An aligning and bonding apparatus

Abstract

The application discloses a kind of aligning and laminating equipment, for laminating prism film on display screen.The equipment includes: fixed platform, prism film moving manipulator, prism film pre-alignment mechanism, prism film film tearing mechanism, display screen up and down material loading platform, display screen pre-alignment mechanism, display screen moving manipulator, display screen film tearing mechanism, laminating mechanism, fine alignment component, UVW platform and control system.Wherein, fine alignment component includes upper camera and lower camera, and the reference mark of display screen and the internal optical grating of prism film are photographed respectively;Control system calculates position deviation according to visual positioning result, drives UVW platform to carry out iterative closed loop compensation in three degrees of freedom X, Y, θ Until deviation is within the preset range.The application realizes the laminating accuracy of sub-micron level by the fine alignment and iterative closed loop compensation mechanism based on internal optical structure, significantly improves product yield and equipment stability.

Description

Technical Field

[0001] This invention relates to the field of display panel bonding equipment technology, and more specifically, to an ultra-high precision alignment and bonding equipment for bonding optical films (such as prism films) to a display screen. Background Technology

[0002] In the manufacturing of 3D display devices, a prism film with an internal optical grating structure needs to be precisely bonded to the display screen to achieve the 3D display effect. Existing bonding equipment usually aligns the film / display by the outer contour or a simple reference point. However, the internal grating structure of the prism film has a relative deviation of micrometers or even submicrometers from the outer contour. This means that when relying solely on the outer contour for alignment, the bonding accuracy cannot meet the requirements (e.g., submicrometer level), resulting in low product yield. Summary of the Invention

[0003] To address the aforementioned shortcomings, this invention provides an ultra-high precision alignment and bonding device based on internal optical structure alignment and iterative closed-loop compensation, achieving sub-micron level bonding accuracy.

[0004] A alignment and bonding device for bonding a prism film to a display screen includes: a fixed platform for supporting and adsorbing the prism film; a prism film moving robot for picking up the prism film from the fixed platform and transferring it to an intermediate transfer platform; a prism film pre-alignment mechanism for performing preliminary visual positioning of the prism film on the prism film moving robot; wherein the prism film moving robot corrects the position of the prism film based on the positioning result of the prism film pre-alignment mechanism; a prism film tearing mechanism for tearing off the protective film on the prism film; a display screen loading and unloading platform for supporting and transferring the display screen; and the display screen pre-alignment mechanism for performing preliminary visual positioning of the display screen on the display screen loading and unloading platform. A screen-moving robot is used to pick up and transfer the display screen, and perform position correction based on the positioning result of the display screen pre-alignment mechanism; a display screen film-removing mechanism is used to remove the protective film from the display screen; a bonding mechanism includes an upper bonding component and a lower bonding component, the upper bonding component is used to adsorb and fix the prism film on the centering transfer stage, and the lower bonding component is used to support the display screen; a precision alignment component includes an upper camera, a lower camera, and a camera drive mechanism that drives the upper camera and the lower camera to move synchronously; a UVW platform is connected to the lower bonding component and is used to drive the lower bonding component to move in three degrees of freedom (X, Y, θ); a control system is communicatively connected to the precision alignment component and the UVW platform respectively.

[0005] The control system is configured to perform the following iterative closed-loop alignment steps: S1, controlling the camera drive mechanism to drive the upper camera and the lower camera into the gap between the upper bonding component and the lower bonding component; S2, controlling the lower camera to photograph the prism film on the upper bonding component, identifying its internal optical grating structure or preset prism film markings, and obtaining first feature coordinates; S3, controlling the upper camera to photograph the display screen on the lower bonding component, identifying its reference markings, and obtaining second feature coordinates; S4, calculating the positional deviation between the prism film and the display screen based on the first feature coordinates and the second feature coordinates, the positional deviation including horizontal... S5. The positional offset ΔX, vertical offset ΔY, and rotation angle deviation Δθ are calculated. The positional deviations are converted into displacement commands for the UVW platform, driving the UVW platform to move the lower bonding component, completing the first positional compensation. The upper camera is then controlled to re-capture the reference mark on the display screen, obtaining the updated second feature coordinates, and the updated positional deviations ΔX', ΔY', and Δθ' are recalculated. The updated positional deviations are determined to be within a preset compensation error range: if yes, alignment is complete; if no, steps S3 to S6 are repeated until the updated positional deviations are within the preset compensation error range.

[0006] In one embodiment of the present invention, if the number of repetitions exceeds the preset maximum number of iterations when performing step S7, the iteration is stopped and an alarm signal is issued.

[0007] In one embodiment of the present invention, the UVW platform has a built-in grating ruler for real-time feedback of the actual displacement of the UVW platform, forming a position closed-loop control with a repeatability accuracy of ≤2μm.

[0008] In one embodiment of the present invention, the camera drive mechanism of the precision alignment component is an X-axis dual linear motor assembly, used to drive the upper camera and the lower camera to move synchronously along the X-axis direction.

[0009] In one embodiment of the present invention, the bonding mechanism further includes a vacuum system for evacuating the bonding space after the upper bonding component and the lower bonding component are closed.

[0010] In one embodiment of the present invention, the bonding mechanism further includes a marble platform and a shock absorber disposed at the bottom of the marble platform for isolating external vibrations.

[0011] In one embodiment of the present invention, both the prism film pre-alignment mechanism and the display screen pre-alignment mechanism are CCD vision positioning systems used to perform coarse alignment of the prism film and the display screen, wherein the accuracy of the coarse alignment is ±50μm.

[0012] In one embodiment of the present invention, both the prism film moving robot and the display screen moving robot include a Y-axis linear module, a Z-axis linear module mounted on the Y-axis linear module, and a vacuum adsorption robot disposed on the Z-axis linear module.

[0013] In one embodiment of the present invention, both the prism film tearing mechanism and the display screen tearing mechanism include a six-axis robot and a tearing assembly driven by the six-axis robot.

[0014] In summary, the present invention provides an alignment and bonding device, and the beneficial effects of the present invention are:

[0015] (1) High alignment accuracy: Alignment is based on internal optical structure (grating) to avoid deviation of outer contour; through iterative closed-loop compensation, the process of detection-calculation-compensation-re-detection is realized to ensure that the final error is ≤2μm (submicron level).

[0016] (2) Strong synergy: The UVW platform and the precision alignment camera form a real-time closed loop, dynamically correcting interferences such as mechanical vibration and thermal deformation, resulting in high stability.

[0017] (3) High efficiency: The iterative closed loop converges quickly, usually achieving the target in 2 to 3 iterations, balancing accuracy and productivity. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of a prism membrane moving robot.

[0020] Figure 3 This is a three-dimensional structural diagram of the prism film tearing mechanism.

[0021] Figure 4 for Figure 3 A three-dimensional structural diagram of the tear-off film assembly.

[0022] Figure 5 A schematic diagram of the three-dimensional structure of the fitting mechanism.

[0023] Figure 6 This is the front view of the component that is attached below.

[0024] Figure 7 This is a three-dimensional structural diagram of the precision alignment component.

[0025] Description of main elements:

[0026] 1. Fixed platform; 2. Prism film pre-alignment mechanism; 3. Prism film moving robot; 4. Prism film tearing mechanism; 5. Display screen loading and unloading platform; 6. Display screen pre-alignment mechanism; 7. Display screen moving robot; 8. Display screen tearing mechanism; 9. Lamination mechanism; 10. Finished product visual inspection mechanism;

[0027] 31. Y-axis linear module; 32. Z-axis linear module; 331. Fixing frame; 332. First UVW platform; 333. First mounting plate; 334. Guide shaft; 335. Linear bearing; 336. Suction plate;

[0028] 41. Six-axis robot arm; 42. Film tearing assembly; 421. Connecting plate; 422. Guide column; 423. Second mounting plate; 424. Horizontal cylinder; 425. Gripper; 426. Pneumatic gripper; 427. Pressure roller support leg; 428. Film tearing roller; 429. Slider; 43. Waste film box;

[0029] 91. Transfer platform; 92. Upper bonding assembly; 93. Lower bonding assembly; 931. Second UVW platform; 932. Lower fixture assembly; 933. Lower cavity shell; 9341. Lower fixture connecting column; 9342. Lower cavity sealing plate; 9343. Cylinder; 9344. Lower cavity bellows; 9345. First adapter plate; 9346. DD motor; 9347. Second adapter plate; 9348. XY platform; 94. Precision alignment assembly; 941. Lower camera; 942. Upper camera; 943. X-axis dual linear motor assembly; 95. Vacuum system; 96. Marble platform; 97. Shock absorber. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 a part of the embodiments of the present invention, not all of them. 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. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. 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.

[0031] Example 1

[0032] This embodiment provides an alignment and bonding device for bonding a prism film onto a display screen, which is particularly suitable for the module bonding process of 3D display devices (such as dual-viewpoint or multi-viewpoint 3D advertising machines, 3D TVs, 3D mobile phones, etc.).

[0033] like Figure 1 As shown, the alignment and bonding equipment mainly includes: a fixed platform 1, a prism film pre-alignment mechanism 2, a prism film moving robot 3, a prism film tearing mechanism 4, a display screen loading and unloading platform 5, a display screen pre-alignment mechanism 6, a display screen moving robot 7, a display screen tearing mechanism 8, a bonding mechanism 9, a precision alignment component 94, and a control system.

[0034] 1. Prism film loading and pre-alignment

[0035] First, the prism film is placed on the fixed stage 1 manually or by upstream equipment. The fixed stage 1 uses negative pressure adsorption to fix the prism film in place, preventing it from shifting during subsequent operations.

[0036] like Figure 2 As shown, the prism film moving robot 3 includes a Y-axis linear module 31, a Z-axis linear module 32 mounted on the Y-axis linear module 31, and a vacuum suction robot mounted on the Z-axis linear module 32. The Y-axis linear module 31 is connected to a Y-axis servo motor, and the Z-axis linear module 32 is connected to a Z-axis servo motor. The vacuum suction robot includes a fixed frame 331, a first UVW platform 332, a first mounting plate 333, a guide shaft 334, a linear bearing 335, and a suction plate 336. The fixed frame 331 is connected to the Z-axis linear module 32, and the lower end of the fixed frame 331 is fixedly connected to the first UVW platform 332. The four corners of the movable end of the first UVW platform 332 are respectively connected to the first mounting plate 333 through the guide shaft 334, and the four corners of the first mounting plate 333 are respectively connected to the suction plate 336 through the linear bearing 335. The prism film moving robot 3 moves above the fixed stage 1, picks up the prism film by vacuum adsorption, and transfers it to the bonding mechanism 9. During the transfer, the prism film moving robot 3 carries the prism film over the prism film pre-alignment mechanism 2.

[0037] The prism film pre-alignment mechanism 2 includes two upward-facing CCD cameras. When the prism film moving robot 3 carries the prism film to the predetermined position, the CCD cameras take pictures of the prism film on the robot arm to identify its overall position and orientation. Based on this visual positioning result, the control system calculates the current positional deviation of the prism film and sends a correction command to the prism film moving robot 3. The prism film moving robot 3 then adjusts its gripping posture accordingly to complete the initial positional correction of the prism film (coarse alignment, accuracy approximately ±50μm).

[0038] After pre-alignment is completed, the prism film moving robot 3 moves the prism film to the prism film tearing mechanism 4.

[0039] 2. Prism film peeling

[0040] like Figure 3 As shown, the prism film tearing mechanism 4 includes a six-axis robot 41, a film tearing assembly 42, and a waste film box 43. The film tearing assembly 42 is located at the end of the six-axis robot 41, and the waste film box 43 is located below the film tearing assembly 42.

[0041] Among them, such as Figure 4 As shown, the film-tearing assembly 42 includes a connecting plate 421, a second mounting plate 423, a horizontal cylinder 424, grippers 425, a film-tearing roller 428, two pressure roller legs 427, a slider 429, and a pneumatic gripper 426. The connecting plate 421 is connected to the six-axis robot 41. The four corners of the connecting plate 421 are connected to the second mounting plate 423 via vertically arranged guide posts 422. The horizontal cylinder 424 is fixed to the upper side of the second mounting plate 423, and its output end is in contact with the film-tearing roller 428 via the grippers 425. The surface of the film-tearing roller 428 is adhesive, used to adhere the release film on the surface of the prism film. The two sides of the film-tearing roller 428 are vertically connected to the corresponding pressure roller legs 427, and the top of the pressure roller legs 427 is vertically connected to the slider 429. A pneumatic gripper 426 is provided on the lower side of the second mounting plate 423, which can clamp or release the slider 429.

[0042] During operation, the prism film moving robot 3 transfers the prism film to the film-tearing station. Then, the horizontal cylinder 424 drives the gripper 425 to move in the opposite direction of the film-tearing roller 428, causing the roller 428 to contact the starting end of the release film at the edge of the prism film. Due to the adhesive nature of the roller 428 surface, the release film adheres to the roller surface. The horizontal cylinder 424 then drives the gripper 425 to move towards the film-tearing roller 428, clamping the release film. Subsequently, the prism film moving robot 3 retracts (or the entire film-tearing mechanism moves backward), and the release film is evenly peeled off and discarded into the waste film bin 43. After film tearing is completed, the prism film moving robot 3 transfers the prism film with the release film removed to the next station.

[0043] When the adhesiveness of the film-tearing roller 428 decreases or needs to be replaced, the operator only needs to control the pneumatic gripper 426 to release the slider 429, which allows the quick-change module consisting of the film-tearing roller 428, pressure roller support leg 427, and slider 429 to be pulled out as a whole and a new module to be installed. The pneumatic gripper 426 then clamps and locks the module back in place. This process requires no tools, and the replacement time can be reduced to within a few seconds.

[0044] 3. Display screen loading and pre-alignment

[0045] Meanwhile, the display screen loading process is carried out simultaneously. Manual labor or upstream equipment places the display screen on the display screen loading / unloading platform 5. The display screen loading / unloading platform 5 then transfers the display screen to the pre-alignment station via an X-axis linear module.

[0046] The display screen pre-alignment mechanism 6 includes a downward-facing CCD camera that takes pictures of the display screen on the display screen loading / unloading platform 5 to identify the overall position and orientation of the display screen.

[0047] Subsequently, the display screen moving robot 7 moves above the display screen loading / unloading platform 5 and picks up the display screen using vacuum adsorption. Based on the positioning results of the display screen pre-alignment mechanism 6, the control system sends a correction command to the display screen moving robot 7 to complete the initial position correction of the display screen (coarse alignment, accuracy approximately ±50μm).

[0048] After pre-alignment, the display screen moving robot 7 moves the display screen to the display screen film removal mechanism 8. The structure and working principle of the display screen film removal mechanism 8 are similar to those of the prism film removal mechanism 4, and it is used to remove the protective film from the surface of the display screen. After the film removal is completed, the display screen moving robot 7 moves the display screen to the lower bonding component 93 of the bonding mechanism 9.

[0049] 4. Fitting mechanism and precise alignment

[0050] like Figure 5 As shown, the bonding mechanism 9 includes a middle transfer platform 91, an upper bonding assembly 92, and a lower bonding assembly 93. The middle transfer platform 91 receives the prism film from the prism film moving robot 3; the middle transfer platform 91 moves to below the upper bonding assembly 92 via a linear module at its bottom; the upper bonding assembly 92 adsorbs downwards, fixing and picking up the prism film located on the middle transfer platform 91. The lower bonding assembly 93 carries the display screen. The lower bonding assembly 93 contains a lower fixture assembly 932 for carrying the display screen. The bottom of the lower fixture assembly 932 is connected to the second UVW platform 931 through the lower cavity shell 933 via multiple lower fixture connecting posts 9341. The second UVW platform 931 drives the fixture to move in the X, Y, and θ degrees of freedom. The second UVW platform 931 has a built-in grating ruler for real-time feedback of the actual displacement of the second UVW platform 931, forming a closed-loop position control with a repeatability accuracy ≤2μm.

[0051] The second UVW platform 931 can be a conventional UVW platform, or preferably a combination of an XY platform 9348 and a DD motor 9346. The XY platform 9348 drives the lower bonding component 93 to perform translational compensation in the X and Y axes, while the DD motor 9346 drives the lower bonding component to perform rotational compensation around the Z axis. This structure distributes the three degrees of freedom (X, Y, and θ) required for alignment to two independent components, ensuring that each degree of freedom does not interfere with the others, thus simplifying the complexity of the control algorithm. Simultaneously, the DD motor 9346 is dedicated to rotational compensation, and the XY platform 9348 is dedicated to translational compensation, which further improves the accuracy of each component.

[0052] Specifically, such as Figure 6 As shown, the bottom left and right sides of the lower fixture assembly 932 are connected to the first adapter plate 9345 via lower fixture connecting posts 9341 passing through the lower cavity shell 933. The bottom of the first adapter plate 9345 is connected to the DD motor 9346. A second adapter plate 9347 is provided at the bottom of the DD motor 9346. An XY platform 9348 is provided on the lower side of the second adapter plate 9347. Cylinders 9343 are respectively provided on the upper sides of the front and rear sides of the first adapter plate 9345. The top of the cylinders 9343 is connected to the lower cavity sealing plate 9342, which is located below the lower cavity shell 933. The lower fixture connecting column 9341 is fitted with a lower cavity bellows 9344; the upper end of the lower cavity bellows 9344 passes through the lower cavity sealing plate 9342 and is flush with the upper end of the lower cavity sealing plate 9342; the lower end of the lower cavity bellows is connected to the first adapter plate 9345; sealing rings are respectively provided at the upper and lower ends of the lower cavity bellows 9344; the lower cavity bellows 9344, sealing rings, lower cavity sealing plate 9342 and the first adapter plate 9345 together form a closed space; the DD motor 9346 and the XY platform 9348 are located outside the closed space, thereby avoiding contamination and corrosion of precision moving parts by the vacuum environment.

[0053] like Figure 7 As shown, the precision alignment component 94 includes an upper camera 942, a lower camera 941, and a camera drive mechanism that drives the upper camera 942 and the lower camera 941 to move synchronously. In this embodiment, the camera drive mechanism is an X-axis dual linear motor assembly 943.

[0054] After the prism film is adsorbed onto the upper bonding component 92 and the display screen is adsorbed onto the lower bonding component 93, the control system starts the fine alignment program and executes the following iterative closed-loop alignment steps:

[0055] Step S1: The control system controls the camera drive mechanism to drive the upper camera 942 and the lower camera 941 to move synchronously and enter the gap between the upper bonding component 92 and the lower bonding component 93.

[0056] Step S2: Control the lower camera 941 to take an upward picture of the prism film on the upper bonding component 92, identify its internal optical grating structure (such as the period and angle of the grating stripes) or the preset prism film mark, and obtain the first feature coordinates.

[0057] Step S3: Control the upper camera 942 to shoot downwards at the display screen on the lower bonding component 93, identify its reference marks (such as etched cross lines or dots), and obtain the second feature coordinates.

[0058] Step S4: The control system calculates the positional deviation between the prism film and the display screen based on the first feature coordinates and the second feature coordinates using a visual algorithm (such as subpixel edge detection and coordinate system registration). This positional deviation includes the horizontal offset ΔX, the vertical offset ΔY, and the rotation angle deviation Δθ.

[0059] Step S5: The control system converts the position deviation (ΔX, ΔY, Δθ) into a displacement command for the second UVW platform 931 through the inverse kinematics model, driving the second UVW platform 931 to move the lower bonding component 93, thus completing the first position compensation.

[0060] Step S6: The control system controls the upper camera 942 to take another picture of the reference mark on the display screen, obtain the updated second feature coordinates, and recalculate the updated position deviations ΔX', ΔY', and Δθ'.

[0061] Step S7: The control system determines whether the updated position deviation is within the preset compensation error range (set to ±1.2μm in this embodiment):

[0062] If so, the alignment is considered complete, and the fine alignment component 94 exits the gap;

[0063] If not, repeat steps S3 to S6 until the updated position deviation is within the preset compensation error range.

[0064] If the number of repetitions exceeds the preset maximum number of iterations (set to 3 times in this embodiment), the iteration will stop and an alarm signal will be issued, prompting the device to be checked.

[0065] 5. Vacuum bonding

[0066] After precise alignment, the camera drive mechanism drives the upper camera 941 and lower camera 942 to exit the gap. Subsequently, the upper bonding assembly 92 moves downward to close with the lower bonding assembly 93, forming a sealed chamber.

[0067] The bonding mechanism 9 also includes a vacuum system 95 for evacuating the bonding space after the sealed chamber is formed. The vacuum system 95 includes tubing and a vacuum pump, with the lower chamber housing connected to the vacuum pump via tubing at the bottom center. Under vacuum conditions, the upper bonding assembly 92 presses the prism film onto the display screen, completing bubble-free bonding.

[0068] After bonding is completed, the finished product is removed from the bonding mechanism 9 and subjected to a comprehensive inspection of its appearance and bonding quality by the finished product visual inspection mechanism 10 to ensure that the product meets the factory standards.

[0069] 6. Environmental isolation

[0070] To ensure the stability of sub-micron level alignment accuracy, the entire bonding mechanism 9 (including the upper bonding component 92, lower bonding component 93, precision alignment component 94, and second UVW platform 931) is mounted on a precision marble platform 96 and supported by multiple shock absorbers 97 located at the bottom of the marble platform 96. This design effectively isolates external environmental factors such as ground vibration from interfering with the high-precision alignment and bonding process.

[0071] Example 2

[0072] This embodiment is basically the same as embodiment 1, except that: the alignment and bonding device includes two symmetrically arranged bonding mechanisms 9, and the two bonding mechanisms 9 share the same set of prism film pre-alignment mechanism 2, prism film moving robot 3, display screen pre-alignment mechanism 6, display screen moving robot 7 and control system.

[0073] The control system is configured such that when one bonding mechanism 9 performs vacuum bonding, it simultaneously controls another bonding mechanism 9 to perform the loading, pre-alignment, and film peeling operations of the prism film and the display screen, achieving parallel operation of two workstations. This design effectively reduces equipment waiting time and significantly improves production efficiency.

[0074] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fitting and bonding device for bonding a prism film onto a display screen, characterized in that, It includes: A fixed stage is used to support and hold the prism film in place. A prism film moving robot is used to pick up the prism film from the fixed platform and transfer it to the intermediate transfer platform; A prism film pre-alignment mechanism is used to perform preliminary visual positioning of the prism film on the prism film moving robot arm; wherein, the prism film moving robot arm corrects the position of the prism film according to the positioning result of the prism film pre-alignment mechanism. Prism film peeling mechanism, used to peel off the protective film on the prism film; Display screen loading / unloading platform, used to carry and move the display screen; The display screen pre-alignment mechanism is used to perform preliminary visual positioning of the display screen on the display screen loading and unloading platform. A display screen moving robot is used to pick up and move the display screen, and to perform position correction based on the positioning results of the display screen pre-alignment mechanism; Display screen peeling mechanism, used to remove the protective film from the display screen; The bonding mechanism includes an upper bonding component and a lower bonding component. The upper bonding component is used to adsorb and fix the prism film on the transfer platform, and the lower bonding component is used to support the display screen. The precision alignment component includes an upper camera, a lower camera, and a camera drive mechanism that drives the upper camera and the lower camera to move synchronously. The UVW platform, connected to the lower bonding component, is used to drive the lower bonding component to move in the three degrees of freedom of X, Y, and θ. The control system is communicatively connected to both the precision alignment component and the UVW platform. The control system is configured to perform the following iterative closed-loop alignment steps: S1. Control the camera driving mechanism to drive the upper camera and the lower camera into the gap between the upper bonding component and the lower bonding component; S2. Control the lower camera to capture images of the prism film on the upper bonding component, identify its internal optical grating structure or preset prism film markings, and obtain the first feature coordinates; S3. Control the upper camera to capture images of the display screen on the lower bonding component, identify its reference mark, and obtain the second feature coordinates; S4. Calculate the positional deviation between the prism film and the display screen based on the first feature coordinates and the second feature coordinates. The positional deviation includes a horizontal offset ΔX, a vertical offset ΔY, and a rotation angle deviation Δθ. S5. Convert the position deviation into a displacement command for the UVW platform, drive the UVW platform to move the lower bonding component, and complete the first position compensation. S6. Control the upper camera to photograph the reference mark on the display screen again, obtain the updated second feature coordinates, and recalculate the updated position deviations ΔX', ΔY', and Δθ'; S7. Determine whether the updated position deviation is within the preset compensation error range: If so, then the alignment is considered complete; If not, repeat steps S3 to S6 until the updated position deviation is within the preset compensation error range.

2. The alignment and bonding device as described in claim 1, characterized in that: If the number of repetitions exceeds the preset maximum number of iterations during step S7, the iteration will stop and an alarm signal will be issued.

3. The alignment and bonding device as described in claim 1, characterized in that: The UVW platform has a built-in grating ruler for real-time feedback of the actual displacement of the UVW platform, forming a position closed-loop control.

4. The alignment and bonding device as described in claim 1, characterized in that: The camera drive mechanism of the precision alignment component is an X-axis dual linear motor assembly, which is used to drive the upper camera and the lower camera to move synchronously along the X-axis direction.

5. The alignment and bonding device as described in claim 1, characterized in that: The bonding mechanism also includes a vacuum system for evacuating the bonding space after the upper bonding component and the lower bonding component are closed.

6. The alignment and bonding device as described in claim 1, characterized in that: The bonding mechanism also includes a marble platform and a shock absorber disposed at the bottom of the marble platform.

7. The alignment and bonding device as described in claim 1, characterized in that: Both the prism film pre-alignment mechanism and the display screen pre-alignment mechanism are CCD vision positioning systems used for coarse alignment of the prism film and the display screen.

8. The alignment and bonding device as described in claim 1, characterized in that: Both the prism film moving robot and the display screen moving robot include a Y-axis linear module, a Z-axis linear module mounted on the Y-axis linear module, and a vacuum adsorption robot mounted on the Z-axis linear module.

9. The alignment and bonding device as described in claim 1, characterized in that: Both the prism film peeling mechanism and the display screen peeling mechanism include a six-axis robot and a peeling assembly driven by the six-axis robot.

Images