Screen detection alignment mechanism

Abstract

The utility model discloses a screen detection alignment mechanism, which comprises an alignment grabbing manipulator and an alignment grabbing driving assembly, the alignment grabbing driving assembly comprises a first X-axis linear module, a first Y-axis linear module, a rotation driving module and a lifting linear module, the first Y-axis linear module is connected with the first X-axis linear module, the rotation driving module is connected with the first Y-axis linear module, and the lifting linear module is connected with the first Y-axis linear module. The rotation driving module is connected with the first Y-axis linear module, the lifting linear module is connected with the rotation driving module, and the alignment grabbing mechanical arm is connected with the lifting linear module. According to the utility model, through the cooperation of the alignment grabbing manipulator and the alignment grabbing driving assembly, the alignment adjustment can be directly carried out after the screen is grabbed from the feeding structure, and the screen is directly placed at a preset position after the position is adjusted, so that the adjustment is convenient and rapid, and the cost is lower.

Description

Technical Field

[0001] The utility model relates to the technical field of screen detection, in particular to a screen detection alignment mechanism. Background Art

[0002] In the process of mobile phone screen production, for the efficiency and accuracy of subsequent processes, the screen position needs to be aligned and adjusted in a certain link. At present, the alignment adjustment method is to use a manipulator to grab the screen and then place it on the alignment table, and use the adjustment structure set on the alignment table to adjust the screen to the correct position. Although this method can perform alignment adjustment, it requires the use of an adjustment structure, and most of the adjustment structures are complex in structure, which results in a relatively high cost of alignment adjustment. Summary of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a screen detection alignment mechanism.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a screen detection alignment mechanism, including an alignment grabbing manipulator and an alignment grabbing driving component. The alignment grabbing driving component includes a first X-axis linear module, a first Y-axis linear module, a rotation driving module, and a lifting linear module. The first Y-axis linear module is connected to the first X-axis linear module, the rotation driving module is connected to the first Y-axis linear module, the lifting linear module is connected to the rotation driving module, and the alignment grabbing manipulator is connected to the lifting linear module.

[0006] Further, the lifting linear module includes a first-level lifting module. The first-level lifting module is connected to the first Y-axis linear module, and the rotation driving module is connected to the first-level lifting module.

[0007] Further, the first-level lifting module includes a first fixed block, a first movable block, and a lifting cylinder. The first fixed block is connected to the first Y-axis linear module, the first movable block is slidably arranged with the first fixed block, the lifting cylinder is installed on the first fixed block, the output shaft of the lifting cylinder is connected to the first movable block, and the rotation driving module is connected to the first movable block.

[0008] Further, the first movable block includes a vertical plate portion and a horizontal plate portion. The vertical plate portion and the horizontal plate portion are vertically connected. The vertical plate portion is slidably arranged with the first fixed block, and the output shaft of the lifting cylinder is connected to the horizontal plate portion.

[0009] Further, a guiding block is provided at the top of the vertical plate portion. A guiding hole is provided at the position of the guiding block corresponding to the top of the first fixing block. A guiding member is movably arranged in the guiding hole, and the lower end of the guiding member is fixedly connected to the top of the first fixing block.

[0010] Further, a buffer block is provided at the top of the first fixing block. A buffer hole is provided at the position of the buffer block corresponding to the top of the vertical plate portion. A buffer member is fixedly arranged in the buffer hole.

[0011] Further, the rotation driving module includes a rotation motor. The rotation motor is installed on the vertical plate portion and the horizontal plate portion. The output shaft of the rotation motor passes through the horizontal plate portion and is connected to the alignment grasping manipulator below the horizontal plate portion.

[0012] Further, the lifting linear module further includes a secondary lifting module. The secondary lifting module is arranged between the rotation driving module and the alignment grasping manipulator.

[0013] Further, the secondary lifting module includes a second fixing block and a second movable block. The second fixing block and the second movable block are slidably arranged. The top of the second fixing block is connected to the output shaft of the rotation motor. The alignment grasping manipulator is connected to the second movable block.

[0014] Further, the alignment grasping manipulator includes a horizontal suction plate. Suction holes are formed at the bottom of the horizontal suction plate.

[0015] The beneficial effects of the present utility model compared with the prior art are as follows: A screen detection alignment mechanism includes an alignment grasping manipulator and an alignment grasping driving component. The alignment grasping driving component includes a first X-axis linear module, a first Y-axis linear module, a rotation driving module, and a lifting linear module. The first Y-axis linear module is connected to the first X-axis linear module. The rotation driving module is connected to the first Y-axis linear module. The lifting linear module is connected to the rotation driving module. The alignment grasping manipulator is connected to the lifting linear module. Through the cooperation of the alignment grasping manipulator and the alignment grasping driving component provided in the present utility model, after grasping the screen from the feeding structure, the alignment adjustment can be directly performed. After the position is adjusted, it is directly placed at the predetermined position. With such a design, not only the adjustment is convenient and fast, but also the cost is relatively low.

[0016] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present utility model more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0018] Figure 1 Structural schematic diagram of a screen detection and alignment mechanism provided for a specific embodiment of the present utility model;

[0019] Figure 2 Partial structural schematic of a screen detection and alignment mechanism provided for a specific embodiment of the present utility model Figure 1 ;

[0020] Figure 3 Partial structural schematic of a screen detection and alignment mechanism provided for a specific embodiment of the present utility model Figure 2 ;

[0021] Figure 4 Partial structural schematic of a screen detection and alignment mechanism provided for a specific embodiment of the present utility model Figure 3 .

[0022] Reference numerals

[0023] 1. Screen detection and alignment mechanism; 11. Alignment and grasping manipulator; 111. Horizontal suction plate; 12. First X-axis linear module; 13. First Y-axis linear module; 14. Rotation drive module; 141. Rotation motor; 15. Lifting linear module; 151. First-stage lifting module; 1511. First fixed block; 1512. First movable block; 15121. Vertical plate part; 15122. Horizontal plate part; 1513. Lifting cylinder; 1514. Guide block; 1515. Guide member; 1516. Buffer block; 1517. Buffer member; 152. Second-stage lifting module; 1521. Second fixed block; 1522. Second movable block. Detailed implementation manners

[0024] The following will clearly and completely describe the technical solutions of the present utility model in combination with specific embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model.

[0025] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0027] In the present utility model, unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0028] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0029] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this article are only for the purpose of illustration and do not represent the only implementation.

[0030] Please refer to Figures 1 to 4 , an embodiment of the present utility model provides a screen detection and alignment mechanism 1, including an alignment grasping manipulator 11 and an alignment grasping drive assembly. The alignment grasping drive assembly includes a first X-axis linear module 12, a first Y-axis linear module 13, a rotation drive module 14 and a lifting linear module 15. The first Y-axis linear module 13 is connected to the first X-axis linear module 12, the rotation drive module 14 is connected to the first Y-axis linear module 13, the lifting linear module 15 is connected to the rotation drive module 14, and the alignment grasping manipulator 11 is connected to the lifting linear module 15.

[0031] Specifically, the first X-axis linear module 12 is used to realize the movement of the alignment grasping manipulator 11 along the X-axis direction. The first X-axis linear module 12 includes a linear guide rail and a driving motor. The linear guide rail is used to define the movement direction and ensure the stability of the movement. The driving motor drives the moving part to move along the X-axis through a lead screw or a synchronous belt structure. The first Y-axis linear module 13 is connected to the first X-axis linear module 12 and is used to realize the movement of the alignment grasping manipulator 11 along the Y-axis direction. The configuration of the first Y-axis linear module 13 is similar to that of the first X-axis linear module 12. The first Y-axis linear module 13 includes a linear guide rail and a driving motor. The linear guide rail is used to define the movement direction and ensure the stability of the movement. The driving motor drives the moving part to move along the Y-axis through a lead screw or a synchronous belt structure. The rotation drive module 14 is connected to the first Y-axis linear module 13 and is used to realize the rotational movement of the alignment grasping manipulator 11.

[0032] When it is necessary to detect and align the screen, first, the alignment grasping manipulator 11 is moved to the position where the screen is located through the first X-axis linear module 12 and the first Y-axis linear module 13. Then, the rotation drive module 14 rotates the alignment grasping manipulator 11 as needed to make its angle coincide with that of the screen. Then, the lifting linear module 15 drives the alignment grasping manipulator 11 to descend so that the alignment grasping manipulator 11 contacts the surface of the screen to firmly grasp the screen.

[0033] Through the cooperation of the alignment and grasping manipulator 11 and the alignment and grasping drive assembly provided in the utility model, after grasping the screen from the feeding structure, the alignment adjustment can be directly performed, and after the position is adjusted, it is directly placed at the predetermined position. With such a design, the adjustment is not only convenient and fast, but also has a lower cost.

[0034] Please refer to Figures 2 to 3 , the lifting linear module 15 includes a primary lifting module 151. The primary lifting module 151 is connected to the first Y-axis linear module 13, and the rotation drive module 14 is connected to the primary lifting module 151.

[0035] Specifically, the primary lifting module 151 includes a first fixed block 1511, a first movable block 1512, and a lifting cylinder 1513. The first fixed block 1511 is connected to the first Y-axis linear module 13. The first movable block 1512 is slidably arranged with the first fixed block 1511. The lifting cylinder 1513 is installed on the first fixed block 1511. The output shaft of the lifting cylinder 1513 is connected to the first movable block 1512, and the rotation drive module 14 is connected to the first movable block 1512.

[0036] When it is necessary to grasp and place the screen, first, the primary lifting module 151 is moved to the target position through the first Y-axis linear module 13. Then, the lifting cylinder 1513 drives the first movable block 1512 to move downward, driving the rotation drive module 14 and the alignment and grasping manipulator 11 to descend, so that the grasping manipulator can contact and grasp the screen. Then, through the rotation drive module 14, the rotation adjustment of the alignment and grasping manipulator 11 is realized, so that the angle of the screen coincides with the predetermined position. After the rotation adjustment is completed, the lifting cylinder 1513 drives the first movable block 1512 to rise, lifting the screen away from the original position. Finally, through the linkage of the first Y-axis linear module 13 and the first X-axis linear module 12, the screen is moved to the predetermined position to complete the alignment operation.

[0037] Through the sliding arrangement of the fixed block and the movable block of the primary lifting module 151 and the drive of the lifting cylinder 1513, stable and efficient lifting operations are achieved, ensuring the smooth operation of the alignment and grasping manipulator 11 at different heights.

[0038] Please refer to Figure 3 , the first movable block 1512 includes a vertical plate portion 15121 and a horizontal plate portion 15122. The vertical plate portion 15121 and the horizontal plate portion 15122 are vertically connected. The vertical plate portion 15121 is slidably arranged with the first fixed block 1511. The output shaft of the lifting cylinder 1513 is connected to the horizontal plate portion 15122.

[0039] Specifically, the first fixed block 1511 is connected to the first Y-axis linear module 13, and the vertical plate portion 15121 is slidably arranged on the first fixed block 1511. Through a slide rail or guide rail structure, it is ensured that the vertical plate portion 15121 can slide up and down smoothly on the first fixed block 1511. The horizontal plate portion 15122 is fixedly connected to the output shaft of the lifting cylinder 1513. The telescopic movement of the lifting cylinder 1513 directly acts on the horizontal plate portion 15122, driving the vertical plate portion 15121 to move up and down.

[0040] When it is necessary to grasp and place the screen, first, the first-level lifting module 151 is moved to the target position through the first Y-axis linear module 13. Then, the lifting cylinder 1513 is activated, and its output shaft pushes the horizontal plate portion 15122 downward. The vertical plate portion 15121 slides on the slide rail or guide rail of the first fixed block 1511, causing the rotation drive module 14 and the alignment gripper 11 to descend synchronously until the alignment gripper 11 contacts the screen and grasps the screen. After the grasping is completed, the output shaft of the lifting cylinder 1513 drives the horizontal plate portion 15122 to rise, and the vertical plate portion 15121 slides upward along the slide rail or guide rail, lifting the rotation drive module 14 and the alignment gripper 11 to a predetermined height. The rotation of the alignment gripper 11 is adjusted through the rotation drive module 14 so that the angle of the screen coincides with the predetermined position. Finally, through the linkage of the first Y-axis linear module 13 and the first X-axis linear module 12, the screen is moved to the predetermined position to complete the alignment operation.

[0041] Please refer to Figure 3 , a guide block 1514 is provided at the top of the vertical plate portion 15121. A guide hole is provided at a position corresponding to the top of the first fixed block 1511. A guide member 1515 is movably arranged in the guide hole, and the lower end of the guide member 1515 is fixedly connected to the top of the first fixed block 1511. Designed in this way, the guiding and stabilizing effects of the vertical plate portion 15121 during the lifting process are further enhanced.

[0042] Specifically, the guide block 1514 is provided at the top of the vertical plate portion 15121 and is used to cooperate with the guide hole during the lifting process to ensure that the vertical plate portion 15121 slides up and down more smoothly. A guide hole is provided at a position corresponding to the top of the first fixed block 1511. The guide hole penetrates the top of the first fixed block 1511, enabling the guide block 1514 to smoothly enter and slide. The lower end of the guide member 1515 is fixedly connected to the top of the first fixed block 1511, and its upper end is movably arranged in the guide hole, playing a role in further guiding and stabilizing the vertical plate portion 15121. The guide member 1515 can be in the form of a guide rod or a guide pin and is usually made of wear-resistant material to reduce friction and wear. The guide block 1514 slides in the guide hole to ensure the stability of the vertical plate portion 15121 during the lifting movement.

[0043] Please refer toFigure 3 At the top of the first fixed block 1511, a buffer block 1516 is provided. A buffer hole is provided in the buffer block 1516 corresponding to the top position of the vertical plate portion 15121, and a buffer member 1517 is fixedly provided in the buffer hole.

[0044] Specifically, the buffer block 1516 is used to provide additional buffering and shock absorption effects during the lifting process. The buffer block 1516 is provided at the top of the first fixed block 1511. The buffer hole is provided corresponding to the top position of the vertical plate portion 15121. The buffer hole is used to accommodate the buffer member 1517 to provide additional shock absorption and protection. The buffer member 1517 is fixedly provided in the buffer hole and is usually in the form of a spring or an air cushion, etc., to further absorb the impact and vibration during the lifting process and protect the structural components from damage. The cooperative design of the buffer block 1516, the buffer hole and the buffer member 1517 effectively absorbs the impact force and vibration during the upward movement, improves the stability of the system, and reduces the risk of wear and damage of mechanical components.

[0045] Please refer to Figure 4 As shown in the figure, the rotation drive module 14 includes a rotation motor 141. The rotation motor 141 is installed on the vertical plate portion 15121 and the horizontal plate portion 15122. The output shaft of the rotation motor 141 passes through the horizontal plate portion 15122 and is connected to the alignment grasping manipulator 11 below the horizontal plate portion 15122.

[0046] Specifically, the rotation motor 141 is fixedly installed on the vertical plate portion 15121 and the horizontal plate portion 15122 and is responsible for driving the rotation of the manipulator. It is fixed by bolts or welding, etc., to ensure its stability and reliability. The vertical plate portion 15121 is not only vertically connected to the horizontal plate portion 15122 but also provides the installation support for the rotation motor 141. The output shaft of the rotation motor 141 passes through the horizontal plate portion 15122 and is connected to the alignment grasping manipulator 11 below the horizontal plate portion 15122, ensuring that the rotational force of the rotation motor 141 can be directly transmitted to the alignment grasping manipulator 11 to realize the rotation action of the alignment grasping manipulator 11.

[0047] The rotation motor 141 is installed on the vertical plate portion 15121 and the horizontal plate portion 15122. The output shaft of the rotation motor 141 passes through the horizontal plate portion 15122 to directly drive the manipulator, making the structure of the entire rotation drive module 14 compact and reducing the occupied space.

[0048] Please refer to Figure 4 As shown in the figure, the lifting linear module 15 further includes a secondary lifting module 152. The secondary lifting module 152 is provided between the rotation drive module 14 and the alignment grasping manipulator 11.

[0049] Specifically, the secondary lifting module 152 includes a second fixed block 1521 and a second movable block 1522. The second fixed block 1521 and the second movable block 1522 are slidably arranged. The top of the second fixed block 1521 is connected to the output shaft of the rotating motor 141, and the alignment grasping manipulator 11 is connected to the second movable block 1522.

[0050] Specifically, the second fixed block 1521 is arranged on the upper part of the output shaft of the rotating motor 141. As the connection part between the output shaft of the rotating motor 141 and the lifting mechanism, the second fixed block 1521 is fixed to the output shaft of the rotating motor 141 by bolts or welding. The second movable block 1522 is slidably arranged on the second fixed block 1521 and is connected to the alignment grasping manipulator 11. The second movable block 1522 is slidably matched with the second fixed block 1521 through a guide rail or a guide rod to achieve a stable lifting movement.

[0051] Through the precise adjustment of the secondary lifting module 152, a fine adjustment is carried out on the basis of the preliminary adjustment to ensure that the height and angle of the screen fully meet the predetermined requirements, improving the accuracy of the alignment operation.

[0052] Please refer to Figure 4 , the alignment grasping manipulator 11 includes a horizontal suction plate 111, and a plurality of suction holes are opened at the bottom of the horizontal suction plate 111. The suction holes are evenly distributed at the bottom of the horizontal suction plate 111. By providing negative pressure through a suction device (such as a vacuum pump or a negative pressure generator), the horizontal suction plate 111 can stably adsorb the screen.

[0053] The horizontal suction plate 111 is installed on the second movable block 1522 of the secondary lifting module 152 through a connection component (such as bolts, flange plates) to ensure the stable position of the horizontal suction plate 111 during the lifting and rotating processes.

[0054] When the screen needs to be grasped, the secondary lifting module 152 drives the horizontal suction plate 111 to descend, and the bottom of the horizontal suction plate 111 approaches the surface of the screen. Start the suction device to generate negative pressure through the suction holes, and stably adsorb the screen on the horizontal suction plate 111. Through the secondary lifting module 152, a fine lifting adjustment of the horizontal suction plate 111 is achieved, so that the height and position of the screen are accurately aligned with the predetermined position.

[0055] The rotating motor 141 drives the horizontal suction plate 111 to rotate to adjust the angle of the screen to align it with the predetermined position. After the alignment adjustment is completed, through the linkage of the primary lifting module 151 and the rotation drive module 14, the horizontal suction plate 111 and the screen are moved to the predetermined position, the suction device is turned off, and the negative pressure is released to make the screen detach from the horizontal suction plate 111.

[0056] The above are only the specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A screen detection and alignment mechanism, characterized in that It includes a positioning and grasping manipulator and a positioning and grasping driving assembly. The positioning and grasping driving assembly includes a first X-axis linear module, a first Y-axis linear module, a rotation driving module, and a lifting linear module. The first Y-axis linear module is connected to the first X-axis linear module, the rotation driving module is connected to the first Y-axis linear module, the lifting linear module is connected to the rotation driving module, and the positioning and grasping manipulator is connected to the lifting linear module.

2. The screen detection and alignment mechanism according to claim 1, wherein The lifting linear module includes a primary lifting module. The primary lifting module is connected to the first Y-axis linear module, and the rotation driving module is connected to the primary lifting module.

3. The screen detection and alignment mechanism according to claim 2, characterized in that, The primary lifting module includes a first fixed block, a first movable block, and a lifting cylinder. The first fixed block is connected to the first Y-axis linear module. The first movable block is slidably arranged with the first fixed block. The lifting cylinder is installed on the first fixed block. The output shaft of the lifting cylinder is connected to the first movable block, and the rotation driving module is connected to the first movable block.

4. The screen detection and alignment mechanism according to claim 3, wherein, The first movable block includes a vertical plate portion and a horizontal plate portion. The vertical plate portion and the horizontal plate portion are perpendicularly connected. The vertical plate portion is slidably arranged with the first fixed block, and the output shaft of the lifting cylinder is connected to the horizontal plate portion.

5. A screen detection and alignment mechanism according to claim 4, characterized in that, A guide block is provided at the top of the vertical plate portion. A guide hole is provided at a position corresponding to the top of the first fixed block. A guide member is movably arranged in the guide hole, and the lower end of the guide member is fixedly connected to the top of the first fixed block.

6. A screen detection and alignment mechanism according to claim 4, characterized in that, A buffer block is provided at the top of the first fixed block. A buffer hole is provided at a position corresponding to the top of the vertical plate portion. A buffer member is fixedly arranged in the buffer hole.

7. A screen detection and alignment mechanism according to claim 4, characterized in that The rotation driving module includes a rotation motor. The rotation motor is installed on the vertical plate portion and the horizontal plate portion. The output shaft of the rotation motor passes through the horizontal plate portion and is connected to the positioning and grasping manipulator below the horizontal plate portion.

8. A screen detection and alignment mechanism according to claim 7, characterized in that, The lifting linear module further includes a secondary lifting module. The secondary lifting module is arranged between the rotation driving module and the positioning and grasping manipulator.

9. A screen detection and alignment mechanism according to claim 8, characterized in that, The secondary lifting module includes a second fixed block and a second movable block. The second fixed block and the second movable block are slidably arranged. The top of the second fixed block is connected to the output shaft of the rotation motor, and the positioning and grasping manipulator is connected to the second movable block.

10. A screen detection and alignment mechanism according to claim 1, characterized in that, The positioning and grasping manipulator includes a horizontal suction plate. Suction holes are provided at the bottom of the horizontal suction plate.

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