Bionic flexible flight dispensing system and flight dispensing method thereof

Abstract

The invention relates to the technical field of chip packaging, in particular to a bionic compliant flight dispensing system and a flight dispensing method thereof.The system comprises a bionic compliant flight dispensing device, a visual guidance alignment device, an objective table, an X-direction moving device, a Y-direction moving device, a Z-direction moving device and a positioner; the bionic compliant flight dispensing device and the visual guidance alignment device are connected with the X-direction moving device through the Z-direction moving device, the objective table is connected with the Y-direction moving device through the positioner, and the objective table is located below the bionic compliant flight dispensing device. The method comprises the steps that the control device controls the bionic compliant mechanism to output Z-direction displacement to the dispensing output end of the dispensing mechanism according to dispensing track information, dispensing speed information, dispensing amount information and dispensing demand information, and controls the X-direction moving device and the Y-direction moving device to move cooperatively to achieve flying dispensing. On the premise of ensuring the dispensing precision, the dispensing consistency, the dispensing uniformity, the dispensing yield and the dispensing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of chip packaging, and more specifically, to a bionic compliant flying glue dispensing system and a flying glue dispensing method thereof. Background Art

[0002] Mini LED technology has been widely used in the fields of displays, backlight sources, etc. In the Mini LED packaging process, dispensing is a key step, and the dispensing valve is the core component. Most traditional dispensing valves use piezoelectric ceramics to drive pistons to control the amount of glue. However, the mechanical vibration caused by using piezoelectric ceramics to directly drive dispensing leads to the degradation of the accuracy of the dispensing operation, which cannot meet the packaging requirements of Mini LED. At present, there is a piezoelectric dispensing valve that realizes the extension and retraction of the dispensing needle by setting a reset spring to improve the dispensing accuracy. However, the setting of self-reset of the reset spring makes it difficult to ensure the reset speed of the dispensing needle, and it is not easy to control, which is not conducive to the improvement of the up and down movement frequency of the dispensing needle, making it impossible to guarantee the dispensing accuracy, consistency and uniformity. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art that the dispensing accuracy and consistency cannot be guaranteed, and to provide a bionic flexible flying dispensing system and a flying dispensing method thereof, which can improve the dispensing consistency, dispensing uniformity, dispensing yield and dispensing efficiency while ensuring the dispensing accuracy.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] Provided is a bionic compliant flight dispensing system, comprising a bionic compliant flight dispensing device, a visually guided alignment device, a stage, an X-axis moving device, a Y-axis moving device, a Z-axis moving device, and a positioner, wherein the bionic compliant flight dispensing device and the visually guided alignment device are both connected to the moving end of the X-axis moving device via the Z-axis moving device, the stage is connected to the moving end of the Y-axis moving device via the positioner, and the stage is located below the bionic compliant flight dispensing device; wherein the bionic compliant flight dispensing device comprises a bionic compliant mechanism and a dispensing mechanism, and the output end of the bionic compliant mechanism is connected to the dispensing output end of the dispensing mechanism; and further comprising a control device, wherein the bionic compliant mechanism, the visually guided alignment device, the X-axis moving device, the Y-axis moving device, the Z-axis moving device, and the positioner are all communicatively connected to the control device.

[0006] In the bionic compliant flying glue dispensing system of the present invention, the setting of the Y-direction moving device can be used to control the movement of the stage in the Y direction, the setting of the X-direction moving device and the Z-direction moving device can be used for the movement of the bionic compliant flying glue dispensing device and the visual guidance alignment device in the X direction and the Z direction, and the setting of the positioner can facilitate the adjustment of the deflection angle of the stage; wherein the setting of the visual guidance alignment device can be used for the visual calibration between the bionic compliant flying glue dispensing device and the stage, so that the bionic compliant flying glue dispensing device can be accurately located just above the area to be glued on the stage, thereby improving the glue dispensing accuracy; the setting in which the output end of the bionic compliant mechanism is connected to the glue dispensing output end of the glue dispensing mechanism can improve the glue dispensing consistency, glue dispensing uniformity, glue dispensing yield and glue dispensing efficiency under the premise of ensuring the glue dispensing accuracy.

[0007] Preferably, the bionic compliant mechanism is a symmetrical structure; the bionic compliant mechanism includes a piezoelectric actuator, a displacement input part, a bridge amplifier mechanism, a fixed part, and a shell, the shell is connected to the moving end of the Z-axis moving device, the fixed part is connected to the shell, the piezoelectric actuator is connected to the fixed part, and the output end of the piezoelectric actuator is connected to the displacement input part; it also includes a flexible transmission mechanism symmetrically arranged on both sides of the piezoelectric actuator, and two lever amplifier mechanisms symmetrically arranged on both sides of the piezoelectric actuator, the flexible transmission mechanism is located between the piezoelectric actuator and the lever amplifier mechanism, and the flexible transmission mechanism is connected to the lever amplifier mechanism on the same side thereof; the two sides of the displacement input part are respectively connected to the fixed part through the flexible transmission mechanism, and the two sides of the bridge amplifier mechanism are flexibly connected to the fixed part through the lever amplifier mechanism; the output end of the bridge amplifier mechanism is connected to the dispensing output end of the dispensing mechanism.

[0008] Preferably, the flexible transmission mechanism includes a first transmission part, a second transmission part, and a double-arc flexible hinge group, the displacement input part is connected to the first transmission part through the double-arc flexible hinge group, and the second transmission part is also connected to the first transmission part through the double-arc flexible hinge group; the first transmission part is also connected to the lever amplification mechanism through a first elliptical flexible hinge, and the second transmission part is connected to the fixed part through a second elliptical flexible hinge.

[0009] Preferably, the double arc flexible hinge group includes two circular arc flexible hinges arranged in parallel, and the circular arc flexible hinge includes a first arc hinge and a second arc hinge. The arc concave surface of the first arc hinge is arranged opposite to the arc concave surface of the second arc hinge, the first end of the first arc hinge is connected to the arc concave surface of the second arc hinge, and the first end of the second arc hinge is connected to the arc concave surface of the first arc hinge; the second end of the first arc hinge and the second end of the second arc hinge are both used to connect to other structures.

[0010] Preferably, the dispensing mechanism includes a hot glue bucket and a glue delivery hose, the dispensing output end of the dispensing mechanism includes a dispensing head and a piston slidably connected to the dispensing head, the hot glue bucket is connected to the dispensing head through the glue delivery hose, the dispensing head is plugged into the shell, the output end of the bridge amplifier mechanism is connected to the piston, and the hot glue bucket is connected to the shell.

[0011] Preferably, the visually guided alignment device includes a shooting component, a light source component, and a rangefinder, the light source component is located below the shooting component, and the rangefinder is connected to the side of the light source component; the shooting component is connected to the moving end of the Z-direction moving device through a first adjustment seat, and the light source assembly is connected to the moving end of the Z-direction moving device through a second adjustment seat.

[0012] Preferably, the light source assembly includes a coaxial light source and an annular light source located below the coaxial light source; the second adjustment seat includes a first adjustment plate and a second adjustment plate slidably connected to the first adjustment plate; the coaxial light source and the annular light source are both connected to the first adjustment plate, and the second adjustment plate is connected to the moving end of the Z-direction moving device; wherein, the first adjustment plate is provided with a plurality of first waist-shaped holes extending along the Z direction, and the second adjustment plate is provided with a plurality of second waist-shaped holes extending along the Z direction or the X direction, the first adjustment plate is connected to the second adjustment plate through the first waist-shaped holes, and the second adjustment plate is connected to the moving end of the Z-direction moving device through the second waist-shaped holes.

[0013] Preferably, the bionic compliant flying dispensing system also includes an adjustable base, and the fixed end of the Y-axis moving device is connected to the adjustable base; the X-axis moving device includes a gantry and an X-axis guide rail slider mechanism installed on the gantry, the fixed end of the Z-axis moving device is connected to the X-axis guide rail slider mechanism, and the gantry is connected to the adjustable base.

[0014] The present invention also provides a flying glue dispensing method of a bionic compliant flying glue dispensing system, comprising the following steps:

[0015] S1. Divide a plurality of dispensing areas on the workpiece to be processed, and fix the workpiece to be processed on the stage;

[0016] S2. The visual guidance alignment device obtains the three-dimensional distance value between the dispensing output end of the dispensing mechanism and the current dispensing area, and transmits it to the control device. The control device drives the X-direction moving device, the Y-direction moving device, and the Z-direction moving device to move in coordination according to the three-dimensional distance value, so that the dispensing output end of the dispensing mechanism moves to the top of the current dispensing area;

[0017] S3. The visual guidance alignment device obtains the image of the workpiece to be processed, and transmits the image of the workpiece to be processed to the control device for preprocessing. The control device performs image matching through the workpiece information library, and extracts the dispensing trajectory information, dispensing speed information, dispensing amount information, and dispensing requirement information corresponding to the image of the workpiece to be processed from the workpiece information library;

[0018] S4. The control device controls the bionic compliance mechanism to output a Z-direction displacement to the dispensing output end of the dispensing mechanism according to the information of step S3, and controls the X-direction moving device and the Y-direction moving device to move in coordination to achieve flying dispensing;

[0019] S5. After the glue dispensing operation of the current area to be glued is completed, if the glue dispensing operation of all areas to be glued is completed, the glue dispensing is ended, otherwise, return to step S3.

[0020] Preferably, in step S2, a mapping is established from the three-dimensional distance value data fed back in real time by the visual guidance alignment device to the displacement change of the plane of the current glue-dispensing area in the X direction, Y direction, and Z direction and the deflection angle between the surface of the workpiece to be processed and the horizontal plane, and the displacement tolerance range and the deflection angle tolerance range are given to complete the alignment between the glue-dispensing output end of the glue-dispensing mechanism and the current glue-dispensing area; in step S3, the magnification of the bionic compliant mechanism

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The setting of the visual guidance alignment device can be used for visual calibration between the bionic flexible flight dispensing device and the stage, so that the bionic flexible flight dispensing device can be accurately located just above the dispensing area on the stage, thereby improving the dispensing accuracy; the setting of connecting the output end of the bionic flexible mechanism with the dispensing output end of the dispensing mechanism can improve the dispensing consistency, dispensing uniformity, dispensing yield and dispensing efficiency while ensuring the dispensing accuracy;

[0023] 2. The setting of the double-arc flexible hinge group of the flexible transmission mechanism in the bionic flexible mechanism can reduce stress concentration and improve the stiffness performance of the bionic flexible mechanism;

[0024] 3. The setting of the first adjustment seat and the second adjustment seat can improve the adjustability of the vision-guided alignment device, so that the vision-guided alignment device can be applied to dispensing processing in more working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the bionic compliant flying dispensing system of the present invention;

[0026] Figure 2It is a structural schematic diagram of the bionic compliant flying dispensing device of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the bionic compliant flight dispensing device and the visual guidance alignment device of the present invention;

[0028] Figure 4 It is a schematic diagram of the partial structure of the bionic compliant flying dispensing system of the present invention;

[0029] Figure 5 The present invention is a flow chart of the on-the-fly dispensing method of the bionic compliant on-the-fly dispensing system.

[0030] In the attached drawings: 100, bionic compliant mechanism; 110, piezoelectric actuator; 120, displacement input unit; 130, flexible transmission mechanism; 131, first transmission unit; 132, second transmission unit; 133, double arc flexible hinge group; 1331, first arc hinge; 1332, second arc hinge; 134, first elliptical flexible hinge; 135, second elliptical flexible hinge; 140, lever magnification mechanism; 150, bridge magnification mechanism; 160, fixing unit; 170, housing; 200, glue dispensing mechanism; 210, hot glue barrel; 220, glue delivery hose; 230, glue dispensing head; 240, piston; 300, visual guidance alignment device; 310, shooting assembly; 320, light source assembly; 321, coaxial light source; 322, 2. Ring light source; 323. Clamp; 324. Mounting plate; 330. Rangefinder; 340. First adjustment seat; 341. Third waist-shaped hole; 350. First adjustment plate; 351. First waist-shaped hole; 360. Second adjustment plate; 361. Second waist-shaped hole; 400. Stage; 500. X-axis moving device; 510. Gantry; 520. X-axis guide slider mechanism; 530. X-axis grating ruler; 600. Y-axis moving device; 700. Z-axis moving device; 710. Back plate; 720. Z-axis guide slider mechanism; 800. Positioner; 810. Z-axis rotation mechanism; 820. X-axis rotation mechanism; 830. Mounting frame; 900. Adjustable base; 910. Base; 920. Third adjustment seat. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0032] 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 the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] Embodiment 1

[0034] like Figures 1 to 4 The first embodiment of the bionic compliant flying glue dispensing system of the present invention is shown, which includes a bionic compliant flying glue dispensing device, a visually guided alignment device 300, a stage 400, an X-direction moving device 500, a Y-direction moving device 600, a Z-direction moving device 700, and a positioner 800. The bionic compliant flying glue dispensing device and the visually guided alignment device 300 are connected to the moving end of the X-direction moving device 500 through the Z-direction moving device 700, and the stage 400 is connected to the moving end of the Y-direction moving device 600 through the positioner 800. The bionic compliant flying dispensing device is connected with the moving end, and the loading platform 400 is located below the bionic compliant flying dispensing device; wherein, the bionic compliant flying dispensing device includes a bionic compliant mechanism 100 and a dispensing mechanism 200, and the output end of the bionic compliant mechanism 100 is connected with the dispensing output end of the dispensing mechanism 200; it also includes a control device, and the bionic compliant mechanism 100, the visual guided alignment device 300, the X-axis moving device 500, the Y-axis moving device 600, the Z-axis moving device 700, and the positioner 800 are all communicatively connected to the control device.

[0035] The setting of the Y-direction moving device 600 can be used to control the movement of the stage 400 in the Y direction, the setting of the X-direction moving device 500 and the Z-direction moving device 700 can be used for the movement of the bionic compliant flight dispensing device and the visual guidance alignment device 300 in the X direction and the Z direction, and the setting of the positioner 800 can facilitate the adjustment of the deflection angle of the stage 400; wherein, the setting of the visual guidance alignment device 300 can be used for the visual calibration between the bionic compliant flight dispensing device and the stage 400, so that the bionic compliant flight dispensing device can be accurately located directly above the dispensing area on the stage 400, thereby improving the dispensing accuracy; the setting of the output end of the bionic compliant mechanism 100 being connected to the dispensing output end of the dispensing mechanism 200 can improve the dispensing consistency, dispensing uniformity, dispensing yield and dispensing efficiency under the premise of ensuring the dispensing accuracy. In this embodiment, the control device can be a motion control card.

[0036] like Figures 1 to 3As shown, the bionic compliance mechanism 100 is a symmetrical structure; the bionic compliance mechanism 100 includes a shell 170 and a piezoelectric actuator 110, a displacement input part 120, a bridge amplifier mechanism 150, and a fixing part 160 located in the shell 170. The shell 170 is connected to the moving end of the Z-direction moving device 700, the fixing part 160 is connected to the shell 170 by bolts, the piezoelectric actuator 110 is connected to the fixing part 160, the piezoelectric actuator 110 is located directly above the displacement input part 120, and the output end of the piezoelectric actuator 110 is connected to the displacement input part 120; in this embodiment, the piezoelectric actuator 110 uses piezoelectric ceramics as a driving source, and the piezoelectric actuator 110 is electrically connected to the motion control card. The bionic compliance mechanism 100 further includes a flexible transmission mechanism 130 symmetrically arranged on both sides of the piezoelectric actuator 110, and two lever amplification mechanisms 140 symmetrically arranged on both sides of the piezoelectric actuator 110. The flexible transmission mechanism 130 is located between the piezoelectric actuator 110 and the lever amplification mechanism 140, and the flexible transmission mechanism 130 is connected to the lever amplification mechanism 140 on the same side thereof; both sides of the displacement input part 120 are respectively connected to the fixed part 160 through the flexible transmission mechanism 130; the bridge amplification mechanism 150 is located directly below the displacement input part 120, and both sides of the bridge amplification mechanism 150 are flexibly connected to the fixed part 160 through the lever amplification mechanism 140; the output end of the bridge amplification mechanism 150 is connected to the dispensing output end of the dispensing mechanism 200. Specifically, the first end of the lever amplification mechanism 140 is connected to the bridge amplification mechanism 150 through the third elliptical flexible hinge, and the second end of the lever amplification mechanism 140 is connected to the fixed part 160 through the fourth elliptical flexible hinge.

[0037] like Figure 2 As shown, the flexible transmission mechanism 130 includes a first transmission part 131, a second transmission part 132, and a double-arc flexible hinge group 133, wherein the first transmission part 131 is an L-shaped transmission part, the displacement input part 120 is connected to the first side of the L-shaped transmission part through the double-arc flexible hinge group 133, and the second transmission part 132 is also connected to the first side of the L-shaped transmission part through the double-arc flexible hinge group 133; the second side of the L-shaped transmission part is connected to the lever amplification mechanism 140 through the first elliptical flexible hinge 134, and the second transmission part 132 is also connected to the fixed part 160 through the second elliptical flexible hinge 135. The double-arc flexible hinge group 133 has a small stress when vertically compressed, is evenly distributed, and has good stiffness performance. The setting of the double-arc flexible hinge group 133 can reduce stress concentration and improve the stiffness performance of the bionic compliant mechanism 100.

[0038] Specifically, the double arc flexible hinge group 133 includes two circular arc flexible hinges arranged in parallel, and the circular arc flexible hinge includes a first arc hinge 1331 and a second arc hinge 1332. The arc concave surface of the first arc hinge 1331 is arranged opposite to the arc concave surface of the second arc hinge 1332. The first end of the first arc hinge 1331 is connected to the arc concave surface of the second arc hinge 1332, and the first end of the second arc hinge 1332 is connected to the arc concave surface of the first arc hinge 1331; the second end of the first arc hinge 1331 and the second end of the second arc hinge 1332 are both used to connect to other structures. In this embodiment, the double-arc flexible hinge group 133 is located between the first transmission part 131 and the displacement input part 120, the second end of the first arc hinge 1331 is connected to the first transmission part 131, and the second end of the second arc hinge 1332 is connected to the displacement input part 120; the double-arc flexible hinge group 133 is located between the second transmission part 132 and the first transmission part 131, the second end of the first arc hinge 1331 is connected to the second transmission part 132, and the second end of the second arc hinge 1332 is connected to the first transmission part 131.

[0039] like Figure 2 and Figure 3 As shown, the glue dispensing mechanism 200 includes a hot glue barrel 210 and a glue delivery pipe 220. The glue dispensing output end of the glue dispensing mechanism 200 includes a glue dispensing head 230 and a piston 240 slidably connected to the glue dispensing head 230. Specifically, the piston 240 can slide in the glue dispensing head 230 along the Z direction, and the piston 240 is adapted to the glue dispensing head 230. The hot glue barrel 210 is connected to the glue dispensing head 230 through the glue delivery pipe 220. The glue dispensing head 230 is plugged into the lower part of the housing 170. The output end of the bridge amplifier mechanism 150 is connected to the piston 240, and the hot glue barrel 210 is connected to the housing 170. When the motion control card sends a voltage signal to control the output of the piezoelectric actuator 110, the piezoelectric actuator 110 drives the displacement input part 120, and controls the Z-direction movement of the piston 240 through the flexible transmission mechanism 130, the lever amplifier mechanism 140, and the bridge amplifier mechanism 150 in turn, thereby being able to control the glue dispensing amount.

[0040] like Figure 3As shown, the visual guidance alignment device 300 includes a shooting component 310, a light source component 320, and a rangefinder 330 electrically connected to the motion control card. The light source component 320 is located below the shooting component 310, and the rangefinder 330 is connected to the side of the light source component 320; the shooting component 310 is connected to the moving end of the Z-direction moving device 700 through the first adjustment seat 340, and the light source component 320 is connected to the moving end of the Z-direction moving device 700 through the second adjustment seat. In this embodiment, the shooting component 310 includes a camera and a lens, and the first adjustment seat 340 is provided with a third waist-shaped hole 341 extending along the Z direction, and the camera is connected to the first adjustment seat 340 through the third waist-shaped hole 341. The provision of the first adjustment seat 340 can facilitate the fine adjustment of the distance between the light source component 320 and the shooting component 310 in the Z direction.

[0041] The light source assembly 320 includes a coaxial light source 321 and an annular light source 322 located below the coaxial light source 321; the coaxial light source 321 is connected to the second adjustment seat through a fixture 323, the annular light source 322 is connected to the second adjustment seat through a mounting plate 324, the rangefinder 330 is connected to the side of the mounting plate 324, and the rangefinder 330 is located between the annular light source 322 and the bionic compliance mechanism 100. The arrangement of the coaxial light source 321 and the annular light source 322 can enhance the brightness of the light and improve the accuracy of glue dispensing. In this embodiment, the second adjustment seat includes a first adjustment plate 350 and a second adjustment plate 360 ​​slidably connected to the first adjustment plate 350; the coaxial light source 321 is connected to the first adjustment plate 350 through a fixture 323, the annular light source 322 is connected to the first adjustment plate 350 through a mounting plate 324, and the second adjustment plate 360 ​​is connected to the moving end of the Z-direction moving device 700.

[0042] Specifically, a plurality of first waist-shaped holes 351 are provided on the first adjustment plate 350 extending along the Z direction, and a plurality of second waist-shaped holes 361 are provided on the second adjustment plate 360 ​​extending along the Z direction or the X direction. The first adjustment plate 350 is connected to the second adjustment plate 360 ​​through the first waist-shaped holes 351, and the second adjustment plate 360 ​​is connected to the moving end of the Z-direction moving device 700 through the second waist-shaped holes 361. In this embodiment, the second waist-shaped holes 361 are provided along the Z direction, and the provision of the first adjustment plate 350 and the second adjustment plate 360 ​​can facilitate the fine adjustment of the distance between the light source assembly 320 and the shooting assembly 310 in the Z direction.

[0043] like Figure 1 , Figure 3 and Figure 4As shown, the Z-direction moving device 700 includes a back plate 710 and a Z-direction guide slider mechanism 720, the visual guidance alignment device 300 is connected to the slider end of the Z-direction guide slider mechanism 720 through the back plate 710, and the bionic compliance mechanism 100 is connected to the slider end of the Z-direction guide slider mechanism 720 through the back plate 710. Specifically, the first adjustment seat 340 is connected to the back plate 710, the second adjustment plate 360 ​​is connected to the back plate 710 through the second waist-shaped hole 361, and the housing 170 is connected to the back plate 710. In this embodiment, the Z-direction moving device 700 also includes a Z-direction grating ruler, and the Z-direction grating ruler and the Z-direction guide slider mechanism 720 are both electrically connected to the motion control card, and the setting of the Z-direction grating ruler can be used to measure the displacement of the back plate 710.

[0044] The present invention can perform fast and high-precision dispensing, can reduce the error caused by the off-surface displacement caused by the mechanical vibration caused by the direct drive dispensing of piezoelectric ceramics, and can also solve the problem that it is difficult to ensure the resetting speed and glue spraying frequency due to the self-resetting of the resetting spring. The present invention can improve the resetting speed and accuracy of the dispensing head 230, and improve the consistency, uniformity, accuracy and yield rate, efficiency and production capacity of dispensing.

[0045] Embodiment 2

[0046] This embodiment is the second embodiment of the bionic compliant flying dispensing system of the present invention. This embodiment is similar to the first embodiment, except that Figure 4 As shown, the bionic compliant flight dispensing system also includes an adjustable base 900, and the fixed end of the Y-axis moving device 600 is connected to the adjustable base 900. In this embodiment, the positioner 800 includes a Z-axis rotation mechanism 810, an X-axis rotation mechanism 820, and a mounting frame 830. The stage 400 is connected to the rotating end of the Z-axis rotation mechanism 810, and the fixed end of the Z-axis rotation mechanism 810 is connected to the mounting frame 830 through the X-axis rotation mechanism 820. The mounting frame 830 is connected to the moving end of the Y-axis moving device 600.

[0047] Specifically, the Y-axis moving device 600 includes a Y-axis guide slider mechanism and a Y-axis grating ruler installed on an adjustable base 900. The mounting frame 830 is connected to the slider end of the Y-axis guide slider mechanism, and the Y-axis guide slider mechanism and the Y-axis grating ruler are electrically connected to the motion control card. The setting of the Y-axis grating ruler can be used to measure the displacement of the mounting frame 830 and the stage 400.

[0048] Specifically, the X-axis moving device 500 includes a gantry 510, an X-axis guide slider mechanism 520 and an X-axis grating ruler 530 installed on the gantry 510, the guide rail end of the Z-axis guide slider mechanism 720 is connected to the slider end of the X-axis guide slider mechanism 520, and the gantry 510 is connected to the adjustable base 900. The X-axis guide slider mechanism 520 and the X-axis grating ruler 530 are both electrically connected to the motion control card, and the setting of the X-axis grating ruler 530 can be used to measure the displacement of the bionic compliant flight dispensing device and the visual guidance alignment device 300.

[0049] Specifically, the adjustable base 900 includes a base 910 and a plurality of third adjustment seats 920. The third adjustment seats 920 are provided with fourth waist-shaped holes along the Z direction, and the third adjustment seats 920 are connected to the edge of the base 910 through the fourth waist-shaped holes. The third adjustment seats 920 can be used for leveling the base 910. The gantry 510 and the Y-direction guide rail slider mechanism are both connected to the base 910.

[0050] Embodiment 3

[0051] like Figure 5 The embodiment of the flying dispensing method of the bionic compliant flying dispensing system of the present invention is shown, comprising the following steps:

[0052] S1. Divide the workpiece to be processed into a plurality of areas to be glued, and fix the workpiece to be processed on the stage 400.

[0053] S2. The visually guided alignment device 300 obtains the three-dimensional distance values ​​between the dispensing output end of the dispensing mechanism 200 and the current dispensing area in the X direction, the Y direction, and the Z direction, and transmits them to the control device. The control device drives the X-direction moving device 500, the Y-direction moving device 600, and the Z-direction moving device 700 to move in coordination according to the three-dimensional distance values, so that the dispensing output end of the dispensing mechanism 200 moves to the top of the current dispensing area;

[0054] Specifically, step S2 includes the following steps:

[0055] S21. The rangefinder 330 obtains the three-dimensional distance value data between the dispensing head 230 and the current dispensing area in the X direction, Y direction, and Z direction, and transmits it to the motion control card for data processing and analysis, and then controls the X-direction moving device 500, the Y-direction moving device 600, and the Z-direction moving device 700 to move in coordination according to the processing and analysis results, so that the dispensing head 230 approaches the position directly above the current dispensing area;

[0056] S22. During the movement, when the camera assembly 310 is able to capture an image of the workpiece to be processed, the corresponding image is started to be captured; the image is transmitted to the motion control card for image processing, and the deflection angle between the surface of the workpiece to be processed and the horizontal plane is obtained by the second-order moment or the corresponding image processing method;

[0057] S23. Establish a mapping from the real-time feedback of the three-dimensional distance value data to the displacement change data in the X direction, Y direction, and Z direction of the plane where the current dispensing area is located and the deflection angle between the surface of the workpiece to be processed and the horizontal plane, give the displacement tolerance range and the deflection angle tolerance range, and complete the alignment between the dispensing head 230 and the current dispensing area;

[0058] Among them, regarding the defocus data, affected by the displacement Δu caused by the external disturbance of the focal plane, the recognition target will always deviate from the focal plane. The external disturbance will cause the convergence point of the incident light of the light source assembly 320 to shift by Δk, making the image blurred; the relationship between the defocus plane displacement Δu and the virtual displacement Δk of the projection point of the workpiece to be processed on the imaging plane is:

[0059]

[0060] Wherein, k represents the image size of the workpiece to be processed in the imaging plane without defocus plane displacement, and U represents the distance from the workpiece to be processed to the lens.

[0061] S3. The visually guided alignment device 300 obtains the image of the workpiece to be processed, and transmits the image of the workpiece to be processed to the control device for preprocessing. The control device performs image matching through the workpiece information library, and extracts the dispensing trajectory information, dispensing speed information, dispensing amount information, and dispensing requirement information corresponding to the image of the workpiece to be processed from the workpiece information library;

[0062] Specifically, step S3 includes the following steps:

[0063] S31. The photographing component 310 obtains an image of the workpiece to be processed and transmits the image of the workpiece to be processed to the motion control card for preprocessing;

[0064] S32. The motion control card performs image matching through the workpiece information library, and extracts the workpiece name, dispensing trajectory, dispensing speed, dispensing amount, and dispensing demand information corresponding to the image of the workpiece to be processed from the workpiece information library;

[0065] S4. The control device controls the bionic compliance mechanism 100 to output the Z-direction displacement of the dispensing output end of the dispensing mechanism 200 according to the information of step S3, and controls the X-direction moving device 500 and the Y-direction moving device 600 to move in coordination to realize flying dispensing; wherein the workpiece information library includes workpiece images of various workpieces and information corresponding to the workpiece images, workpiece names, dispensing tracks, dispensing speeds, dispensing quantities, and dispensing requirements;

[0066] Specifically, in step S4, the motion control card sends a voltage signal to control the piezoelectric actuator 110 according to the information in step S32, and the bionic compliance mechanism 100 controls the piston 240 to output the Z-direction displacement through the output end of the bridge amplifier mechanism 150; at the same time, the motion control card controls the X-direction moving device 500 and the Y-direction moving device 600 to move in coordination according to the information in step S32 to realize flying dispensing;

[0067] Specifically, the motion control card controls the piezoelectric actuator 110 to output signals with specific requirements, including signals of different amplitudes and different frequencies, wherein the maximum amplitude is ≥1 mm and the maximum frequency is ≥30 Hz, and high-frequency, medium-frequency and low-frequency axial excitations can be generated;

[0068] Specifically, in the bionic compliant mechanism 100, the input displacement of the displacement input unit 120 is 2Δz, and the elongation between the two lever amplification mechanisms 140 is 2Δx, so the amplification factor of the bionic compliant mechanism 100 is It should be noted that the smaller the stiffness of the double-arc flexible hinge group 133, the greater the magnification ratio of the bridge-type magnification mechanism 150 and the lever magnification mechanism 140, the deeper the glue dispensing location, the greater the glue spraying distance, and the greater the glue dispensing amount; the parameters of the double-arc flexible hinge group 133 as well as the relative position and the cross-sectional area of ​​the bridge arm all have an impact on the magnification factor of the bionic compliant mechanism 100. Based on this, the bionic compliant mechanism 100 can be set according to the influence of various parameters to obtain a more accurate magnification factor model that can be suitable for the current usage scenario.

[0069] S5. After the glue dispensing operation of the current area to be glued is completed, if the glue dispensing operation of all areas to be glued is completed, the glue dispensing is ended, otherwise, return to step S3.

[0070] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A bionic compliant flight dispensing system, characterized in that: The invention comprises a bionic flexible flight dispensing device, a visually guided alignment device (300), a loading platform (400), an X-direction moving device (500), a Y-direction moving device (600), a Z-direction moving device (700), and a positioner (800), wherein the bionic flexible flight dispensing device and the visually guided alignment device (300) are connected to a moving end of the X-direction moving device (500) via the Z-direction moving device (700), the loading platform (400) is connected to a moving end of the Y-direction moving device (600) via the positioner (800), and the loading platform (400) is connected to a moving end of the Y-direction moving device (600) via the positioner (800), and the loading platform (400) is connected to a moving end of the Y-direction moving device (600) via the positioner (800). The platform (400) is located below the bionic compliant flying glue dispensing device; wherein the bionic compliant flying glue dispensing device comprises a bionic compliant mechanism (100) and a glue dispensing mechanism (200), wherein the output end of the bionic compliant mechanism (100) is connected to the glue dispensing output end of the glue dispensing mechanism (200); and further comprises a control device, wherein the bionic compliant mechanism (100), the visually guided alignment device (300), the X-direction moving device (500), the Y-direction moving device (600), the Z-direction moving device (700), and the positioner (800) are all communicatively connected to the control device.

2. The bionic compliant flying dispensing system according to claim 1 is characterized in that: The bionic compliance mechanism (100) is a symmetrical structure; the bionic compliance mechanism (100) comprises a piezoelectric actuator (110), a displacement input part (120), a bridge amplifier mechanism (150), a fixing part (160), and a housing (170); the housing (170) is connected to the moving end of the Z-direction moving device (700); the fixing part (160) is connected to the housing (170); the piezoelectric actuator (110) is connected to the fixing part (160); and the output end of the piezoelectric actuator (110) is connected to the displacement input part (120); The invention also comprises a flexible transmission mechanism (130) symmetrically arranged on both sides of the piezoelectric actuator (110) and two lever amplification mechanisms (140) symmetrically arranged on both sides of the piezoelectric actuator (110); the flexible transmission mechanism (130) is located between the piezoelectric actuator (110) and the lever amplification mechanism (140); the flexible transmission mechanism (130) is connected to the lever amplification mechanism (140) on the same side; both sides of the displacement input part (120) are respectively connected to the fixed part (160) through the flexible transmission mechanism (130); both sides of the bridge amplification mechanism (150) are flexibly connected to the fixed part (160) through the lever amplification mechanism (140); and the output end of the bridge amplification mechanism (150) is connected to the dispensing output end of the dispensing mechanism (200).

3. The bionic compliant flying dispensing system according to claim 2, characterized in that: The flexible transmission mechanism (130) comprises a first transmission part (131), a second transmission part (132), and a double-arc flexible hinge group (133); the displacement input part (120) is connected to the first transmission part (131) through the double-arc flexible hinge group (133); the second transmission part (132) is also connected to the first transmission part (131) through the double-arc flexible hinge group (133); the first transmission part (131) is also connected to the lever amplification mechanism (140) through a first elliptical flexible hinge (134); the second transmission part (132) is connected to the fixed part (160) through a second elliptical flexible hinge (135).

4. The bionic compliant flying dispensing system according to claim 3 is characterized in that: The double arc flexible hinge group (133) comprises two circular arc flexible hinges arranged in parallel, the circular arc flexible hinge comprises a first arc hinge (1331) and a second arc hinge (1332), the arc concave surface of the first arc hinge (1331) and the arc concave surface of the second arc hinge (1332) are arranged opposite to each other, the first end of the first arc hinge (1331) is connected to the arc concave surface of the second arc hinge (1332), and the first end of the second arc hinge (1332) is connected to the arc concave surface of the first arc hinge (1331); The second end of the first arc hinge (1331) and the second end of the second arc hinge (1332) are both used to connect to other structures.

5. The bionic compliant flying dispensing system according to claim 2, characterized in that: The glue dispensing mechanism (200) comprises a hot glue barrel (210) and a glue delivery pipe (220); the glue dispensing output end of the glue dispensing mechanism (200) comprises a glue dispensing head (230) and a piston (240) slidably connected to the glue dispensing head (230); the hot glue barrel (210) is connected to the glue dispensing head (230) via the glue delivery pipe (220); the glue dispensing head (230) is plugged into the housing (170); the output end of the bridge amplifier mechanism (150) is connected to the piston (240); and the hot glue barrel (210) is connected to the housing (170).

6. The bionic compliant flying dispensing system according to claim 1, characterized in that: The visual guidance alignment device (300) comprises a shooting component (310), a light source component (320), and a rangefinder (330); the light source component (320) is located below the shooting component (310), and the rangefinder (330) is connected to the side of the light source component (320); the shooting component (310) is connected to the moving end of the Z-direction moving device (700) via a first adjustment seat (340), and the light source component (320) is connected to the moving end of the Z-direction moving device (700) via a second adjustment seat.

7. The bionic compliant flying dispensing system according to claim 6, characterized in that: The light source assembly (320) comprises a coaxial light source (321) and an annular light source (322) located below the coaxial light source (321); the second adjustment seat comprises a first adjustment plate (350) and a second adjustment plate (360) slidably connected to the first adjustment plate (350); the coaxial light source (321) and the annular light source (322) are both connected to the first adjustment plate (350), and the second adjustment plate (360) is connected to the moving end of the Z-direction moving device (700); The first adjustment plate (350) is provided with a plurality of first waist-shaped holes (351) extending along the Z direction, and the second adjustment plate (360) is provided with a plurality of second waist-shaped holes (361) extending along the Z direction or the X direction. The first adjustment plate (350) is connected to the second adjustment plate (360) through the first waist-shaped holes (351), and the second adjustment plate (360) is connected to the moving end of the Z-direction moving device (700) through the second waist-shaped holes (361).

8. The bionic compliant flying dispensing system according to any one of claims 1 to 7, characterized in that: It also includes an adjustable base (900), and the fixed end of the Y-direction moving device (600) is connected to the adjustable base (900); the X-direction moving device (500) includes a gantry (510) and an X-direction guide rail slider mechanism (520) installed on the gantry (510), the fixed end of the Z-direction moving device (700) is connected to the X-direction guide rail slider mechanism (520), and the gantry (510) is connected to the adjustable base (900).

9. A flying glue dispensing method applied to the bionic compliant flying glue dispensing system according to any one of claims 1 to 8, characterized in that: The steps include: S1. Divide a plurality of glue dispensing areas on the workpiece to be processed, and fix the workpiece to be processed on the stage (400); S2. The visual guidance alignment device (300) obtains the three-dimensional distance value between the dispensing output end of the dispensing mechanism (200) and the current dispensing area, and transmits it to the control device. The control device drives the X-direction moving device (500), the Y-direction moving device (600), and the Z-direction moving device (700) to move in coordination according to the three-dimensional distance value, so that the dispensing output end of the dispensing mechanism (200) moves to the top of the current dispensing area; S3. The visually guided alignment device (300) obtains the image of the workpiece to be processed, and transmits the image of the workpiece to be processed to the control device for preprocessing. The control device performs image matching through a workpiece information library, and extracts glue dispensing trajectory information, glue dispensing speed information, glue dispensing amount information, and glue dispensing requirement information corresponding to the image of the workpiece to be processed from the workpiece information library; S4. The control device controls the bionic compliance mechanism (100) to output a Z-direction displacement to the dispensing output end of the dispensing mechanism (200) according to the information of step S3, and controls the X-direction moving device (500) and the Y-direction moving device (600) to move in coordination to realize flying dispensing; S5. After the glue dispensing operation of the current area to be glued is completed, if the glue dispensing operation of all areas to be glued is completed, the glue dispensing is ended, otherwise, return to step S3.

10. The flying dispensing method according to claim 9, characterized in that: In step S2, a mapping is established from the real-time feedback of the three-dimensional distance value data to the displacement change of the plane where the current glue dispensing area is located in the X direction, the Y direction, and the Z direction and the deflection angle between the surface of the workpiece to be processed and the horizontal plane, and the displacement tolerance range and the deflection angle tolerance range are given to complete the alignment between the glue dispensing output end of the glue dispensing mechanism (200) and the current glue dispensing area; in step S3, the magnification of the bionic compliant mechanism (100) is

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