Gripping device and method of operation thereof

Abstract

The application provides a grabbing device and an operating method thereof. The grabbing device comprises a device main body and a grabbing groove formed on the device main body. The device main body further has an electro-deformation structure. The grabbing groove has a central axis. The electro-deformation structure is arranged around the grabbing groove. The electro-deformation structure is deformed along a direction pointing to the central axis under the action of a voltage. The grabbing device provided by the application realizes the grabbing operation of the grabbing device on a device to be grabbed by using the electro-deformation principle, thereby ensuring the convenience of the grabbing operation by using the grabbing device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of display panel, and in particular, to a grabbing device and an operating method thereof. BACKGROUND

[0002] Since the display quality of Micro LED (Light Emitting Diode) and Mini LED is better than that of LCD (Liquid Crystal Display), and it has a wider color gamut, viewing angle, higher contrast and faster response speed, it has gradually attracted the attention of the panel industry.

[0003] Due to the characteristics of the light emitting diode process, the light emitting diodes produced in the same batch or different batches, or the light emitting diodes at different positions on the same wafer, will not have the same light emitting performance.

[0004] In some display panels provided with light emitting diode devices, the light emitting diode devices are transferred to the main structure of the display panel by grabbing or transferring devices after being prepared.

[0005] Therefore, how to ensure the convenience of the transfer operation in the process of transferring the light emitting diode device is a problem to be solved at present. SUMMARY

[0006] In order to solve the above problems or other problems, the present application provides the following technical solutions.

[0007] In a first aspect, the present application provides a grabbing device, comprising:

[0008] a device main body, the device main body having an electro-actuated deformation structure; and

[0009] a grabbing slot, which is provided on the device main body, the grabbing slot having a central axis;

[0010] The electro-actuated deformation structure is arranged around the grabbing slot, and the electro-actuated deformation structure is used to deform in a direction pointing to the central axis under the action of voltage.

[0011] According to the grabbing device of the embodiment of the present application, the electro-actuated deformation structure has opposite first and second surfaces perpendicular to the central axis, and the device main body has first and second electrodes, wherein:

[0012] The first and second electrodes are arranged on the first surface, and the first electrode penetrates the electro-actuated deformation structure and extends on the second surface;

[0013] and wherein the first electrode and the second electrode are respectively configured to be applied with a first voltage and a second voltage having different voltage values, so as to cause the electro-deformation structure to deform along a direction pointing to the central axis.

[0014] According to an embodiment of the present application, the first electrode and the second electrode are arranged around the grabbing groove, or the first electrode and the second electrode are arranged adjacent to the grabbing groove.

[0015] According to an embodiment of the present application, the device body further comprises a shape matching layer arranged on the electro-deformation structure, and a cavity is arranged on the shape matching layer and is in communication with the grabbing groove, wherein the grabbing groove has a first opening area, and the cavity has a second opening area, and the first opening area is not greater than the second opening area.

[0016] According to an embodiment of the present application, the electro-deformation structure comprises a plurality of piezoelectric layers and a plurality of dielectric layers which are alternately stacked.

[0017] According to an embodiment of the present application, the material of the piezoelectric layer comprises electro-deformation ceramic material.

[0018] According to an embodiment of the present application, the number of the grabbing grooves is a plurality, and the plurality of grabbing grooves are arranged in an array, or the plurality of grabbing grooves are arranged along a first direction.

[0019] In a second aspect, the present application provides an operation method of a grabbing device, applied to the grabbing device as described in any one of the above embodiments, and the operation method comprises:

[0020] moving the grabbing device to above a projection of a to-be-grabbed device, so that the grabbing groove faces the to-be-grabbed device; and

[0021] causing the electro-deformation structure to deform along a direction pointing to the central axis under the action of a voltage, so as to grab the to-be-grabbed device.

[0022] According to an embodiment of the present application, the electro-deformation structure has first and second opposite surfaces perpendicular to the central axis, the device body has a first electrode and a second electrode, the first electrode and the second electrode are arranged on the first surface, and the first electrode extends through the electro-deformation structure and extends on the second surface, and the step of causing the electro-deformation structure to deform along a direction pointing to the central axis under the action of a voltage, so as to grab the to-be-grabbed device, specifically comprises:

[0023] obtaining the width of the to-be-grabbed device;

[0024] determining the first voltage and the second voltage according to the width; and

[0025] applying the first voltage and the second voltage to the first electrode and the second electrode respectively, so that the electro-deformation structure deforms in a direction pointing to the central axis to grab the device to be grabbed.

[0026] The operation method according to an embodiment of the present application, wherein after the step of deforming the electro-deformation structure in a direction pointing to the central axis to grab the device to be grabbed under the action of the voltage, further comprises:

[0027] moving the grabbed device above the projection of the target position;

[0028] making the electro-deformation structure not be affected by the voltage, so that the device to be grabbed falls into the target position from the grabbing groove.

[0029] The present application provides a grabbing device and an operation method thereof. The grabbing device comprises a device main body and a grabbing groove formed on the device main body. The device main body further comprises an electro-deformation structure. The grabbing groove has a central axis. The electro-deformation structure surrounds the grabbing groove and deforms in a direction pointing to the central axis under the action of a voltage. The grabbing device provided by the present application realizes the grabbing operation of the device to be grabbed by the grabbing device through the electro-deformation principle, thereby ensuring the convenience of the grabbing operation of the grabbing device. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the following description of each embodiment according to the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0031] Figure 1 is a structural schematic diagram of the grabbing device provided by the first embodiment according to the present application.

[0032] Figure 2 is a schematic diagram of the deformation of the electro-deformation structure in the grabbing device provided by the first embodiment according to the present application.

[0033] Figure 3 is a detailed structural schematic diagram of the grabbing device provided by the first embodiment according to the present application.

[0034] Figure 4is a structure diagram of a grabbing device provided by a variant of the first embodiment according to the present application.

[0035] Figure 5 is a flow diagram of an operation method of the grabbing device provided by the first embodiment according to the present application.

[0036] Figure 6 is a further flow diagram of an operation method of the grabbing device provided by the first embodiment according to the present application.

[0037] Figure 7 is a schematic diagram of an arrangement of the device to be grabbed provided by the first embodiment according to the present application.

[0038] Figure 8 is another schematic diagram of an arrangement of the device to be grabbed provided by the first embodiment according to the present application.

[0039] Figure 9 is a structure diagram of a grabbing device provided by the second embodiment according to the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0042] In the description of the present application, it is necessary to point out that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "lower", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0044] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described in the following. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0045] Please refer to Figure 1 , Figure 1 The structure diagram of the grabbing device 100 provided by the first embodiment according to the present application is shown, from which the components of the first embodiment according to the present application and the relative position relationship of the components can be intuitively seen.

[0046] As Figure 1 shown, the grabbing device 100 includes a device body 110 and a grabbing groove 120 opened on the device body 110, wherein the device body 110 further has an electro-deformation structure 111 arranged on a substrate 112, the grabbing groove 120 has a central axis D, the electro-deformation structure 111 is arranged around the grabbing groove 120, and the electro-deformation structure 111 is used to deform in the direction pointing to the central axis D under the action of voltage.

[0047] It should be noted that, please refer to Figure 2 , Figure 2 The figure shows the schematic diagram of the deformation of the electro-deformation structure 111 in the grabbing device 100 according to the first embodiment of the present application. As Figure 2 shown, in the first embodiment according to the present application, by using the principle of electro-deformation, the electro-deformation structure 111 around the grabbing groove 120 is deformed under the action of voltage, and the direction of deformation points to the central axis D of the grabbing groove 120, thereby causing the reduction of the accommodation space of the grabbing groove 120, and further realizing the grabbing operation of the grabbing device 100 on the device to be grabbed 200, and ensuring the convenience of the grabbing operation by using the grabbing device 100.

[0048] Further, please refer to Figure 3 , Figure 3 The figure shows the schematic diagram of the detailed structure of the grabbing device 100 according to the first embodiment of the present application, from which the components of the first embodiment according to the present application and the relative positional relationship of the components can be seen directly.

[0049] As Figure 3 shown, the electro-deformation structure 111 has opposite first surface S1 and second surface S2 perpendicular to the central axis D, and the device body 110 has first electrode 113 and second electrode 114, wherein:

[0050] The first electrode 113 and the second electrode 114 are arranged on the first surface S1, and the first electrode 113 penetrates the electro-deformation structure 111 and extends on the second surface S2.

[0051] It should be noted that, in this embodiment, by applying the first voltage and the second voltage with different voltage values to the first electrode 113 and the second electrode 114 respectively, an electric field pointing to the direction of the central axis D can be formed, so that the electro-deformation structure 111 can be deformed along the direction pointing to the central axis D.

[0052] Further, in this embodiment, since the first electrode 113 and the second electrode 114 are arranged around the grabbing groove 120, in this embodiment, when the first electrode 113 and the second electrode 114 are applied with the first voltage and the second voltage with different voltage values respectively, the side walls of the grabbing groove 120 will be deformed. It should be noted that, in other embodiments according to the present application, in order to save process cost, the first electrode and the second electrode can also be arranged adjacent to the grabbing groove without surrounding the grabbing groove, so that in such embodiments, when the first electrode and the second electrode are applied with the first voltage and the second voltage with different voltage values respectively, only the side walls of the grabbing groove adjacent to the first electrode and the second electrode will be deformed.

[0053] Further, please continue to refer to Figure 3 In the embodiment, the material of the electro-deformation structure 111 includes piezoelectric ceramics, and in the embodiment, the electro-deformation structure 111 is not provided with a dielectric layer.

[0054] It should be noted that, as Figure 4 shown, in a deformation example according to the embodiment, the electro-deformation structure 111' can include a plurality of piezoelectric layers 111a' and a plurality of dielectric layers 111b' which are alternately stacked, wherein the material of the piezoelectric layer 111a' includes the above-mentioned piezoelectric ceramic material, and the material of the piezoelectric layer 111a' can also be other piezoelectric materials. Specifically, in this deformation example, the first electrode 113' and the second electrode 114' are in direct contact with the piezoelectric layer 111a'.

[0055] Please refer to Figure 5 , Figure 5 The flowchart shows the operation method of the grabbing device 100 provided by the first embodiment according to the application, as Figure 1 to Figure 5 shown, the operation method can specifically include the following steps:

[0056] The first moving step S101: moving the grabbing device 100 above the projection of the device to be grabbed 200, so that the grabbing groove 120 faces the device to be grabbed 200;

[0057] The device grabbing step S102: the electro-deformation structure 111 is deformed in the direction of the central axis D under the action of the voltage, so as to grab the device to be grabbed 200.

[0058] It should be noted that, in the embodiment, the voltage difference between the first voltage and the second voltage respectively applied to the first electrode 113 and the second electrode 114 can be configured so that the electro-deformation structure 111 can be deformed to different degrees, or so that the grabbing device 100 can have different grabbing forces.

[0059] Further, in the embodiment, the first voltage and the second voltage respectively applied to the first electrode 113 and the second electrode 114 can be configured according to the width of the device to be grabbed 200.

[0060] Specifically, please refer to Figure 6 , Figure 6 The further flowchart shows the operation method of the grabbing device 100 provided by the first embodiment according to the application, as Figure 6 shown, the above-mentioned device grabbing step S102 can specifically include:

[0061] Width acquisition sub-step S1021: Acquire the width of the device to be grasped 200;

[0062] Voltage determination sub-step S1022: Determine the first voltage and the second voltage based on the width;

[0063] Voltage application sub-step S1023: Apply a first voltage and a second voltage to the first electrode 113 and the second electrode 114 respectively, so that the electrodeformable structure 111 deforms in the direction pointing to the central axis D to grasp the device to be grasped 200.

[0064] For further information, please refer to [link / reference]. Figure 6 ,like Figure 6 As shown, in the first embodiment according to the present invention, after the above-described device grasping step S102, the following may be further included:

[0065] Second moving step S103: Move the gripping device 100 above the projection of the target position;

[0066] Device placement step S104: The electrodeformation structure 111 is not subjected to voltage, so that the device to be grasped 200 is released from the grasping slot 120 and falls into the target position.

[0067] Further, please refer to Figure 7 as well as Figure 8 , Figure 7 A schematic diagram of the arrangement of the grasping device 200 according to a first embodiment of the present invention is shown. Figure 8 A schematic diagram of another arrangement of the gripping device 200 provided by the first embodiment of the present invention is shown. The components of the first embodiment of the present invention and their relative positional relationships can be seen intuitively from the figure.

[0068] It should be noted that as the size of the display panel continues to increase and the resolution continues to improve, the number of light-emitting diode devices in the display panel increases exponentially. Therefore, in order to improve the yield and efficiency of transferring light-emitting diode devices, and in order to match the arrangement of the device to be gripped 200 on the production line, multiple gripping slots 120 can be set on the gripping device 100, and the multiple gripping slots 120 can be repositioned to be arranged in different ways.

[0069] like Figure 7 As shown, in one possible scenario, the devices to be gripped 200 on the production line are arranged in a straight line. Therefore, the multiple gripping slots 120 provided on the gripping device 100 can be arranged in a straight line along the first direction to match the arrangement of the devices to be gripped 200. Further, as... Figure 8As shown, in another possible case, the device to be grabbed 200 is arranged in an array, therefore, the plurality of grabbing grooves 120 arranged on the grabbing device 100 can be arranged in an array to match the arrangement of the device to be grabbed 200.

[0070] Further, the preparation method of the grabbing device 100 provided by the first embodiment of the present application can specifically include the following steps:

[0071] The substrate providing step S201: providing a substrate 112;

[0072] The electro-deformation structure forming step S202: forming an electro-deformation structure 111 on the substrate 112;

[0073] The grabbing groove forming step S203: etching to form a grabbing groove 120, wherein the grabbing groove 120 penetrates the electro-deformation structure 111 along a direction perpendicular to the longitudinal direction of the substrate 112 and extends in the longitudinal direction of the substrate 112.

[0074] According to the foregoing embodiments, the first embodiment of the present application provides a grabbing device 100, which includes a device body 110 and a grabbing groove 120 arranged on the device body 110, wherein the device body 110 further has an electro-deformation structure 111, the grabbing groove 120 has a central axis D, the electro-deformation structure 111 is arranged around the grabbing groove 120, and the electro-deformation structure 111 is used to deform in a direction pointing to the central axis D under the action of a voltage. The grabbing device 100 provided by the first embodiment of the present application realizes the grabbing operation of the device to be grabbed 200 by using the electro-deformation principle, thereby ensuring the convenience of the grabbing operation by using the grabbing device 100.

[0075] Please refer to Figure 9 , Figure 9 The structure schematic diagram of the grabbing device 300 provided by the second embodiment of the present application is shown, from which the components of the second embodiment of the present application and the relative positional relationship of the components can be intuitively seen.

[0076] As Figure 9 shown, the structure of the second embodiment is basically the same as that of the first embodiment, wherein the device body 310 (having the electro-deformation structure 311 and the substrate 312) in the second embodiment and the device body 110 (having the electro-deformation structure 111 and the substrate 112) in the first embodiment have the same functions and are arranged in the same positions; the grabbing groove 320 (having the central axis D) in the second embodiment and the grabbing groove 120 (having the central axis D) in the first embodiment have the same functions and are arranged in the same positions.

[0077] The difference from the first embodiment described above is that, asFigure 9 As shown in the embodiment, the device body 310 further comprises a shape matching layer 330 arranged on the electro-deformation structure 311, and a cavity 340 is arranged on the shape matching layer 330, the cavity 340 is communicated with the grabbing groove 320, wherein the grabbing groove 320 has a first opening area (not shown in the figure), the cavity 340 has a second opening area (not shown in the figure), and the first opening area is not greater than the second opening area.

[0078] It should be noted that, in some possible cases, the cross-sectional shape of the device to be grabbed 200 can be, for example, a shape of a right trapezoid, that is, the device to be grabbed 200 can have a smaller top size and a larger bottom size, and therefore, when a shape matching layer 330 is arranged above the electro-deformation structure 311, the device to be grabbed 200 can be more reliably grabbed, that is, the situation that the device to be grabbed 200 falls off from the grabbing device 300 before reaching the target position is effectively prevented.

[0079] According to the foregoing embodiment, the second embodiment of the present application provides a grabbing device 300, which comprises a device body 310 and a grabbing groove 320 arranged on the device body 310, wherein the device body 310 further has an electro-deformation structure 311, the grabbing groove 320 has a central axis D, the electro-deformation structure 311 is arranged around the grabbing groove 320, and the electro-deformation structure 311 is used to deform in a direction pointing to the central axis D under the action of a voltage. The grabbing device 300 provided by the second embodiment of the present application realizes the grabbing operation of the device to be grabbed 200 by the grabbing device 300 by using the principle of electro-deformation, and ensures the convenience of the grabbing operation by using the grabbing device 300.

[0080] In addition to the foregoing embodiments, the present application can have other embodiments. Any technical solution formed by equivalent replacement or equivalent substitution falls within the protection scope of the present application.

[0081] In summary, although the preferred embodiments of the present application have been disclosed as above, the foregoing preferred embodiments are not used to limit the present application, and any person skilled in the art can make various changes and decorations without departing from the spirit and scope of the present application, and therefore, the protection scope of the present application is subject to the range defined by the claims.

Claims

1. A gripping device, characterized in that The grabbing device comprises: a device body having an electro-deformation structure and a shape matching layer arranged on the electro-deformation structure; a grabbing groove arranged on the device body, the grabbing groove having a central axis; wherein the electro-deformation structure is arranged around the grabbing groove, and the electro-deformation structure is deformed along a direction pointing to the central axis under the action of a voltage; a cavity is arranged on the shape matching layer, the cavity is communicated with the grabbing groove, the grabbing groove has a first opening area, the cavity has a second opening area, and the first opening area is not greater than the second opening area.

2. Gripping device according to claim 1, characterized in that The electro-deformation structure has opposite first and second surfaces perpendicular to the central axis, and the device body has first and second electrodes, wherein: the first and second electrodes are arranged on the first surface, and the first electrode extends through the electro-deformation structure and on the second surface; and wherein the first and second electrodes are respectively applied with a first voltage and a second voltage having different voltage values, so that the electro-deformation structure is deformed along a direction pointing to the central axis.

3. Gripping device according to claim 2, characterized in that The first and second electrodes are arranged around the grabbing groove, or the first and second electrodes are arranged adjacent to the grabbing groove.

4. The grasping device of claim 1, wherein, The electro-deformation structure comprises a plurality of piezoelectric layers and a plurality of dielectric layers alternately stacked.

5. Gripping device according to claim 4, characterized in that The material of the piezoelectric layer comprises electro-deformation ceramic material.

6. The grasping device of claim 1, wherein, The number of the grabbing grooves is multiple, and the multiple grabbing grooves are arranged in an array or along a first direction.

7. A method of operating a gripping device, characterized in that The operation method is applied to the grabbing device of any one of claims 1-6, and the operation method comprises: moving the grabbing device above a projection of a device to be grabbed, so that the grabbing groove faces the device to be grabbed; and deforming the electro-deformation structure along a direction pointing to the central axis under the action of a voltage, so as to grab the device to be grabbed.

8. The method of operation of claim 7, wherein, The electro-deformation structure has opposite first and second surfaces perpendicular to the central axis, and the device body has first and second electrodes, the first and second electrodes are arranged on the first surface, and the first electrode extends through the electro-deformation structure and on the second surface, wherein the step of deforming the electro-deformation structure along a direction pointing to the central axis under the action of a voltage to grab the device to be grabbed specifically comprises: obtaining the width of the device to be grabbed; determining a first voltage and a second voltage according to the width; and applying the first voltage and the second voltage to the first electrode and the second electrode respectively, so that the electro-deformation structure is deformed along a direction pointing to the central axis to grab the device to be grabbed.

9. The method of claim 7, wherein, After the step of deforming the electro-deformation structure along a direction pointing to the central axis under the action of a voltage to grab the device to be grabbed, further comprising: moving the grabbing device above a projection of a target position; The electro-deformable structure is left free from the action of the voltage to cause the device to be gripped to fall from the gripping slot into the target position.

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