Pneumatic soft manipulator system for flexible electronic conformal transfer printing

Abstract

The invention discloses a pneumatic soft manipulator system for flexible electronic conformal transfer printing, which relates to a conformal transfer printing process of a flexible electronic film and comprises a three-axis linear motion module, a pneumatic control box and a soft manipulator. The three-axis linear motion module comprises an x axis, a y axis and a z axis, the x axis is fixed to the ground, sliding rails are installed on the x axis, the y axis and the z axis respectively, the x axis and the y axis are connected through mutual cooperation of sliding blocks and the two sliding rails, the y axis and the z axis are also connected through mutual cooperation of sliding blocks and the two sliding rails, motor drives are installed on all the axes, and the pneumatic control box is fixed to the z axis. The soft manipulator is mounted on the z-axis through the conical clamp, the pneumatic control box is connected with the soft manipulator through two breather pipes, the conical clamp is integrally conical and fixedly connected to the lower end of the z-axis through bolts, and the conical surface of the conical clamp is hollowed out. The lower end of the conical clamp is fixedly connected with the side face of the soft manipulator in a gluing mode.

Description

Technical Field

[0001] The invention relates to the field of pneumatic soft robots and the application field of flexible electronic products, and in particular to a pneumatic soft manipulator for conformal transfer of flexible electronics. Background Art

[0002] Flexible electronics, with its significant advantages such as softness, stretchability and light weight, has been widely used in flexible displays, electronic skin, portable electronic products, biomedicine and aerospace, showing its extraordinary commercial value and development prospects.

[0003] It is of great significance to study how to achieve conformal integration of flexible electronics on complex structures or manifold surfaces such as aircraft surfaces, and how to achieve large-area distributed real-time perception. The difficulty lies in how to conformally transfer flexible electronics with characteristics such as softness, lightness, and non-planarity to complex curved surfaces.

[0004] At present, the related preparation, transfer and placement processes of traditional electronic devices have been developed to a relatively mature level. However, such electronic devices are generally integrated on relatively rigid planar substrates, with small areas and limited deformation capabilities. They are limited in use on structures with large areas, large deformations, and complex curved surfaces, with large workloads, dense leads, and increased weight. Flexible electronics, however, have the characteristics of large areas, light weight, non-planarity, and easy deformation, and have unparalleled advantages in the above-mentioned complex structures. However, the transfer and placement processes commonly used in electronic devices cannot solve the problem of conformal transfer processes on flexible electronic curved surfaces well, and cannot freely and flexibly realize conformal deformation of the operating object and the target curved surface. Therefore, new process challenges have been raised on how to pick up, transfer, conformally deform, and place flexible films such as flexible electronics on structures with large areas, large deformations, and complex curved surfaces, and the realization of conformal deformation is particularly important.

[0005] Therefore, it is necessary to design a pneumatic soft robot system to solve the above-mentioned process problems of conformal transfer of flexible films. Summary of the invention

[0006] The purpose of this patent is to provide a pneumatic soft manipulator system for conformal transfer of flexible electronics to solve the above-mentioned process problems of flexible electronic film picking, transfer, conformal deformation and placement.

[0007] To achieve the above-mentioned purpose, the patent of the present invention provides the following scheme: a pneumatic soft manipulator system for conformal transfer of flexible electronics, comprising a three-axis linear motion module, a pneumatic control box and a soft manipulator, characterized in that: the three-axis linear motion module comprises an x-axis, a y-axis and a z-axis composed of a truss, a slide rail and a motor, the x-axis is fixed to the ground, and slide rails are installed on the x, y and z-axes, the x-axis and the y-axis are connected by the mutual cooperation between the slider and the two slide rails, the connection between the y-axis and the z-axis is similar, and each axis is installed with a motor drive, the pneumatic control box is fixed on the z-axis, the soft manipulator is installed on the z-axis through a conical clamp, and two ventilation pipes are connected between the pneumatic control box and the soft manipulator, the conical clamp is conical as a whole, and is fixed to the lower end of the z-axis by bolts, the conical surface of the conical clamp is designed to be hollow, and the lower end of the conical clamp is connected and fixed to the side of the soft manipulator by gluing.

[0008] It is further defined that the soft manipulator is characterized in that: the soft manipulator is an overall disc-shaped elastomer made of polyethylene silicone material, and a plurality of air channels and a small cavity are distributed in the disc-shaped elastomer, wherein the air channel is located in the upper part of the elastomer, and the small cavity is located in the lower part of the elastomer, and the air channel and the small cavity are separated by a layer of elastic material and are not connected to each other, and the air channel and the small cavity are respectively connected to the pneumatic control box through ventilation pipes, and the bottom surface of the disc-shaped elastomer is provided with a plurality of breathable micropores for vacuum adsorption.

[0009] It is further defined that the airway is characterized in that: the airway cross-section is rectangular, multiple airways are interconnected, and the airways are distributed on the upper part of the disc-shaped elastomer according to different arrangement densities, so that when the soft manipulator is working, it can produce deformation that conforms to the target surface under the combined influence of air pressure and airway distribution density.

[0010] It is further defined that the small cavity is characterized in that: the small cavity is located below the airway, and the small cavity is connected to the outside world through the micropores on the bottom surface of the disc-shaped elastomer, so that when the soft manipulator is working, negative pressure is generated in the small cavity to form a vacuum adsorption flexible film, and there are multiple columns in the small cavity, which connect the bottom and top surfaces of the small cavity to play a supporting role, so that the adsorbed flexible film can be deformed together with the soft manipulator.

[0011] Compared with the prior art, the advantages of the present invention are:

[0012] The existing process schemes that can realize conformal transfer of flexible electronic films can basically be divided into two types. One is to control the position of a limited number of points on the flexible film through multiple rigid mechanical fingers to achieve conformal deformation effect, and the other relies on a conformal adsorption disk with memory function to realize conformal deformation of the flexible film. The scheme provided by the present invention for realizing conformal transfer through the deformation of a pneumatic soft manipulator has multiple advantages over the existing schemes. First: Compared with rigid mechanical fingers, the deformation produced by the soft manipulator is more similar to the target surface, which makes the flexible film more accurately placed and the gaps generated during the placement process are smaller. Second: Compared with the conformal adsorption disk, the soft manipulator has almost no requirements for the area of ​​the pasted flexible film. The conformal adsorption disk is not suitable for smaller pasting surfaces, and the soft manipulator is easier to manufacture. Third: Compared with the existing scheme, the overall structure of the present invention is simple, and the soft manipulator is only the size of a disk, while the mechanical structure of the existing scheme is complicated and cumbersome. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a schematic diagram of the overall structure;

[0015] Figure 2 This is a schematic diagram of a soft robot;

[0016] Figure 3 It is a top view schematic diagram of the soft manipulator;

[0017] In the figure: 1. Paste the target surface; 2. Conical fixture; 3. Ventilation tube; 4. Pneumatic control box; 5. Z-axis; 6. Y-axis; 7. X-axis; 8. Soft manipulator; 8-1. Airway; 8-2. Small cavity; 8-3. Column; 8-4. Micropore; 9. Flexible film; 10. Slide rail; 11. Slider; 12. Motor. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0019] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0020] See also Figure 1-3 A pneumatic soft manipulator system for conformal transfer of flexible electronics comprises a three-axis linear motion module, a pneumatic control box and a soft manipulator. The three-axis linear motion module comprises an x-axis (7), a y-axis (6) and a z-axis (5) composed of a truss, a slide rail (10) and a motor (12). The x-axis (7) is fixed to the ground. The x-axis, y-axis and z-axis are all equipped with slide rails (10). The x-axis (7) and the y-axis (6) are connected by the mutual cooperation between the slider (11) and the two slide rails (10). The connection between the y-axis (6) and the z-axis (5) is similar. A motor (12) is installed on each axis to drive the soft manipulator to move in space. The pneumatic control box (4) is fixed on the z-axis (5), and the soft manipulator (8) is installed on the z-axis (5) through a conical fixture (2). Two ventilation pipes (3) are connected between the pneumatic control box (4) and the soft manipulator (8), and the two ventilation pipes (3) are respectively connected to the airway (8-1) and the small cavity (8-2) of the soft manipulator. The vacuum adsorption and conformal deformation functions of the soft manipulator are controlled by the pneumatic control box. The conical fixture (2) is conical in shape as a whole and is fixed to the lower end of the z-axis (5) by bolts. The conical surface of the conical fixture (2) is hollowed out to facilitate the placement of the ventilation pipe. The lower end of the conical fixture (2) is connected and fixed to the side of the soft manipulator (8) by gluing.

[0021] The soft manipulator is a disk-shaped elastic body made of polyvinyl siloxane material. A plurality of airways (8-1) and a small cavity (8-2) are distributed in the disk-shaped elastic body, wherein the airway (8-1) is located at the upper part of the elastic body, and the small cavity (8-2) is located at the lower part of the elastic body. A layer of elastic material separates the airway (8-1) and the small cavity (8-2), and the airway (8-1) and the small cavity (8-2) are not connected to each other. The airway (8-1) and the small cavity (8-2) are respectively connected to a pneumatic control box (4) through a vent pipe (3). The bottom surface of the disk-shaped elastic body is provided with a plurality of air-permeable micropores (8-4) for vacuum adsorption. When the pneumatic control box (4) inhales air, negative pressure is generated in the small cavity (8-2), which is used for adsorbing a flexible film. When the pneumatic control box (4) blows air, positive pressure is generated in the small cavity (8-2), which is used for pasting the flexible film.

[0022] The cross section of the air channel (8-1) is rectangular, and the multiple air channels (8-1) are interconnected. The air channels (8-1) are distributed on the upper part of the disc-shaped elastic body according to different arrangement densities, so that when the soft manipulator is working, it can produce deformation that conforms to the target surface under the combined influence of air pressure and air channel distribution density.

[0023] The small cavity (8-2) is located below the airway (8-1), and the small cavity (8-2) is connected to the outside through the micropores (8-4) on the bottom surface of the disc-shaped elastic body, so that when the soft manipulator is working, negative pressure is generated in the small cavity (8-2) to form a vacuum adsorption flexible film. There are multiple columnar bodies (8-3) in the small cavity (8-2), and the columnar bodies (8-3) connect the bottom surface and the top surface of the small cavity (8-2) to play a supporting role, so that the adsorbed flexible film can be deformed together with the soft manipulator, thereby realizing the conformal deformation function.

[0024] Working principle: When performing the conformal transfer process of flexible electronic film, the flexible film is picked up first. At this time, the three-axis motion module moves the soft robot to the flexible film so that the bottom of the robot is close to the flexible film. After it is in place, the pneumatic control box sucks air into the small cavity, and negative pressure is generated in the small cavity to complete the vacuum adsorption of the flexible film.

[0025] Then the conformal deformation work is carried out. After the picking is completed, the three-axis motion module controls the soft manipulator to rise to the appropriate position, and then the pneumatic control box controls the air pressure in the airway of the soft manipulator. Under the action of air pressure, the soft manipulator begins to deform. Since the flexible film is always in an adsorption state, it also deforms with the soft manipulator. After the deformation is completed, the flexible film will have a shape that is adapted to the target surface to be pasted.

[0026] Finally, the flexible film is pasted. The three-axis motion module moves the soft robot to the target surface to make the flexible film contact the target surface. Then the pneumatic control box blows air into the small cavity to generate positive pressure in the small cavity. The flexible film is released and pressure is applied at the same time to make the flexible film better adhere to the target surface.

[0027] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A pneumatic soft manipulator system for conformal transfer of flexible electronics, comprising a three-axis linear motion module, a pneumatic control box (4) and a soft manipulator (8), characterized in that: The three-axis linear motion module comprises an x-axis (7), a y-axis (6) and a z-axis (5), wherein the x-axis (7) is fixed to the ground, and slide rails (10) are installed on the x-axis, y-axis and z-axis, and the x-axis (7) and the y-axis (6) are connected by the cooperation between the slider (11) and the two slide rails (10), and the y-axis (6) and the z-axis (5) are also connected by the cooperation between the slider and the two slide rails, and each axis is installed with a motor (12) for driving, and the pneumatic control box (4) is fixed to the ground. The soft manipulator (8) is fixed on the z-axis (5), and is installed on the z-axis (5) through a conical fixture (2). Two ventilation pipes (3) are connected between the pneumatic control box (4) and the soft manipulator (8). The conical fixture (2) is conical in shape as a whole and is fixed to the lower end of the z-axis (5) by bolts. The conical surface of the conical fixture (2) is designed to be hollow, and the lower end of the conical fixture (2) is connected and fixed to the side of the soft manipulator (8) by gluing.

2. A pneumatic soft manipulator system for conformal transfer of flexible electronics as claimed in claim 1, characterized in that: The soft manipulator is an elastic body made of polyvinyl silicone material and is in the shape of a disk. A plurality of air channels and a small cavity are distributed in the disk-shaped elastic body, wherein the air channel is located in the upper part of the elastic body, and the small cavity is located in the lower part of the elastic body. The air channel and the small cavity are separated by a layer of elastic material and are not connected to each other. The air channel and the small cavity are respectively connected to a pneumatic control box (4) through a ventilation pipe (3). The bottom surface of the disk-shaped elastic body is provided with a plurality of air-permeable micropores for vacuum adsorption.

3. A pneumatic soft manipulator system for conformal transfer of flexible electronics as claimed in claim 2, characterized in that: The airway cross section is rectangular, and the multiple airways are interconnected. The airways are distributed on the upper part of the disc-shaped elastic body at different arrangement densities, so that when the soft manipulator (8) is working, it produces a deformation that conforms to the target surface (1) under the combined influence of air pressure and airway distribution density.

4. A pneumatic soft manipulator system for conformal transfer of flexible electronics as claimed in claim 2, characterized in that: The small cavity is located below the airway, and the small cavity is connected to the outside world through the micropores on the bottom surface of the disc-shaped elastic body, so that when the soft manipulator (8) is working, negative pressure is generated in the small cavity to form a vacuum adsorption flexible film (9). There are multiple columnar bodies in the small cavity, and the columnar bodies connect the bottom surface and the top surface of the small cavity to play a supporting role, so that the adsorbed flexible film (9) can be deformed together with the soft manipulator (8).

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