Display module transplanting mechanical arm
By adopting a combination design of lifting parts and adsorbents on the display module transplanting robot arm, the problem of the surface of the micro LED module cannot be contacted during the transfer process is solved, and uniform force and smooth pickup and transplantation of the display module are achieved.
Patent Information
- Application Number
- CN202420840136.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-22
- Publication Date
- 2025-04-29
- Estimated Expiration
- 2034-04-22
AI Technical Summary
During the production process of liquid crystal panels, tiny LED modules need to use transplanting robot arms to pick and move during the transfer process, but because their surface cannot be contacted, it is difficult for the prior art to achieve effective pick and move.
A display module transplanting robot arm is designed, and a combination of lifting parts and adsorbents are designed. The bent parts of the lifting parts are used to support the bottom surface of the display module, and the adsorbent is used to absorb the upper surface that it can touch, so as to achieve uniform force and smooth pickup and transplantation of the display module.
Through the synergistic effect of the lifting member and the adsorbent, uniform force is implemented on the display module, ensuring the smooth and controllable pickup and transplanting process, and is suitable for display modules with smaller sizes.
Smart Images
Figure CN222807095U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of production and processing of display modules, and more specifically, relates to a display module transplanting mechanical arm. Background Art
[0002] In the production process of LCD panels, the transfer of tiny LED modules (tiny LED modules refer to micro LED screens with FPC) is often involved. During the transfer process of these products, a transfer robot arm is required to assist in the transfer of the modules.
[0003] A transfer robot arm used to merge and separate products from jigs is a mechanical device, usually composed of suction parts or clamps, used to automatically remove products from jigs or place products on jigs. This type of transfer robot arm can be used in automated production lines to help improve production efficiency and quality. Common applications include industrial robots, automatic assembly lines, etc.
[0004] In the actual production process, the upper surfaces of some special products cannot be touched. For example, the upper surface of the micro LED screen of a tiny LED module cannot be touched. The product can only be taken from the bottom. It is necessary to develop a special device to combine or separate it with the fixture to facilitate detection by the back-end device. Utility Model Content
[0005] In view of the defects of the prior art, the purpose of the present invention is to provide a display module transplanting robot arm, which is intended to realize the picking up and transfer of display modules whose local surfaces cannot be touched.
[0006] To achieve the above-mentioned purpose, the utility model provides a display module transplanting robot arm, which includes a connecting member, an adsorption member and a lifting member. The adsorption member and the lifting member are integrally installed on the connecting member. The lifting members appear in pairs. A pair of lifting members are arranged opposite to each other. The lifting members belonging to the same pair can move relative to each other to achieve relative distance or relative proximity. The end of the lifting member is zigzag, and its zigzag portion is used to support the bottom surface of the display module. The zigzag portion of the lifting member and the adsorption surface of the adsorption member are approximately on the same plane and separated by a distance. The adsorption member is used to adsorb the touchable position of the top surface of the display module.
[0007] In the above invention concept, the curved portion of the lifting member is extended to the bottom of the display module to be picked up, and the adsorption member is used to adsorb the upper surface that it can touch. This design realizes relatively uniform force application during the transplanting process of the display module, thereby ensuring that the entire picking and transplanting process can be smooth and controllable.
[0008] Furthermore, it also includes a mounting plate, a lifting seat and a guide groove body. The connecting piece is bent at a right angle and includes a horizontal wall panel and a vertical wall panel. There are multiple adsorption pieces, and the multiple adsorption pieces are connected to the bottom surface of the vertical wall panel of the connecting piece through the mounting plate. The guide groove body is fixed on the side of the vertical wall panel. The bottom of the guide groove body has a slide groove for installing the lifting seat. The lifting piece is fixed on the lifting seat. There are two lifting seats, and the two lifting seats are relatively arranged in the slide groove. The two lifting seats are driven by the outside world and can be relatively close to or relatively far away from each other.
[0009] In the above inventive concept, the adsorption member is arranged on the connecting member through the mounting plate, the lifting member is arranged in the guide groove body through the lifting seat, and the guide groove body is arranged on the vertical wall plate of the connecting member, so that the connecting member is simultaneously installed with the adsorption member and the lifting member, and the adsorption member and the lifting member are integrated and installed on the connecting member, which can adapt to the picking up and transplanting of display modules with smaller sizes (the display module is in the form of a sheet, and the usual one-way size is less than 10 cm).
[0010] Furthermore, it includes a spring, and the adsorption member includes a first adsorption member and a second adsorption member. Each adsorption member is connected to an air pipe, and negative pressure adsorption or positive pressure desorption is achieved by controlling the air pressure in the air pipe from the outside. A spring is sleeved on each air pipe, and the spring is inserted into the through hole of the mounting plate. A plurality of fixing members are also arranged on the air pipe, and the plurality of fixing members are respectively arranged on the upper and lower sides of the mounting plate and are spaced apart from the mounting plate. The end of the spring abuts against the end face of the fixing member, and the zigzag shape of the upper end of the lifting member is in a right-angle bend, and the horizontal part of the right-angle bend is used to support the display module.
[0011] Furthermore, it also includes a reducer and a motor, wherein the reducers are arranged adjacent to each other, the multiple reducers are connected to the motor and driven by the motor, the horizontal wall plate of the connecting piece is connected to the outermost reducer, and the reducer is used to control the rotation of the connecting piece under the drive of the motor.
[0012] Furthermore, it also includes a code reader and a lens. The code reader and the lens are arranged above the lifting member and close to the motor, and the lens is located below the code reader.
[0013] Furthermore, it also includes a shunt air pipe joint, a negative pressure air pipe joint and a positive pressure air pipe joint. The shunt air pipe joint has two ports at the front and back, and the two ports are respectively connected to the negative pressure air pipe joint and the positive pressure air pipe joint. The negative pressure air pipe joint and the positive pressure air pipe joint are respectively connected to the trachea.
[0014] Furthermore, it also includes a positive-pressure solenoid valve and a negative-pressure solenoid valve, the positive-pressure solenoid valve is connected to the positive-pressure air pipe joint, and the negative-pressure solenoid valve is connected to the negative-pressure air pipe joint.
[0015] Furthermore, it also includes a barometer, which has two barometers. The two barometers are respectively arranged in the negative pressure gas circuit and the positive pressure gas circuit. The positive pressure gas circuit is used to achieve desorption, and the negative pressure gas circuit is used to achieve adsorption.
[0016] Furthermore, it also includes a Z-axis motor, which is fixed on the external structure, and the connecting piece is directly or indirectly connected to the Z-axis motor.
[0017] Furthermore, it also includes a terminal block, which is used for installing an electric control circuit.
[0018] In general, the above technical solution conceived by the utility model has the following beneficial effects compared with the prior art:
[0019] 1. In the utility model, a lifting member and an adsorption member are provided at the same time, and the lifting member and the adsorption member are integrated and installed on the connecting member at the same time. There is a pair of lifting members, which are arranged opposite to each other, and the lifting members have a bending part, and the bending parts of the pair of lifting members are also arranged opposite to each other and are symmetrical. The bending part of the lifting member is used to extend under the display module to be picked up, and the adsorption member is used to adsorb the upper surface that the display module can touch. The interaction between the adsorption member and the lifting member realizes relatively uniform force application during the transplanting process of the display module, thereby ensuring that the entire picking and transplanting process can be smooth and controllable.
[0020] 2. In the utility model, the adsorption member is arranged on the connecting member through the mounting plate, the lifting member is arranged in the guide groove body through the lifting seat, the lifting seat can move relatively in the guide groove body, the guide groove body is arranged on the vertical wall plate of the connecting member, and the connecting member is installed with the adsorption member and the lifting member at the same time, which can adapt to the picking up of the display module with smaller size, and the whole can be moved and displaced by the outside world.
[0021] 3. In the utility model, there are two adsorption components, each of which is connected to an air pipe. Negative pressure adsorption or positive pressure desorption is achieved by controlling the air pressure in the air pipe from the outside. A spring is sleeved on each air pipe, and the spring is inserted into the through hole of the mounting plate. A plurality of fixing components are also arranged on the air pipe, and the plurality of fixing components are respectively arranged on the upper and lower sides of the mounting plate and spaced apart from the mounting plate. The end of the spring abuts against the end face of the fixing component. Such a design can realize that the air pipe has elasticity along the up and down directions under the restraint of the spring and the fixing component, so that the adsorption component can realize flexible adsorption of the display module during the adsorption action.
[0022] 4. In the utility model, a reducer and a motor are provided. The reducers are arranged adjacent to each other, for example, two reducers are connected to the motor and driven by the motor. The horizontal wall plate of the connecting piece is connected to the outermost reducer. The reducer is used to control the rotation of the connecting piece under the drive of the motor. Such a design, in terms of physical components, enables the connecting piece to rotate as a whole, realizes micro-rotation of the lifting piece and the adsorption piece, and can adapt to the display module. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1It is a partial structural schematic diagram of a display module transplanting mechanical arm in an embodiment of the utility model;
[0024] Figure 2 yes Figure 1 Schematic diagram of different viewing angles;
[0025] Figure 3 It is a schematic diagram showing the overall structure of the module transplanting mechanical arm in the embodiment of the utility model;
[0026] Figure 4 yes Figure 3 Another perspective diagram of Figure 4 The mounting connector at the top is not shown);
[0027] Figure 5 yes Figure 3 Another perspective diagram of Figure 4 ;
[0028] Figure 6 yes Figure 5 Side view of.
[0029] The same reference numerals represent the same structures and components throughout, specifically:
[0030] 1-Connector 2-Display module 3-First adsorption part
[0031] 4- Second adsorption member 5- Lifting member 6- Lifting seat
[0032] 7-Guide groove body 8-Code reader 9-Barometer
[0033] 10-Negative pressure air pipe joint 11-Reducer 12-Diverter air pipe joint
[0034] 13-Motor 14-Terminal block 15-Positive pressure air pipe connector
[0035] 16-Positive pressure solenoid valve 17-Z axis motor 18-Negative pressure solenoid valve
[0036] 19-lens 20-mounting plate 21-trachea
[0037] 22- Spring 23- Fixing piece DETAILED DESCRIPTION
[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0039] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or location relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0040] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0041] The utility model relates to a device for merging and splitting a display module and a fixture, and in particular to a display module transplanting robot arm in a semi-automatic device for merging or splitting a display module and a carrier (carrying product fixture). In order to introduce the transplanting robot arm in detail, it is necessary to first explain the device for merging and splitting the display module and the fixture. The device for merging and splitting the display module and the fixture is similar to a box as a whole. The entire operating table part is inside the cavity of the box. A signal light is set on the top of the box. An opening is set on the side wall of the box. The opening is provided with a door panel for closing or opening the opening. The staff outside stand on the front of the box to work. An observation window is set on the front of the box. A switch door panel is also set. When the switch door panel is opened, loading and unloading can be carried out. The inside of the box cavity includes a tray pull-out unit, a turntable unit and a pick-and-place arm unit, wherein the tray pull-out unit has two sets of similar structures. The tray pull-out unit is used to temporarily store the display module. The two sets of tray pull-out units are arranged adjacent to each other. The two sets of tray pull-out units are redundant designs, which can realize non-stop loading. The turntable unit is located at the adjacent station of the tray pull-out unit. The turntable unit is used for combining or separating the display module and the fixture. The pick-and-place arm unit is located above the tray pull-out unit and the turntable unit at the same time. The pick-and-place arm unit is used to move the display module in the tray pull-out unit into or out of the fixture in the open state. The display module transfer robot is a part of the pick-and-place arm unit. The display module transfer robot can realize contactless pick-and-place of the upper surface of the product to avoid product contamination. The camera can also be used to read the product QR code and the carrier QR code before transporting the product, bind the information of the two, and transmit it to the downstream equipment through CI.
[0042] The following is a further detailed description with reference to the accompanying drawings. Figure 1 It is a partial structural schematic diagram of a display module transplanting mechanical arm in an embodiment of the utility model. Figure 2yes Figure 1 Schematic diagram of different viewing angles. Figure 1 and Figure 2 A key part of the display module transplanting robot arm is shown. Figure 3 It is a schematic diagram showing the overall structure of the module transplanting mechanical arm in the embodiment of the utility model. Figure 4 yes Figure 3 Another perspective diagram of Figure 4 The top mounting connector is not shown). Figure 5 yes Figure 3 Another perspective diagram of Figure 4 , Figure 6 yes Figure 5 Side view of. Figure 1 and Figure 2 The key part of the transplanting robot arm is located in Figures 3 to 6 Below the overall structure.
[0043] Combination Figure 1 and Figure 2 It can be known that the utility model provides a display module transplanting mechanical arm including a connecting member 1, an adsorbing member, a lifting member 5, a mounting plate 20, a lifting seat 6, a guide groove body 7 and a spring 22, wherein the adsorbing member is arranged below the connecting member 1, and the lifting member 5 has a pair, and the lifting member 5 is arranged on a side wall of the connecting member 1, and the pair of lifting members 5 are arranged relatively, and the lifting members 5 belonging to the same pair can move relatively to achieve relative distance or relative closeness, and the lifting member 5 has a set length and a zigzag end, and its zigzag portion is used to support the bottom surface of the display module 2, and the zigzag portion of the lifting member 5 and the adsorption surface of the adsorbing member 1 are approximately on the same plane and separated by a distance. During the working process, the zigzag portion of the lifting member is used to extend into the bottom of the display module to be picked up, and the adsorbing member is used to adsorb the upper surface that it can touch, so as to achieve relatively uniform force application during the display module transplanting process, thereby ensuring that the entire picking and transplanting process can be stable and controllable. Since the pair of lifting members 5 can move relative to each other, they can first move away from each other, then move down to the bottom of the display module, and then move closer to each other. When the curved parts of the two lifting members 5 can be supported on the bottom surface of the display module, the display module can be initially picked up. In addition, the curved part of the lifting member 5 and the adsorption surface of the adsorption member 1 are approximately on the same plane and separated by a distance, so the adsorption member 1 can also achieve adsorption of the touchable surface of the display module in physical space.
[0044] Specifically, the connecting member 1 is bent at a right angle, including a horizontal wall plate and a vertical wall plate. There are two adsorbents, including a first adsorbent 3 and a second adsorbent 4. The two adsorbents are connected to the bottom surface of the vertical wall plate of the connecting member 1 through a mounting plate 20. The guide groove body 7 is fixed on the side of the vertical wall plate. The bottom of the guide groove body 7 has a slide groove for installing the lifting seat 6. The lifting member 5 is fixed on the lifting seat 6. There are two lifting seats accordingly. The two lifting seats 6 are relatively arranged in the slide groove. The two lifting seats 6 are driven by the outside world and can be relatively close to or relatively far away. Specifically, for example, a double-headed cylinder can be set, and the piston rod of the double-headed cylinder is located in the slide groove of the guide groove body 7. The piston rod of the double-headed cylinder is connected to the two lifting seats at the same time, driving the two lifting seats 6 to move relatively close to or relatively far away. Each adsorbent is connected to an air pipe 21, and the air pressure in the air pipe is controlled by the outside to achieve negative pressure adsorption or positive pressure desorption. Each air pipe 21 is sleeved with a spring 22, which is inserted into the through hole of the mounting plate. The air pipe 21 is also provided with a plurality of fixings 23, which can be nuts, for example. The plurality of fixings are respectively arranged on the upper and lower sides of the mounting plate 20, and are spaced apart from the mounting plate 20. The end of the spring 22 abuts against the end face of the fixing, and each adsorbent is suspended at the broken end of the corresponding air pipe. The zigzag shape of the upper end of the lifting member 5 can be, for example, a right-angle bend, and the horizontal part of the right-angle bend is used to support the display module 2.
[0045] In the above structure, the adsorbent is arranged on the connector through the mounting plate, the lifting member is arranged in the guide groove body through the lifting seat, and the guide groove body is arranged on the vertical wall plate of the connector, so that the connector is simultaneously equipped with the adsorbent and the lifting member, and the adsorbent and the lifting member are integrated and installed on the connector, which can adapt to the picking up and transplanting of display modules with smaller sizes (display modules are in sheet form, and the usual one-way size is less than 10 cm). The adsorbent has elasticity in the up and down directions under the restraint of the spring and the fixing member, so the adsorbent can achieve flexible adsorption of the display module during the adsorption action.
[0046] Combination Figures 3 to 6It can be seen that the display module transplanting robot arm also includes a reducer 11, a motor 13, a code reader 8, a lens 19, a shunt air pipe joint 12, a negative pressure air pipe joint 10, a positive pressure air pipe joint 15, a positive pressure solenoid valve 16, a negative pressure solenoid valve 18, and a barometer 9. The above multiple parts are integrated and installed in one body through lightweight components according to actual engineering needs, such as on a lightweight aluminum mounting part according to actual engineering needs. The display module transplanting robot arm formed in this way is a part of the pick-and-place arm unit. The pick-and-place arm unit includes an X-direction module, a Y-direction module, a Z-direction module and a display module transplanting robot arm. The X-direction module is arranged above the turntable unit and the tray pulling unit to realize the displacement movement in the X direction. The Y-direction module is arranged on the X-direction module to realize the displacement movement in the Y direction. The Z-direction module is arranged on the Y-direction module to realize the displacement movement in the X direction. The display module transplanting robot arm is arranged on the Z-direction module.
[0047] Further integration Figures 3 to 6 It can be seen that there are multiple reducers 11 arranged adjacent to each other, and multiple reducers 11 are connected to the motor 13 and driven by the motor 13. The horizontal wall plate of the connector 1 is connected to the outermost reducer 11, and the reducer 11 is used to control the rotation of the connector 1 under the drive of the motor 13. The reducer and the motor are integrally installed on a lightweight component (because multiple components are integrated and installed on a lightweight component, the lightweight component cannot be seen in the figure. The lightweight component is like a torso, and multiple mechanical parts or electrical components are carried by fasteners around it, and it is fixedly connected to the Z-direction module.) The code reader 8 and the lens 19 are arranged above the lifting member 5 and close to the motor 13, and the lens 19 is located below the code reader 8. The lens 19 is used to shoot the QR code of the display module, read the product QR code and the carrier QR code before transporting the product, and can be used to bind the information of the two and transmit it to the downstream device through CI. An encoder is an electronic device or sensor used to measure the position, speed, direction or angle of an object. In the utility model, the code reader can sense the position and direction of the display module, and can assist the outside world in controlling the display module transplanting robot arm to work smoothly and stably based on this information. The diverter air pipe connector 12 has two ports at the front and back, and the two ports are respectively connected to the negative pressure air pipe connector 10 and the positive pressure air pipe connector 15, the negative pressure air pipe connector and the positive pressure air pipe connector are respectively connected to the air pipe 21, the positive pressure solenoid valve 16 is connected to the positive pressure air pipe connector 15, and the negative pressure solenoid valve 18 is connected to the negative pressure air pipe connector 10. There are two barometers 9, and the two barometers 9 are respectively arranged in the negative pressure air circuit and the positive pressure air circuit. The positive pressure air circuit is used to achieve desorption, and the negative pressure air circuit is used to achieve adsorption.
[0048] In another embodiment of the present invention, the display module transplanting robot arm may include a Z-axis motor, and the Z-axis motor 17 may be fixed to an external structure, and the connecting member 1 is connected to the Z-axis motor 17 through a lightweight component.
[0049] In another embodiment of the present invention, the display module transplanting robot arm includes a terminal block 14, which is arranged near the Z-axis motor and is used for installing electric control circuits, such as control lines, signal lines, and the like.
[0050] The reducer does not generate power, but only transmits power; the motor belongs to the power category and can generate power. The reducer is a mechanical transmission device, whose main function is to reduce the speed of the motor and increase the torque. It is suitable for application scenarios that require deceleration and increase torque, such as heavy machinery and manufacturing equipment; the motor is a device that can convert electrical energy into mechanical energy. It can generate rotational force through electromagnetic induction to drive mechanical equipment. The speed and torque of the motor can be adjusted by changing the current and voltage. It is widely used in various equipment and machinery. The reducer is usually composed of gears, bearings, output shafts, etc., and reduces the speed and increases the torque through gear transmission; the main components of the motor include stators and rotors, which generate rotational force through electromagnetic action. In the utility model, the reducer connects the motor and the connecting member, and can convert the power of the motor into power to control the adaptive rotation of the connecting member. Through the input of external information, the horizontal pitch angle and the best adsorption position of the display module to be transferred are known, and the motor drives the reducer to control the lifting member and the adsorption member fixed on the connecting member 1 to perform the support and adsorption action on the display module at the most appropriate angle. For example, if the sheet-shaped display module is not completely horizontal and has a horizontal pitch angle of 1°, the connecting member is controlled to pitch horizontally along with the shape, so that the adsorption surface of the adsorption member presents a horizontal pitch angle of 1°, thereby achieving the closest adsorption to the display module.
[0051] In the present invention, the adsorption member may be, for example, a suction cup or other structure having the function of a suction cup.
[0052] It is easy for those skilled in the art to understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A display module transplanting robot arm, characterized in that: It includes a connecting member, an adsorption member and a lifting member, which are integrally installed on the connecting member. The lifting members appear in pairs, and a pair of lifting members are arranged opposite to each other. The lifting members belonging to the same pair can move relatively to achieve relative distance or relative proximity. The end of the lifting member is zigzag, and its zigzag portion is used to support the bottom surface of the display module, and the adsorption member is used to adsorb the top surface of the display module.
2. A display module transplanting robot arm as claimed in claim 1, characterized in that: It also includes a mounting plate, a lifting seat and a guide groove body. The connecting piece is bent at a right angle and includes a horizontal wall panel and a vertical wall panel. There are multiple adsorption pieces, which are connected to the bottom surface of the vertical wall panel of the connecting piece through a mounting plate. The guide groove body is fixed on the vertical wall panel. The bottom of the guide groove body has a slide groove for installing a lifting seat. The lifting piece is fixed on the lifting seat. There are two lifting seats, which are relatively arranged in the slide groove. The two lifting seats can be relatively close to or relatively far away from each other under the drive of the outside world.
3. A display module transplanting robot arm as claimed in claim 1, characterized in that: It includes a spring, and the adsorbent includes a first adsorbent and a second adsorbent. Each adsorbent is connected to an air pipe, and the air pressure in the air pipe is controlled by the outside to achieve negative pressure adsorption or positive pressure desorption. Each air pipe is sleeved with a spring, and the spring is inserted in the through hole of the mounting plate. The air pipe is also provided with a plurality of fixings, which are respectively arranged on the upper and lower sides of the mounting plate and are spaced apart from the mounting plate. The end of the spring abuts against the end face of the fixing. The zigzag shape of the end of the lifting member is in a right-angle bend shape, and the horizontal part of the right-angle bend portion is used to support the display module.
4. A display module transplanting robot arm as described in any one of claims 1 to 3, characterized in that: It also includes a reducer and a motor. There are multiple reducers arranged adjacent to each other. The multiple reducers are connected to the motor and driven by the motor. The horizontal wall plate of the connecting piece is connected to the outermost reducer. The reducer is used to control the rotation of the connecting piece under the drive of the motor.
5. The display module transplanting robot arm according to claim 1, characterized in that: It also includes a code reader and a lens. The code reader and the lens are arranged above the lifting member and close to the motor, and the lens is located below the code reader.
6. The display module transplanting robot arm according to claim 3, characterized in that: It also includes a shunt air pipe joint, a negative pressure air pipe joint and a positive pressure air pipe joint. The shunt air pipe joint has two ports at the front and back, and the two ports are respectively connected to the negative pressure air pipe joint and the positive pressure air pipe joint. The negative pressure air pipe joint and the positive pressure air pipe joint are respectively connected to the trachea.
7. A display module transplanting robot arm as claimed in claim 6, characterized in that: It also includes a positive pressure solenoid valve and a negative pressure solenoid valve. The positive pressure solenoid valve is connected to the positive pressure air pipe joint, and the negative pressure solenoid valve is connected to the negative pressure air pipe joint.
8. The display module transplanting robot arm according to claim 3, characterized in that: It also includes two barometers, which are respectively arranged in the negative pressure gas circuit and the positive pressure gas circuit. The positive pressure gas circuit is used for desorption, and the negative pressure gas circuit is used for adsorption.
9. The display module transplanting robot arm according to claim 1, characterized in that: It also includes a Z-axis motor, which is fixed on the external structure, and the connecting piece is directly or indirectly connected to the Z-axis motor.
10. The display module transplanting robot arm according to claim 1, characterized in that: It also includes a terminal block, which is used for installing an electric control circuit.