, and moves the detection probe 3 installed at the free end to the preset theoretical position of the first detection point (denoted as P1 point) of the A model.

[0057] 3) Position sensing and deviation calculation: in the vicinity of the P1 point, the PLC control system starts the position sensing module 5 (proximity radar sensor). The sensor detects the actual distance L of the screen surface and feeds back this data to the PLC control system; the PLC control system compares L with the theoretical distance L0 corresponding to the detection point, and calculates the position deviation AL = L - L0 in the probe axis direction in real time.

[0058] 4) Position compensation: the PLC control system generates corresponding coordinate compensation instructions according to the calculated deviation AL, and sends them to the robot controller 2 through Modbus TCP; the robot controller 2 drives the robot arm 11 to move slightly, and accurately adjusts the detection probe 3 to the compensated correct position, thereby eliminating the influence of the incoming material placement error on the detection point.

[0059] 5) Constant force fitting and detection triggering: after the position adjustment is completed, the PLC control system controls the robot arm 11 to move slowly along the direction perpendicular to the screen surface, so that the detection probe 3 approaches the screen; in this process, the force sensing module 4 (torque sensor) monitors the contact force Fz in the Z-axis direction (i.e. the fitting direction) in real time, and continuously feeds back to the PLC control system; when the PLC control system determines that the contact force Fz reaches the optimal fitting force threshold set for the A model (for example, 5N), it immediately issues a stop command, and the robot arm 11 is instantaneously braked; at this time, the detection probe 3 (such as a color analyzer / luminance meter) is stably fitted on the screen surface with a constant optimal pressure, and the PLC control system triggers its performance detection operation.

[0060] 5) Cycle detection: after single-point detection is completed, the PLC control system controls the robot arm 11 to move away the probe, and moves to the next preset detection point; for each new detection point, the system repeats the above steps until the detection task of all predetermined points of the A model is completed.

[0061] Through the above process, the system realizes automatic identification and compensation of incoming material position deviation, as well as accurate control of contact force during detection, ensuring the reliability of detection data and effectively avoiding damage to the screen or probe.

[0062] In conclusion, the application provides a liquid crystal screen performance automatic inspection device and method based on a collaborative robot, by constructing an intelligent detection device integrating a collaborative robot 1, multi-sensor feedback and program control, deeply fusing flexible automation, high-precision sensing and adaptive control technology, fundamentally changing the traditional fixed detection mode, and realizing the following three core breakthroughs: First, programmatic calling replaces physical adjustment, achieving rapid and seamless switching of multi-variety production. Second, through real-time spatial positioning and force control feedback, an active compensation and protection mechanism for position fluctuations and contact risks in the production process is formed. Third, a modular integrated architecture is adopted to cover the detection needs of diversified products with a single system.

[0063] The application not only significantly improves production rhythm, detection accuracy and operation safety at the operation level, but also builds an agile quality control system for enterprises that can quickly respond to market changes and continuously reduce production costs at the strategic level.

[0064] The above only describes the preferred embodiments of the application, and does not limit the implementation and protection scope of the application. For those skilled in the art, it should be realized that any equivalent replacement and obvious changes made by applying the content of the specification and drawings should be included in the protection scope of the application.

Claims

1. A liquid crystal screen performance automatic inspection apparatus based on a cooperative robot, characterized by, The application relates to a liquid crystal screen performance automatic inspection device based on a collaborative robot, which comprises the following parts. A robot (1) has a mechanical arm (11) with a fixed end and a free end; A robot controller (2) is electrically connected with the robot (1) and used for controlling the movement of the mechanical arm (11); A detection probe (3) is installed on the free end of the mechanical arm (11); A force sensing module (4) is installed on the free end of the mechanical arm (11) and used for detecting the contact force between the detection probe (3) and a liquid crystal screen in real time; A position sensing module (5) is installed on the free end of the mechanical arm (11) and used for detecting the actual position of the liquid crystal screen; A control system (6) is electrically connected with the robot controller (2), the force sensing module (4) and the position sensing module (5) respectively, and is used for controlling the movement of the mechanical arm (11) according to the actual position and the contact force, so that the detection probe (3) is attached to the surface of the liquid crystal screen with a preset contact force.

2. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 1, characterized by, The free end of the mechanical arm (11) is provided with an actuator flange; One end of the force sensing module (4) is connected with the actuator flange.

3. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 2, characterized by, An installation plate (7) is further arranged, and the installation plate (7) is connected to the end of the force sensing module (4) away from the actuator flange.

4. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 3, characterized by, The detection probe (3) and the position sensing module (5) are both installed on the installation plate (7).

5. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 4, characterized by, The detection direction of the position sensing module (5) is consistent with the detection direction of the detection probe (3).

6. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 1, characterized by, The control system (6) comprises an I / O module, and the signal output ends of the force sensing module (4) and the position sensing module (5) are electrically connected with the I / O module.

7. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 1, characterized by, An installation base (8) is further arranged, and the base (12) of the robot (1) is installed on the installation base (8); The fixed end of the mechanical arm (11) is installed on the base (12).

8. The liquid crystal screen performance automatic inspection apparatus based on a collaborative robot according to claim 1, characterized by, The control system (6) and the robot controller (2) communicate through an industrial Ethernet.

9. A method for automatically checking performance of a liquid crystal screen based on a collaborative robot, characterized by, The application is applied to the liquid crystal screen performance automatic inspection device based on the collaborative robot, and the device comprises the following steps. In step S1, the control system (6) receives a model switching signal from a production line and calls a preset detection program corresponding to the model; In step S2, the control system (6) controls the mechanical arm (11) to move the detection probe (3) to a preset position of a detection point; In step S3, the control system (6) identifies a position deviation of the liquid crystal screen relative to the detection probe (3) based on feedback data of the position sensing module (5); In step S4, the control system (6) controls the mechanical arm (11) to perform pose adjustment based on the position deviation; In step S5, the control system (6) controls the mechanical arm (11) to move the detection probe (3) towards the liquid crystal screen and triggers the detection probe (3) to perform a performance detection operation based on feedback data of the force sensing module (4). Step S6, after the single-point detection is completed, the control system (6) controls the mechanical arm (11) to move away, and iteratively executes steps S2 to S5 until the detection of all detection points is completed.

10. The method of claim 9, wherein the method is performed by a robot. The step S5 includes: Step S51, control the mechanical arm (11) to move in a direction perpendicular to the surface of the liquid crystal screen; Step S52, read the contact force detected by the force sensing module (4) in real time, and when the contact force reaches a preset adhesion threshold, control the mechanical arm (11) to stop moving, and trigger the detection probe (3) to perform performance detection operation.

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