Visual shooting device and flight shooting system based on bionic compliant mechanism

Abstract

The present invention relates to a visual shooting device and a flight shooting system based on a bionic compliant mechanism, wherein the visual shooting device based on the bionic compliant mechanism comprises: a piezoelectric driver; a bionic compliant mechanism, comprising a fixed portion and a bionic compliant amplifying portion hinged to each other; the bionic compliant mechanism is fixed to a mounting plate via the fixed portion, and the bionic compliant amplifying portion can deform and transmit displacement on the integrated mounting plate; a pre-tightening mechanism; a machine vision shooting assembly, wherein one end of the industrial camera in the machine vision shooting assembly is connected to the fixed portion via a supporting mechanism, and the other end abuts against the displacement output portion via a transmission member and is driven by the displacement output portion to generate micro-displacement; and a controller. The present invention overcomes the problems of existing motion shooting in that disturbances are difficult to eliminate and the focusing accuracy is insufficient. The present invention has high focusing efficiency, can realize the function of rapid focusing at the moment of flight motion shooting, and has large stroke, fast and high-precision focusing characteristics.

Description

Technical Field

[0001] The present invention relates to the field of machine vision technology, and more specifically, to a visual shooting device and a flight shooting system based on a bionic compliant mechanism. Background Art

[0002] Machine vision refers to inspection technology equipped with visual measurement or sensing, enabling machines to measure, identify, or track specific objects in an environment. In automated production, it is often used for tasks such as defect detection, target identification, and material calibration and positioning. Traditional machine vision imaging systems primarily rely on static (single-step) capture, where the camera and the object remain relatively stationary during the capture. Due to this low efficiency, flying imaging has emerged. Flying imaging is a sub-category of machine vision, capturing images while the camera and object are in relative motion.

[0003] Because the camera is in flight during recording, it is in relative motion with the object being measured, which can easily cause motion blur. The combined effects of multiple disturbance sources on the visual system can produce out-of-focus blur, which has a greater impact on image recognition accuracy during in-flight recording. However, current in-flight recording devices lack fast focusing mechanisms, making it difficult to mitigate out-of-focus blur in real time. There are also no specific hardware or software algorithms to compensate for motion blur. For example, a Chinese patent document discloses a machine vision flight system, which uses a gear mechanism to convert the lifting motion of the pickup head into the telescopic reciprocating motion of the reflector. However, the camera, optical path and workpiece in the system are fixed. If there is a calibration error or disturbance, the camera cannot adapt, the accuracy cannot be guaranteed, and it does not have high precision and anti-interference performance. Another example is a Chinese patent document discloses a flight shooting control method and system, which starts shooting and the light source required for shooting in sequence according to the preset flight shooting position and the movement of the workpiece to achieve shooting in a moving state of the workpiece. It uses specific hardware configuration and control logic to complete shooting in a moving state, but it has many trigger signals, and delayed processing affects the flight shooting accuracy. The complex hardware stacking increases the complexity of the system. A single trigger has no feedback, no position and no image disturbance anti-interference function, and does not have high precision and high efficiency.

[0004] Therefore, when the flying photography system is applied to the field of precision electronic manufacturing technology, although flying photography can improve photography efficiency, it has low accuracy and poor anti-disturbance performance. Summary of the Invention

[0005] The present invention aims to overcome the difficulties encountered in existing motion photography, such as the difficulty in eliminating disturbances and insufficient focusing accuracy. It provides a visual photography device and a flight photography system based on a bionic compliant mechanism. The present invention boasts high focusing efficiency, enabling rapid focusing during flight photography, and boasts long-range, fast, and high-precision focusing.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A visual shooting device based on a bionic compliant mechanism, comprising:

[0008] A piezoelectric driver, comprising a preload end and an output end;

[0009] The bionic compliant mechanism includes a fixed portion and a bionic compliant amplifier portion which are hinged to each other. The bionic compliant amplifier portion is provided with a driving portion and a displacement output portion respectively. The driving portion is connected to the output end of the piezoelectric driver.

[0010] The bionic compliance mechanism is fixed on the mounting plate through a fixing portion, and the bionic compliance amplifying portion can deform on the integrated mounting plate and transmit displacement;

[0011] a pre-tightening mechanism, one end of the pre-tightening mechanism abutting against the pre-tightening end, and the other end of the pre-tightening mechanism being connected to the fixing portion and being used to adjust the abutting force applied to the pre-tightening end;

[0012] A machine vision shooting assembly includes an industrial camera and a lens mounted on the industrial camera. One end of the industrial camera is connected to a fixed portion via a supporting mechanism, and the other end of the industrial camera abuts against a displacement output portion via a transmission member and is driven by the displacement output portion to cause micro-displacement.

[0013] The controller is connected to the piezoelectric driver and the industrial camera respectively.

[0014] In the above technical solution, the present invention can solve the problems of low focusing accuracy, insufficient kinematic performance and poor dynamic performance of the shooting device of the traditional rigid motion mechanism by setting a bionic flexible mechanism. The present invention uses a bionic flexible mechanism to connect the machine vision shooting component. The motion transmission based on the bionic flexible mechanism has the characteristics of friction-free and lubrication-free. The controller controls the piezoelectric driver to drive the bionic flexible mechanism to perform displacement amplification and transmission, driving the machine vision shooting component to perform reciprocating micro-displacement in the shooting focus direction, so that the industrial camera can achieve defocus compensation during shooting, and can focus at a high rate. When used in the focus shooting and detection equipment of high-precision parts such as precision circuit boards and chips, it can effectively improve the focusing accuracy and meet the μm-level displacement focusing, thereby greatly improving the performance and efficiency of such flying shooting devices or detection equipment. The focusing efficiency of the present invention is high, and it can realize the function of rapid focusing at the moment of flying motion shooting. It also has the characteristics of large stroke, fast and high precision focusing, which compensates for the motion blur caused by the flying motion of the industrial camera, improves the defocus blur caused by the combined effect of multiple disturbance sources, and improves the recognition efficiency while improving the recognition accuracy.

[0015] In addition, it should be noted that in the above technical solution, a pre-tightening mechanism is provided to transmit a pre-tightening force to the piezoelectric driver, and an initial pre-tightening force is applied to the pre-tightening end of the piezoelectric driver, and the initial pre-tightening force is controllable, which can facilitate the compliance control device of the present invention to adapt to more application fields, and at the same time avoid the generation of lateral forces that endanger the safety hazards of the piezoelectric driver; the industrial camera and lens with a larger load are connected to the fixed part through a supporting mechanism, and the fixed part then transmits the load to the mounting plate, so that the weight load can be transferred without affecting the displacement transmission of the bionic compliance amplifier and the practical safety of the piezoelectric driver, eliminating the biased torque, and effectively solving the problem of the piezoelectric drive process. Since one side of the bionic compliant amplifier is subjected to too much load and cannot maintain horizontal transmission of displacement, the piezoelectric driver connected to the driving end may be damaged. By fixing the load first and then transmitting the output, the load is separated from the bionic compliant amplifier and indirectly transmitted. This can effectively avoid the problem of swaying in the dynamic direction when the displacement output end of the bionic compliant amplifier carries a large load; the controller is equipped with a focusing control algorithm for adjusting the displacement output of the piezoelectric driver. The focusing control algorithm can be comprehensively controlled based on the output of the industrial camera in the direction of displacement, the amplification ratio of the bionic compliant amplifier, and the flexible transmission parameters of the bionic compliant amplifier.

[0016] Furthermore, it also includes a light source, which is connected to the mounting plate through an adapter, and the lighting path of the light source covers the shooting range of the industrial camera.

[0017] Furthermore, the light source is connected to the controller, and the controller may be equipped with a light source control algorithm to cooperate with the bionic flexible mechanism to control the light source during the focusing process of the industrial camera, thereby achieving better shooting clarity and shooting effects.

[0018] Furthermore, the bionic compliant amplifying portion includes a first kangaroo-like lower limb flexible mechanism and a second kangaroo-like lower limb flexible mechanism with identical structures and symmetrically arranged, wherein the first kangaroo-like lower limb flexible mechanism and the second kangaroo-like lower limb flexible mechanism have thigh ends and foot ends respectively;

[0019] Furthermore, the thigh ends of the first kangaroo-like lower limb flexible mechanism and the second kangaroo-like lower limb flexible mechanism are symmetrically connected via a flexible connecting rod, and the driving part is located on the symmetry axis of the flexible connecting rod;

[0020] Furthermore, the sole ends of the first kangaroo-like lower limb flexible mechanism and the second kangaroo-like lower limb flexible mechanism are connected to each other through a connecting head, and the displacement output part is located on the symmetry axis of the connecting head; the transmission member and the connecting head abut against each other in the direction of displacement, and the transmission member and the connecting head move relative to each other in a direction perpendicular to the displacement plane.

[0021] It should be noted that the bionic object selected by the present invention is the kangaroo's lower limb structure, and can imitate the power transmission mechanism of the kangaroo's lower limb during jumping. This is based on the characteristics of the kangaroo's jumping movement, such as high jumping frequency, high vertical jump and large horizontal span, for optimal bionic simulation.

[0022] Furthermore, one end of the supporting mechanism is symmetrically connected to both sides of the industrial camera, and the other end of the supporting mechanism is supported and connected to the fixed part and is used to bear the entire weight of the visual shooting component; the transmission part includes a positioning ring mounted on the outer periphery of the industrial camera, and an abutment block connected to the positioning ring, the abutment block is movably inserted on the connecting head in a direction perpendicular to the displacement plane, and a corresponding air avoidance hole is opened on the connecting head, and the abutment block abuts against the connecting head in the direction of displacement.

[0023] Furthermore, a fastening sleeve for protecting the industrial camera may be provided on the outside of the industrial camera, and the supporting mechanism is indirectly fixed to the industrial camera by connecting the fastening sleeve.

[0024] Furthermore, the first kangaroo-like lower limb flexible mechanism and the second kangaroo-like lower limb flexible mechanism each include a femoral-like flexible beam, a tibial-like flexible beam, an Achilles tendon-like flexible beam, and a sole-like flexible beam sequentially connected from the thigh end to the sole end;

[0025] Furthermore, the femoral simulated flexible beam is respectively connected to the flexible link and the fixed part through the hip simulated flexible hinge, the tibial simulated flexible beam and the femoral simulated flexible beam are connected to each other through the knee simulated flexible hinge, the foot simulated flexible beam is respectively connected to the tibial simulated flexible beam and the Achilles tendon simulated flexible beam through the ankle simulated flexible hinge, and the Achilles tendon simulated flexible beam is respectively connected to the flexible link and the fixed part through the Achilles tendon simulated flexible hinge.

[0026] It should be noted that, based on the comprehensive analysis of the kangaroo's jumping stages and the leg movements when the kangaroo jumps, one path of musculoskeletal movement is the contraction and relaxation of the thigh muscles, mainly the contraction and relaxation of the gluteal muscles and knee flexors, which drive the thigh bone to swing back and forth, and then transmit the displacement to the tibia to swing, and finally to the ankle joint of the foot in the same direction as the tibia movement; the other path is the contraction and relaxation of the calf muscles, mainly the joint extensor muscles stretching the long Achilles tendon. The long Achilles tendon connects to the end of the metacarpal bone, driving the end of the metacarpal bone to move in the opposite direction of the ankle joint movement. Therefore, the kangaroo's jumping mechanism is based on the jumping mechanism of the differential lever. Compared with the traditional lever mechanism with a fixed end, the differential lever has a larger amplification ratio at the same size. Therefore, inspired by the movement mechanism of kangaroos, the present invention simulates the movement of the thigh by the hip joint flexible hinge and the femoral flexible beam, and the movement of the femoral flexible beam is transmitted to the tibia flexible beam through the knee joint flexible hinge to constitute the calf movement. The Achilles tendon flexible hinge and the Achilles tendon flexible beam constitute the Achilles tendon movement. The Achilles tendon movement is transmitted to the sole flexible beam through the ankle joint flexible hinge. At the same time, the calf movement is also transmitted to the sole flexible beam through another ankle joint flexible hinge. The two ankle joint flexible hinges move in opposite directions, constituting the differential movement of the sole flexible beam. The Achilles tendon thin-walled beam is set under the sole flexible beam, and the overall arrangement is symmetrical to reduce the coupling displacement of the camera connector.

[0027] Furthermore, by simulating the proportions of a kangaroo's legs, the proportions of the femur-simulating flexible beam, the tibia-simulating flexible beam, and the sole-simulating flexible beam are approximately 0.23:0.46:0.31.

[0028] Furthermore, by simulating the weight factor of each muscle driving force in the total driving force required for the rhythm of the hip joint, knee joint, ankle joint and Achilles tendon, the stiffness ratio at each hinge of the leg is adjusted.

[0029] Furthermore, the flexible link includes a central flexible link and a peripheral flexible link that are integrally formed and symmetrically arranged. The central flexible link is located between the two femoral-simulating flexible beams, and the peripheral flexible link is located outside the two femoral-simulating flexible beams and the tibial-simulating flexible beam. The driving portion is located on the symmetry axis of the central flexible link. The symmetry axis of the central flexible link is also provided with a placement notch for coaxial placement of the piezoelectric driver.

[0030] Furthermore, the fixing portion includes a central axis fixing portion, a leg fixing portion, and an Achilles tendon fixing portion that are separately arranged. The central axis fixing portion includes a first central axis fixing portion and a second central axis fixing portion that are provided at both ends of the central axis flexible link and are interconnected by a flexible hinge; the pre-tightening mechanism is connected to the first central axis fixing portion, and the second central axis fixing portion is symmetrically connected to both sides of the symmetry axis of the central axis flexible link;

[0031] Furthermore, the leg fixing part is located between the simulated femoral flexible beam and the peripheral flexible link, and the simulated hip joint flexible hinge is respectively connected to the simulated femoral flexible beam and the peripheral flexible link; the Achilles tendon fixing part is located on the outside of the simulated Achilles tendon flexible beam, and the simulated Achilles tendon flexible hinge is respectively connected to the simulated Achilles tendon flexible beam and the Achilles tendon fixing part.

[0032] Furthermore, the flexible hinge connecting the central axis fixing part and the central axis flexible link is a straight beam type flexible hinge, and the hip joint simulated flexible hinge, ankle joint simulated flexible hinge, knee joint simulated flexible hinge, and Achilles tendon simulated flexible hinge all adopt straight circular flexible hinges, which can be used to improve the natural frequency of the bionic compliant mechanism.

[0033] Furthermore, a piezoelectric protection bracket connected to the fixed part is provided above the mounting slot. The piezoelectric protection bracket is located between the machine vision shooting component and the flexible connecting rod. The piezoelectric protection bracket limits the piezoelectric driver in the mounting slot and protects it from damage.

[0034] Furthermore, the pre-tightening mechanism includes a pre-tightening block, a pre-tightening steel ball, and a pre-tightening screw, which are coaxially and sequentially abutted against each other. The pre-tightening screw is threadedly connected to the first central axis fixing portion, and the pre-tightening block abuts against the pre-tightening end of the piezoelectric driver located in the mounting slot. The relative movement of the pre-tightening screw within the threaded hole of the first central axis fixing portion can apply varying degrees of pressure to the pre-tightening end of the piezoelectric driver, exerting an initial pre-tightening force on the piezoelectric driver, and the initial pre-tightening force is controllable. At the same time, the provision of the pre-tightening screw can achieve the pre-tightening purpose while avoiding the generation of lateral forces that could endanger the safety of the piezoelectric driver.

[0035] Furthermore, a damping element is provided at the sole bottom of the foot-like flexible beam. This damping element includes, but is not limited to, a piezoelectric plate or damping material. Because the piezoelectric driver drives the biomimetic compliant mechanism to undergo high-frequency displacement changes, adding a piezoelectric plate or damping material to the sole bottom of the foot-like flexible beam can reduce vibration during the high-frequency displacement transmission process, thereby improving the kinematic performance of the biomimetic compliant mechanism.

[0036] The present invention also provides a flight photography system, comprising a motion detection platform, a photography motion guide rail mounted above the motion detection platform, a machine vision photography device based on a bionic compliant mechanism as described above, mounted on the photography motion guide rail, and a drive device connected to and used to drive the machine vision photography device to reciprocate on the photography motion guide rail, wherein a controller is connected to and controls the drive device; the direction in which the bionic compliant mechanism in the machine vision photography device based on the bionic compliant mechanism is displaced is perpendicular to the motion detection platform;

[0037] Furthermore, the motion detection platform includes an alignment platform for placing the workpiece to be tested, a Z-axis motion component connected to the alignment platform and driving the alignment platform to achieve Z-axis height adjustment, and an X-axis motion component connected to the alignment platform and driving the alignment platform to achieve X-axis position adjustment. The guide axis space of the shooting motion guide rail is perpendicular to the motion axis of the X-axis motion component, and the controller connects and controls the Z-axis motion component and the X-axis motion component.

[0038] Furthermore, both the Z-axis motion assembly and the X-axis motion assembly include guide rails and drive motors to achieve position guidance and position adjustment.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] (1) The present invention solves the problems of low focusing accuracy, insufficient kinematic performance and poor dynamic performance of the traditional rigid motion mechanism shooting device by setting a bionic compliant mechanism. The present invention uses a bionic compliant mechanism to connect the machine vision shooting component. The motion transmission based on the bionic compliant mechanism has the characteristics of friction-free and lubrication-free. The controller controls the piezoelectric driver to drive the bionic compliant mechanism to perform displacement amplification and transmission, driving the machine vision shooting component to perform reciprocating micro-displacement in the shooting focus direction, so that the industrial camera can achieve defocus compensation during shooting and can focus at a high rate. When applied to the focus shooting and detection equipment of high-precision parts such as precision circuit boards and chips, it can effectively improve the focusing accuracy and meet the μm-level displacement focusing, thereby greatly improving the performance and efficiency of such flying shooting devices or detection equipment.

[0041] (2) The focusing efficiency of the present invention is high, and it can realize the function of rapid focusing at the moment of flying motion shooting. It also has the characteristics of large stroke, fast and high precision focusing, which can compensate for the motion blur caused by the flying motion of the industrial camera, and improve the defocus blur caused by the combined effect of multiple disturbance sources, thereby improving the target recognition efficiency while also improving the recognition accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the three-dimensional structure of the visual shooting device based on the bionic compliant mechanism in the present invention;

[0043] Figure 2 An exploded view of the visual shooting device based on the bionic compliant mechanism of the present invention;

[0044] Figure 3 Schematic diagram of the three-dimensional structure of the bionic compliant mechanism, piezoelectric driver and connecting plate in the present invention;

[0045] Figure 4 Schematic diagram of the bionic compliant mechanism, piezoelectric driver and connecting plate in the present invention;

[0046] Figure 5 Schematic diagram of the structure of the bionic compliant mechanism of the present invention;

[0047] Figure 6 Schematic diagram of the motion principle of the bionic compliant mechanism of the present invention;

[0048] Figure 7 Schematic diagram of the structure of the bionic compliant mechanism of Example 3 of the present invention;

[0049] Figure 8 This is a schematic diagram of the three-dimensional structure of Example 4 of the present invention.

[0050] The icon marks are explained as follows:

[0051] Piezoelectric driver, 11-pretightening end, 12-output end, 15-piezoelectric protection bracket, 2-bionic compliance mechanism, 21-fixing part, 2110-first central axis fixing part, 2111-second central axis fixing part, 212-leg fixing part, 213-Achilles tendon fixing part;

[0052] 22 - Bionic compliance amplifier, 221 - Drive unit, 222 - Displacement output unit, 23 - First kangaroo-like lower limb flexible mechanism, 24 - Second kangaroo-like lower limb flexible mechanism, 25 - Flexible connecting rod, 251 - Central axis flexible connecting rod, 252 - Peripheral flexible connecting rod, 253 - Mounting slot, 26 - Connector; 2001 - Femoral flexible beam, 2002 - Tibia flexible beam, 2003 - Achilles tendon flexible beam, 2004 - Foot flexible beam, 2005 - Hip joint flexible hinge, 2006 - Knee joint flexible hinge, 2007 - Ankle joint flexible hinge, 2008 - Achilles tendon flexible hinge, 2009 - Damping element;

[0053] 3-Mounting plate, 4-Pretightening mechanism, 41-Pretightening block, 42-Pretightening steel ball, 43-Pretightening screw, 5-Machine vision shooting component, 51-Industrial camera, 52-Lens, 53-Fastening sleeve, 6-Support mechanism, 7-Transmission member, 71-Location ring, 72-Abutment block, 8-Light source;

[0054] 500-shooting motion rail, 501-driving device, 600-motion detection platform, 601-alignment platform, 602-Z-axis motion assembly, 603-X-axis motion assembly. DETAILED DESCRIPTION

[0055] The present invention is further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0056] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0057] Example 1

[0058] like Figures 1 to 4 As shown, a visual shooting device based on a bionic compliant mechanism includes:

[0059] The piezoelectric driver 1 includes a pre-tightening end 11 and an output end 12;

[0060] The bionic compliance mechanism 2 includes a fixed portion 21 and a bionic compliance amplifier 22 that are hinged to each other. The bionic compliance amplifier 22 is provided with a driving portion 221 and a displacement output portion 222. The driving portion 221 is connected to the output terminal 12 of the piezoelectric driver 1.

[0061] The bionic compliance mechanism 2 is fixed to the mounting plate 3 via the fixing portion 21 , and the bionic compliance amplifying portion 22 can deform and transmit displacement on the integrated mounting plate 3 ;

[0062] A pre-tightening mechanism 4, one end of the pre-tightening mechanism 4 abuts against the pre-tightening end 11, and the other end of the pre-tightening mechanism 4 is connected to the fixing portion 21 and can be used to adjust the abutting force applied to the pre-tightening end 11;

[0063] The machine vision shooting assembly 5 includes an industrial camera 51 and a lens 52 mounted on the industrial camera 51. One end of the industrial camera 51 is connected to the fixed portion 21 via a support mechanism 6. The other end of the industrial camera 51 abuts against the displacement output portion 222 via a transmission member 7 and is driven by the displacement output portion 222 to cause micro-displacement.

[0064] The controller is connected to the piezoelectric driver 1 and the industrial camera 51 respectively.

[0065] In this embodiment, the piezoelectric driver 1 is a piezoelectric drive motor.

[0066] In the above technical solution, a pre-tightening mechanism 4 is provided to transmit a pre-tightening force to the piezoelectric driver 1, and an initial pre-tightening force is applied to the pre-tightening end 11 of the piezoelectric driver 1, and the initial pre-tightening force is controllable, which can facilitate the compliance control device of the present application to adapt to more application fields, and at the same time can avoid the safety hazard of lateral force endangering the piezoelectric driver 1; the industrial camera 51 and the lens 52 with a larger load are connected to the fixing part 21 through the supporting mechanism 6, and the fixing part 21 then transfers the load to the mounting plate 3, so that the weight load can be transferred without affecting the displacement transmission of the bionic compliance amplifier 22 and the practical safety of the piezoelectric driver 1, eliminating the bias torque, and effectively solving the problem that the piezoelectric driver 1 connected to the driving end may be damaged due to the excessive load on one side of the bionic compliance amplifier 22 during the piezoelectric driving process. By fixing the load first and then transmitting the output, the load is separated from the bionic compliance amplifier 22 and indirectly transmitted, which can effectively avoid the problem of the dynamic direction swinging when the displacement output part 222 end of the bionic compliance amplifier 22 carries a large load;

[0067] In this application, the controller is equipped with a focusing control algorithm for adjusting the displacement output of the piezoelectric driver 1. The focusing control algorithm can be comprehensively controlled based on the output of the industrial camera 51 in the direction of displacement, the amplification ratio of the bionic compliant amplifier 22, and the flexible transfer parameters of the bionic compliant amplifier 22.

[0068] The advantage of the above technical solution is that, by setting up a bionic compliant mechanism 2, the present application can solve the problems of low focusing accuracy, insufficient kinematic performance and poor dynamic performance of the shooting device of the traditional rigid motion mechanism. The present application uses the bionic compliant mechanism 2 to connect the machine vision shooting component 5. Based on the frictionless and lubrication-free characteristics of the motion transmission of the bionic compliant mechanism 2, the controller controls the piezoelectric driver 1 to drive the bionic compliant mechanism 2 to perform displacement amplification and transmission, driving the machine vision shooting component 5 to perform reciprocating micro-displacement in the shooting focus direction, so that the industrial camera 51 can achieve defocus compensation during shooting, and can focus at a high rate. When used in focus shooting and detection equipment for high-precision parts such as precision circuit boards and chips, it can effectively improve the focusing accuracy and meet the μm-level displacement focusing, thereby greatly improving the performance and efficiency of such flying shooting devices or detection equipment.

[0069] like Figure 1 and Figure 2As shown, a light source 8 is also included. The light source 8 is connected to the mounting plate 3 through an adapter 80 . The illumination path of the light source 8 covers the shooting range of the industrial camera 51 .

[0070] In this embodiment, the light source 8 is connected to the controller, and the controller may also be equipped with a light source 8 control algorithm to cooperate with the bionic compliant mechanism 2 to control the light source 8 during the focusing process of the industrial camera 51 to achieve better shooting clarity and shooting effect.

[0071] like Figure 3 As shown, the bionic compliance amplifier 22 includes a first kangaroo-like lower limb flexible mechanism 23 and a second kangaroo-like lower limb flexible mechanism 24 that are identical in structure and symmetrically arranged. The two ends of the first kangaroo-like lower limb flexible mechanism 23 and the second kangaroo-like lower limb flexible mechanism 24 are respectively the thigh end and the sole end;

[0072] like Figure 3 As shown, the thigh ends of the first kangaroo-like lower limb flexible mechanism 23 and the second kangaroo-like lower limb flexible mechanism 24 are symmetrically connected through a flexible connecting rod 25, and the driving part 221 is located on the symmetry axis of the flexible connecting rod 25;

[0073] like Figure 3 As shown, the sole ends of the first kangaroo-like lower limb flexible mechanism 23 and the second kangaroo-like lower limb flexible mechanism 24 are connected to each other through a connector 26, and the displacement output part 222 is located on the symmetry axis of the connector 26; the transmission member 7 and the connector 26 abut against each other in the direction of displacement, and the transmission member 7 and the connector 26 move relative to each other in a direction perpendicular to the displacement plane.

[0074] It should be noted that the bionic object selected in this application is the kangaroo's lower limb structure, and it can imitate the power transmission mechanism of the kangaroo's lower limb during the jumping process. This is based on the characteristics of the kangaroo's jumping movement, which has a high jumping frequency, high vertical jumps and large horizontal span.

[0075] like Figure 1 and Figure 2 As shown, one end of the support mechanism 6 is symmetrically connected to both sides of the industrial camera 51, and the other end of the support mechanism 6 is supported and connected to the fixing portion 21 and is used to bear the entire weight of the visual shooting component;

[0076] like Figure 2 As shown, the transmission member 7 includes a positioning ring 71 mounted on the outer periphery of the industrial camera 51, and an abutment block 72 connected to the positioning ring 71. The abutment block 72 is movably inserted into the connector 26 in a direction perpendicular to the displacement plane. The connector 26 is provided with a corresponding air-avoidance hole, and the abutment block 72 abuts against the connector 26 in the direction of displacement.

[0077] like Figure 2As shown, a fastening sleeve 53 for protecting the industrial camera 51 may be further provided on the outside of the industrial camera 51 , and the supporting mechanism 6 is indirectly fixed to the industrial camera 51 by connecting the fastening sleeve 53 .

[0078] like Figure 5 As shown, the first kangaroo-like lower limb flexible mechanism 23 and the second kangaroo-like lower limb flexible mechanism 24 each include a femur-like flexible beam 2001, a tibia-like flexible beam 2002, an Achilles tendon-like flexible beam 2003, and a sole-like flexible beam 2004, which are sequentially connected from the thigh end to the sole end;

[0079] like Figure 5 As shown, the femoral simulated flexible beam 2001 is connected to the flexible link 25 and the fixed part 21 respectively through the hip simulated flexible hinge 2005, the tibial simulated flexible beam 2002 and the femoral simulated flexible beam 2001 are connected to each other through the knee simulated flexible hinge 2006, the foot simulated flexible beam 2004 is connected to the tibial simulated flexible beam 2002 and the Achilles tendon simulated flexible beam 2003 respectively through the ankle simulated flexible hinge 2007, and the Achilles tendon simulated flexible beam 2003 is connected to the flexible link 25 and the fixed part 21 respectively through the Achilles tendon simulated flexible hinge 2008.

[0080] It should be noted that, based on the comprehensive analysis of the kangaroo's jumping stages and the leg movements when the kangaroo jumps, one path of musculoskeletal movement is the contraction and relaxation of the thigh muscles, mainly the contraction and relaxation of the gluteal muscles and knee flexors, which drive the thigh bone to swing back and forth, and then transmit the displacement to the tibia to swing, and finally to the ankle joint of the foot in the same direction as the tibia movement; the other path is the contraction and relaxation of the calf muscles, mainly the joint extensor muscles stretching the long Achilles tendon. The long Achilles tendon connects to the end of the metacarpal bone, driving the end of the metacarpal bone to move in the opposite direction of the ankle joint movement. Therefore, the kangaroo's jumping mechanism is based on the jumping mechanism of the differential lever. Compared with the traditional lever mechanism with a fixed end, the differential lever has a larger amplification ratio at the same size. Therefore, inspired by the movement mechanism of the kangaroo, the present application simulates the hip joint flexible hinge 2005 and the femoral flexible beam 2001 to form the thigh movement, the movement of the femoral flexible beam 2001 is transmitted to the tibial flexible beam 2002 through the knee joint flexible hinge 2006 to constitute the calf movement, the Achilles tendon flexible hinge 2008 and the Achilles tendon flexible beam 2003 constitute the Achilles tendon movement, and the Achilles tendon movement is transmitted to the sole flexible beam 2004 through the ankle joint flexible hinge 2007. At the same time, the calf movement is also transmitted to the sole flexible beam 2004 through another ankle joint flexible hinge 2007. The two ankle joint flexible hinges 2007 move in opposite directions, constituting the differential movement of the sole flexible beam 2004; the Achilles tendon thin-walled beam is set below the sole flexible beam 2004, and the overall arrangement is symmetrical to reduce the coupling displacement of the camera connector 26.

[0081] In this embodiment, by simulating the leg proportions of a kangaroo and combining existing research, it can be seen that the ratio of the femur-imitation flexible beam 2001, the tibial-imitation flexible beam 2002, and the foot-imitation flexible beam 2004 designed in this application is approximately 0.23:0.46:0.31.

[0082] In this embodiment, the simulated hip joint flexible hinge 2005 , the simulated ankle joint flexible hinge 2007 , the simulated knee joint flexible hinge 2006 , and the simulated Achilles tendon flexible hinge 2008 all adopt straight circular flexible hinges 210 .

[0083] like Figure 6 As shown, y1 is the input displacement of the bionic compliant mechanism 2; y is the output displacement of the industrial camera in the vertical direction. The industrial camera in the x direction is restricted by the fixed part of the bionic compliant mechanism 2 and does not undergo x-direction displacement; assuming that the magnification ratio of the bionic compliant mechanism 2 is n, then y = y1 × n; by simulating the weight factors of the driving force of each muscle in the muscles required for the rhythm of the hip joint, knee joint, ankle joint and Achilles tendon, combined with existing research, it can be seen that the muscles of the kangaroo leg are mainly concentrated in the thigh. The 18 muscles in the thigh drive the leg mass accounting for 68%, and the 6 muscles in the calf are used to drive the Achilles tendon contraction and adjust the calf posture, driving the leg mass accounting for 32%. Combined with existing research, it can be seen that the tensile stiffness of the Achilles tendon is greater than the tensile stiffness of the leg muscles. Therefore, the stiffness ratio of the flexible hinge 210 of the Achilles tendon is relatively increased, corresponding to Figure 5 The hinge distribution is as follows: Figure 6 As shown, the nodes of each hinge from the thigh end to the sole end are a, b, c, d, e, f, h, and i respectively; by simulating the weight of each muscle driving force in the kangaroo jump to the total driving force, the stiffness ratio of each hinge of the leg is adjusted: k i =k c <k b =k h <k a ; Combined with the fitting formula k of the right circular hinge rotation stiffness R =2EBt 5 / 2 / 9πR 1 / 2 , where k R is the rotational stiffness of the straight circular hinge, R is the radius of the straight circular hinge, E is the elastic modulus of the straight circular hinge, B is the thickness of the straight circular hinge; t is the minimum thickness of the straight circular hinge; combined with Figure 6 It can be seen that the stiffness ratio of the joint hinge designed in this embodiment is k a :k b :k c :k d :k e :k f :k h :k i=2.41:1.90:1.02:1.00:1.00:1:00:1.90:1.02.

[0084] like Figure 5 As shown, the flexible link 25 includes an integrally formed and symmetrically arranged central flexible link 251 and peripheral flexible link 252. The central flexible link 251 is located between the two femoral simulated flexible beams 2001, and the peripheral flexible link 252 is located outside the two femoral simulated flexible beams 2001 and the tibial simulated flexible beam 2002. The driving portion 221 is located on the symmetry axis of the central flexible link 251. The symmetry axis of the central flexible link 251 is also provided with a placement notch 253 for coaxial placement of the piezoelectric driver 1.

[0085] like Figure 5 As shown, the fixing portion 21 includes a central axis fixing portion, a leg fixing portion 212, and an Achilles tendon fixing portion 213, which are separately arranged. The central axis fixing portion includes a first central axis fixing portion 2110 and a second central axis fixing portion 2111, which are provided at both ends of the central axis flexible link 251 and are interconnected by a flexible hinge 210; the preload mechanism 4 is connected to the first central axis fixing portion 2110, and the second central axis fixing portion 2111 is symmetrically connected to both sides of the symmetry axis of the central axis flexible link 251;

[0086] like Figure 5 As shown, the leg fixing portion 212 is located between the simulated femoral flexible beam 2001 and the peripheral flexible link 252, and the simulated hip joint flexible hinge 2005 is respectively connected to the simulated femoral flexible beam 2001 and the peripheral flexible link 252; the Achilles tendon fixing portion 213 is located on the outside of the simulated Achilles tendon flexible beam 2003, and the simulated Achilles tendon flexible hinge 2008 is respectively connected to the simulated Achilles tendon flexible beam 2003 and the Achilles tendon fixing portion 213.

[0087] In this embodiment, the flexible hinge 210 connecting the central axis fixing part and the central axis flexible link 251 is a straight beam type flexible hinge 210, and the simulated hip joint flexible hinge 2005, the simulated ankle joint flexible hinge 2007, the simulated knee joint flexible hinge 2006, and the simulated Achilles tendon flexible hinge 2008 all adopt a straight circular type flexible hinge 210, which can be used to improve the natural frequency of the bionic flexible mechanism 2.

[0088] like Figure 2 and Figure 5 As shown, a piezoelectric protection bracket 15 connected to the fixing portion 21 is also provided above the mounting slot 253. The piezoelectric protection bracket 15 is located between the machine vision shooting component 5 and the flexible connecting rod 25. The piezoelectric protection bracket 15 limits the piezoelectric driver 1 in the mounting slot 253 and also protects it from damage.

[0089] like Figure 2 and Figure 4As shown, the pre-tightening mechanism 4 includes a pre-tightening block 41, a pre-tightening steel ball 42, and a pre-tightening screw 43, which are coaxially and sequentially abutted against each other. The pre-tightening screw 43 is threadedly connected to the first central axis fixing portion 2110, and the pre-tightening block 41 abuts against the pre-tightening end 11 of the piezoelectric driver 1 located in the mounting slot 253. The relative movement of the pre-tightening screw 43 within the threaded hole of the first central axis fixing portion 2110 can apply varying degrees of pressure to the pre-tightening end 11 of the piezoelectric driver 1, thereby applying an initial pre-tightening force to the piezoelectric driver 1, and the initial pre-tightening force is controllable. At the same time, the provision of the pre-tightening screw 43 can achieve the pre-tightening purpose while avoiding the generation of lateral forces that could endanger the safety of the piezoelectric driver 1.

[0090] Example 2

[0091] The structure of this embodiment is similar to that of embodiment 1, except that:

[0092] like Figure 3 and Figure 5 As shown, a damping member 2009 is further provided at the bottom of the sole of the foot of the simulated sole flexible beam 2004 .

[0093] In this embodiment, the damping element 2009 is a piezoelectric plate. Because the piezoelectric driver 1 drives the biomimetic compliant mechanism 2 to undergo high-frequency displacement changes, adding a piezoelectric plate or damping material to the sole of the foot-like flexible beam 2004 can reduce vibration during the high-frequency displacement transmission process and improve the kinematic performance of the biomimetic compliant mechanism 2.

[0094] The other structures and principles of this embodiment are the same as those of embodiment 1.

[0095] Example 3

[0096] The structure of this embodiment is similar to that of embodiment 1, except that:

[0097] like Figure 7 As shown, in this embodiment, the Achilles tendon-like flexible beam 2003 is placed at the rear, and the relative position of the Achilles tendon-like flexible hinge 2008 is moved upward as a whole. The connection relationship between the first kangaroo-like lower limb flexible mechanism 23 and the second kangaroo-like lower limb flexible mechanism 24 does not change. Only the placement direction of the Achilles tendon-like flexible beam 2003 is changed. Its motion transmission principle and transmission efficiency are the same as those in Example 1. The rear-placed placement method is used as a backup design scheme for the front-placed placement method in Example 1. Different placement methods can be selectively used in different installation spaces.

[0098] The other structures and principles of this embodiment are the same as those of embodiment 1.

[0099] Example 4

[0100] like Figure 8As shown, a flying photography system includes a motion detection platform 600, a photography motion guide rail 500 mounted above the motion detection platform 600, a machine vision photography device based on a bionic compliant mechanism as described in Example 1 above, mounted on the photography motion guide rail 500, the machine vision photography device based on a bionic compliant mechanism being fixed to the photography motion guide rail 500 via a mounting plate 3, and a driving device 501 connected to and used for driving the machine vision photography device to reciprocate on the photography motion guide rail 500, and a controller connected to and controlling the driving device 501; the direction in which the bionic compliant mechanism 2 in the machine vision photography device based on the bionic compliant mechanism is displaced is perpendicular to the motion detection platform 600;

[0101] like Figure 8 As shown, the motion detection platform 600 includes an alignment platform 601 for placing the workpiece to be tested, a Z-axis motion component 602 connected to the alignment platform 601 and driving the alignment platform 601 to achieve Z-axis height adjustment, and an X-axis motion component 603 connected to the alignment platform 601 and driving the alignment platform 601 to achieve X-axis position adjustment. The guide axis space of the shooting motion guide rail 500 is perpendicular to the motion axis of the X-axis motion component 603, and the controller connects and controls the Z-axis motion component 602 and the X-axis motion component 603.

[0102] In this embodiment, both the Z-axis motion assembly 602 and the X-axis motion assembly 603 include guide rails and drive motors to achieve position guidance and position adjustment.

[0103] In this embodiment, the motion detection platform 600 further includes a mounting base 604 for placement and fixation.

[0104] This embodiment is applied to the flying shooting inspection of printed circuit boards. Several printed circuit boards are placed on the alignment platform 601. The alignment platform 601 is controlled to move to the specified position by the Z-axis motion component 602 and the X-axis motion component 603. The controller controls the driving device 501 to drive the machine vision shooting device based on the bionic flexible mechanism to move on the shooting motion guide rail 500. Since different printed circuit boards may have slight warping or plane thickness differences, there will be defocus problems when shooting at the same depth of field. The photos taken by the industrial camera will be out of focus and blurred. In this embodiment, the controller controls the piezoelectric driver 1 to drive the bionic flexible mechanism. Mechanism 2 performs displacement amplification and transmission, driving the machine vision shooting component 5 to perform reciprocating micro-displacement in the shooting focus direction, which can meet the defocus compensation of different printed circuit boards. The displacement adjustment based on the bionic flexible mechanism 2 can achieve μm-level accuracy, which is an accuracy that cannot be achieved by the traditional purely rigid mechanism flight shooting system. At the same time, the focusing efficiency of this embodiment is high, and it can realize the function of rapid focusing at the moment of flight motion shooting, and has a large stroke, fast and high-precision focusing characteristics, which compensates for the motion blur caused by the flight movement of the industrial camera, and improves the target recognition efficiency while taking into account the improvement of recognition accuracy.

[0105] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A visual shooting device based on a bionic compliant mechanism, characterized in that: include: A piezoelectric driver (1) comprising a preload end (11) and an output end (12); A bionic compliant mechanism (2), the bionic compliant mechanism (2) comprising a fixed portion (21) and a bionic compliant amplifying portion (22) hinged to each other, the bionic compliant amplifying portion (22) being provided with a driving portion (221) and a displacement output portion (222), respectively, the driving portion (221) being connected to the output end (12) of the piezoelectric driver (1); A mounting plate (3), the bionic compliance mechanism (2) being fixed to the mounting plate (3) via the fixing portion (21), and the bionic compliance amplifying portion (22) being capable of deforming and transmitting displacement on the mounting plate (3); a pre-tightening mechanism (4), one end of the pre-tightening mechanism (4) abutting against the pre-tightening end (11), and the other end of the pre-tightening mechanism (4) being connected to the fixing portion (21) and being capable of adjusting the abutting force applied to the pre-tightening end (11); A machine vision shooting component (5), the machine vision shooting component (5) comprising an industrial camera (51) and a lens (52) mounted on the industrial camera (51), one end of the industrial camera (51) being connected to the fixing portion (21) via a supporting mechanism (6), and the other end of the industrial camera (51) being in contact with the displacement output portion (222) via a transmission member (7) and being driven by the displacement output portion (222) to generate micro-displacement; A controller, the controller being connected to the piezoelectric driver (1) and the industrial camera (51) respectively; The bionic compliant amplifying portion (22) comprises a first kangaroo-like lower limb flexible mechanism (23) and a second kangaroo-like lower limb flexible mechanism (24) having the same structure and being symmetrically arranged, wherein the first kangaroo-like lower limb flexible mechanism (23) and the second kangaroo-like lower limb flexible mechanism (24) have two ends at a thigh end and a sole end, respectively; The thigh ends of the first kangaroo-like lower limb flexible mechanism (23) and the second kangaroo-like lower limb flexible mechanism (24) are symmetrically connected via a flexible connecting rod (25), and the driving part (221) is located on the symmetry axis of the flexible connecting rod (25); The sole ends of the first kangaroo-like lower limb flexible mechanism (23) and the second kangaroo-like lower limb flexible mechanism (24) are connected to each other via a connector (26); the displacement output portion (222) is located on the symmetry axis of the connector (26); the transmission member (7) and the connector (26) abut against each other in the direction of displacement, and the transmission member (7) and the connector (26) move relative to each other in a direction perpendicular to the displacement plane.

2. The visual shooting device based on the bionic compliant mechanism according to claim 1, characterized in that: It also includes a light source (8), which is connected to the mounting plate (3) via an adapter (80), and the illumination light path of the light source (8) covers the shooting range of the industrial camera (51).

3. The visual shooting device based on the bionic compliant mechanism according to claim 1, characterized in that: One end of the support mechanism (6) is symmetrically connected to both sides of the industrial camera (51), and the other end of the support mechanism (6) is supported and connected to the fixed part (21) and is used to bear the entire weight of the machine vision shooting component (5); the transmission member (7) includes a positioning ring (71) sleeved on the outer periphery of the industrial camera (51), and an abutment block (72) connected to the positioning ring (71), the abutment block (72) is movably inserted on the connecting head (26) in a direction perpendicular to the displacement plane, and a corresponding air-avoiding hole is opened on the connecting head (26), and the abutment block (72) abuts against the connecting head (26) in the direction of displacement.

4. The visual shooting device based on the bionic compliant mechanism according to claim 1, characterized in that: The first kangaroo-like lower limb flexible mechanism (23) and the second kangaroo-like lower limb flexible mechanism (24) both comprise a femur-like flexible beam (2001), a tibia-like flexible beam (2002), an Achilles tendon-like flexible beam (2003), and a sole-like flexible beam (2004) sequentially connected from the thigh end to the sole end; The femoral simulated flexible beam (2001) is respectively connected to the flexible link (25) and the fixed portion (21) via a hip-simulated flexible hinge (2005); the tibial simulated flexible beam (2002) and the femoral simulated flexible beam (2001) are mutually connected via a knee-simulated flexible hinge (2006); the sole-of-the-foot simulated flexible beam (2004) is respectively connected to the tibial simulated flexible beam (2002) and the Achilles tendon simulated flexible beam (2003) via an ankle-simulated flexible hinge (2007); and the Achilles tendon simulated flexible beam (2003) is respectively connected to the flexible link (25) and the fixed portion (21) via an Achilles tendon simulated flexible hinge (2008).

5. The visual shooting device based on the bionic compliant mechanism according to claim 4, characterized in that: The flexible link (25) comprises a central axis flexible link (251) and a peripheral flexible link (252) that are integrally formed and symmetrically arranged, the central axis flexible link (251) being located between the two femoral simulated flexible beams (2001), the peripheral flexible link (252) being located outside the two femoral simulated flexible beams (2001) and the tibial simulated flexible beam (2002), the driving portion (221) being located on the symmetry axis of the central axis flexible link (251), and a placement notch (253) for coaxial placement of the piezoelectric driver (1) being provided on the symmetry axis of the central axis flexible link (251); The fixing portion (21) includes a central axis fixing portion, a leg fixing portion (212), and an Achilles tendon fixing portion (213) which are separately arranged. The central axis fixing portion includes a first central axis fixing portion (2110) and a second central axis fixing portion (2111) which are arranged at both ends of the central axis flexible link (251) and are connected to each other via a flexible hinge (210); the pre-tightening mechanism (4) is connected to the first central axis fixing portion (2110), and the second central axis fixing portion (2111) is symmetrically connected to both sides of the symmetry axis of the central axis flexible link (251); The leg fixing portion (212) is located between the simulated femoral flexible beam (2001) and the peripheral flexible link (252), and the simulated hip joint flexible hinge (2005) is respectively connected to the simulated femoral flexible beam (2001) and the peripheral flexible link (252); the Achilles tendon fixing portion (213) is located outside the simulated Achilles tendon flexible beam (2003), and the simulated Achilles tendon flexible hinge (2008) is respectively connected to the simulated Achilles tendon flexible beam (2003) and the Achilles tendon fixing portion (213).

6. The visual shooting device based on the bionic compliant mechanism according to claim 5, characterized in that: The pre-tightening mechanism (4) comprises a pre-tightening block (41), a pre-tightening steel ball (42) and a pre-tightening screw (43) which are coaxially abutted against each other in sequence, the pre-tightening screw (43) being threadedly connected to the first central axis fixing portion (2110), and the pre-tightening block (41) abutting against the pre-tightening end (11) of the piezoelectric driver (1) located in the placement slot (253).

7. The visual shooting device based on the bionic compliant mechanism according to claim 4, characterized in that: The sole-simulating flexible beam (2004) is further provided with a damping member (2009) at the sole bottom.

8. A flying photography system, characterized in that: The invention comprises a motion detection platform (600), a shooting motion guide rail (500) mounted above the motion detection platform (600), a visual shooting device based on a bionic compliant mechanism as described in any one of claims 1 to 7 and arranged on the shooting motion guide rail (500), and a driving device (501) connected to and used for driving the visual shooting device to reciprocate on the shooting motion guide rail (500), wherein the controller is connected to and controls the driving device (501); and the direction in which the bionic compliant mechanism (2) is displaced is perpendicular to the motion detection platform (600).

9. The flying photography system according to claim 8, characterized in that: The motion detection platform (600) includes an alignment platform (601) for placing a workpiece to be tested, a Z-axis motion component (602) connected to the alignment platform (601) and driving the alignment platform (601) to achieve Z-axis height adjustment, and an X-axis motion component (603) connected to the alignment platform (601) and driving the alignment platform (601) to achieve X-axis position adjustment. The guide axis of the shooting motion guide rail (500) is spatially perpendicular to the motion axis of the X-axis motion component (603), and the controller is connected to and controls the Z-axis motion component (602) and the X-axis motion component (603).

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