Space multi-degree-of-freedom conformal structure array ink jet forming method and device

Abstract

The invention belongs to the technical field of curved surface multi-degree-of-freedom forming, and particularly relates to a space multi-degree-of-freedom conformal structure array ink jet forming method and device. The device comprises a multi-joint robot grabbing mechanism, an ink path system, a feeding and discharging mechanism, a conveying mechanism and a forming detection mechanism. According to the method, a pneumatic suction claw is clamped at the tail end of a multi-joint robot to grab a printing base material, then the base material is lifted to conduct relative movement under a fixed array ink jet forming device, after forming is completed, forming precision detection is conducted through a visual detection system, and integrated preparation and detection of curved surface conformal elements are achieved. The device and the method can solve the problems that in the current curved surface conformal element forming process, the transfer printing forming process is complex, a transition layer material is needed, and a multi-axis direct writing method is low in production efficiency and difficult to batch; in addition, the ink jet forming system and the ink path system are kept static in the whole forming process, and the method has important significance in achieving integrated efficient and high-precision forming of curved-surface conformal original parts.

Description

Technical Field

[0001] The present invention belongs to the technical field of curved surface multi-degree-of-freedom forming, and in particular relates to a method and device for inkjet forming of a spatial multi-degree-of-freedom conformal structure array. Background Art

[0002] In the design and manufacture of aerospace equipment, satellite-borne and airborne communication equipment show a development trend of small size, light weight and high reliability. Antenna design urgently needs high-performance curved conformal antennas with good electromagnetic compatibility, strong anti-electronic interference ability and small radar heat dissipation area to meet this development trend. Array antennas attached to the surface of the carrier and bonded to the carrier, such as the skin smart antenna of the aircraft wing and the guidance antenna on the head of the aircraft, are integrated with the platform's external structure, which can not only expand the coverage area of ​​the antenna's effective radiation, but also reduce the limitations of the carrier's aerodynamic performance on itself, greatly improving the antenna performance.

[0003] The production efficiency of existing multi-axis direct writing devices still has a lot of room for improvement. Due to the limitations of actuators and control methods, it is difficult to print high-precision curved surface conformal electronic components that meet the use requirements. Transfer technology is easy to have complex processes. The curved surface multi-degree-of-freedom array inkjet forming method integrates array printing nozzles, multi-axis motion mechanisms and motion control technology to manufacture complex parts composed of a variety of interwoven materials with different physical (mechanical, optical, electrical), chemical or biological properties. It can directly form curved surface conformal three-dimensional electronic devices on polyhedrons and more complex free-form surfaces. It has become an emerging trend in the field of high-resolution digital manufacturing, but this forming method and device design still have the following shortcomings:

[0004] (1) In the current design method of the multi-axis motion mechanism with an array nozzle at the end, the ink path and circuit of the ink supply system are repeatedly pulled during the movement of the multi-axis mechanism, which has a great impact on the ink path pressure and forming space during the forming process;

[0005] (2) The array nozzle and the curing device are clamped at the end of the multi-axis motion mechanism and kept moving during the forming process, so that the ink droplets have an initial velocity at the beginning of the forming jet. In addition, due to the vibration, uneven feed speed and calibration error generated by the multi-axis motion mechanism during the movement, the ink droplet forming accuracy is low;

[0006] (3) At present, in the process of multi-degree-of-freedom forming of curved surfaces, it is difficult to achieve integrated forming of curved surface parts with larger curvatures due to the limitations of motion mechanisms and motion coordination control technology.

[0007] Therefore, how to effectively combine array nozzles, multi-axis motion devices, curing devices and motion printing collaborative control technology to reduce the impact of mechanism movement on the forming process, improve the forming efficiency and forming accuracy of curved surface elements, reduce the complexity of the forming process and material limitations, and improve forming repeatability and consistency is an important issue that needs to be urgently solved in the current design of curved surface multi-degree-of-freedom array inkjet forming methods and device research and development. Summary of the invention

[0008] In order to solve the above problems, the present invention discloses a spatial multi-degree-of-freedom conformal structure array inkjet forming method and device. By effectively integrating the array nozzle, multi-axis motion device, curing device and motion printing collaborative control technology, the pneumatic suction claw at the end of the multi-joint robot a grabs the printing substrate, and then lifts the substrate under the fixed array inkjet forming device for relative movement. After the forming is completed, the forming accuracy is detected by the visual inspection system, thereby realizing the integrated preparation and detection of curved surface conformal elements, and providing an efficient non-contact on-demand manufacturing method for curved surface conformal originals with a certain width, which does not require the design of a mask plate, has a flexible process and high designability, and the inkjet forming system and the ink path system remain stationary during the entire forming process, effectively avoiding the influence of ink path pressure oscillation, ink droplet initial velocity changes and injection angle changes on the forming process, which is of great significance for realizing the integrated, efficient and high-precision forming of curved surface conformal originals.

[0009] To achieve the above-mentioned purpose, the present invention designs a spatial multi-degree-of-freedom conformal structure array inkjet forming device, which includes: a multi-joint robot grasping mechanism, an ink path system, a loading and unloading mechanism, a conveying mechanism and a forming detection mechanism; the right side of the multi-joint robot grasping mechanism is a conveying mechanism and an emergency stop control button, and the front side is an ink path system and a forming detection mechanism, and the ink path system is connected to the forming detection mechanism through a clamping mechanism; the multi-joint robot grasping mechanism is used to grasp the printing substrate to realize the forming of the curved original, the ink path system is used to control the ink supply temperature, pressure and printing coordination during the forming process, the loading and unloading mechanism is used to grasp the printing substrate to realize transportation, the conveying mechanism is used to transport the printing substrate and the formed original, and the forming detection mechanism is used to print functional patterns on the moving printing substrate.

[0010] As a further design of the present scheme, the multi-joint robot grasping mechanism includes a device base, a multi-joint robot a, and a pneumatic suction claw a. The end of the multi-joint robot a axis is connected to the device base through a fixing bolt, the multi-joint robot a axis six is ​​connected to the pneumatic suction claw through a connecting flange, the pneumatic suction claw a air pipe is connected to the air hole interface of axis four, and the cable and the multi-joint robot a cable are fixed on axis two; the device base is used to fix the multi-joint robot a base to keep the system running stably, the multi-joint robot a is used to perform multi-dimensional movements, and the pneumatic suction claw a is connected to the multi-joint robot a through a flange and grasps the original printing substrate.

[0011] As a further design of the present scheme, the forming detection mechanism includes an array nozzle drive board, ink supply and power supply circuits, a detection camera, a drive motor a, a reduction gear set, a clamping mechanism, a nozzle bracket and an array nozzle; the ink supply and power supply circuit is a hollow structure, which contains ink inlet, ink return and circuit circuits; the drive motor a is connected to the reduction gear set through a rotating shaft, and the end of the reduction gear set is connected to the clamping mechanism, and the end of the clamping mechanism clamps the nozzle bracket and the detection camera, and the nozzle bracket is equipped with a nozzle drive board and an array nozzle; the array nozzle drive board is used to drive piezoelectric ceramics to print functional ink, the ink supply and power supply circuit is used to supply power to the motor, camera and printing control board and supply ink to the array nozzle, the detection camera is used to detect the forming accuracy of the formed functional pattern, the drive motor a is used to drive the reduction gear set, the reduction gear set is used to reduce the speed and increase the torque to drive the clamping mechanism, the clamping mechanism is used to install the nozzle bracket and the detection camera, the nozzle bracket is used to fix the nozzle drive board and the array nozzle, and the array nozzle is used to receive the voltage signal of the drive board to generate array ink dots.

[0012] As a further design of this scheme, the loading and unloading mechanism includes a base plate, a multi-joint robot b, and a pneumatic gripper b; the end of the multi-joint robot b axis is connected to the base plate through a fixing bolt, the multi-joint robot b axis four is connected to the pneumatic gripper through a connecting flange, the pneumatic gripper b air pipe is connected to the air hole interface of axis three, and the cable and the multi-joint robot b cable are fixed on axis two; the base plate is used to fix the base of the multi-joint robot b to keep the system running stably, the multi-joint robot b is used to perform multi-dimensional movements, and the pneumatic gripper b is connected to the multi-joint robot b through a flange and follows up to grab the printing substrate original and the formed original.

[0013] As a further design of the present scheme, the conveying mechanism includes a conveyor belt frame, a visual inspection camera a, a visual inspection camera b, a driving motor b and an emergency stop control button; the visual inspection camera a and the visual inspection camera b are located at both ends of the conveyor belt frame away from the loading and unloading mechanism, the driving motor b is located at one end of the conveying mechanism close to the loading and unloading mechanism, and the emergency stop control button is located on the right side of the loading and unloading mechanism close to the forming inspection mechanism; the visual inspection camera a is used for obtaining the position information of the printing substrate and the formed original on one side of the loading and unloading mechanism and sending motion instructions, the visual inspection camera b is used for obtaining the position information of the printing substrate and the formed original on one side of the multi-joint robot grasping mechanism and sending motion instructions, the driving motor b is used to drive the conveyor belt to transport the printing substrate and the formed original, the emergency stop control button is used for the operator to promptly cut off the power supply of all equipment to prevent damage caused by failure, and the conveyor belt frame is used to fix the above-mentioned mechanisms to ensure stable operation of the equipment.

[0014] As a further design of the present scheme, the ink circuit system includes an ink supply system, an ink circuit power module, an ink tank, and a print manager. The ink supply system, the ink circuit power module, the ink tank, and the print manager are packaged and integrated and located between the forming detection mechanism and the loading and unloading mechanism, and are uniformly controlled by the production line terminal; the ink supply system is used to maintain the stability of the ink circuit pressure and temperature, with the front end connected to the array nozzle and the rear end connected to the ink tank; the ink circuit power module is used to manage the operation of the ink pump, the heat pump, and the solenoid valve in the ink supply system, the ink tank is used to detect the amount of spare ink, and the print manager is used to match the ink supply system and the print driver board.

[0015] As a further design of the present invention, the visual inspection camera a and the visual inspection camera b in the conveying mechanism detect the position of the object through the camera and transmit the position information and the grasping signal to the loading and unloading mechanism and the forming inspection mechanism.

[0016] As a further design of this solution, the driving motor b in the conveying mechanism can receive signals sent by the visual inspection camera a and the visual inspection camera b, can realize forward and reverse rotation and adjust the workpiece transmission speed to cooperate with the loading and unloading mechanism and the forming inspection mechanism to realize grasping and loading and unloading.

[0017] As a further design of the present invention, the present invention also provides a method for forming a curved surface multi-degree-of-freedom array by inkjet, the method comprising the following steps:

[0018] Step 1: All mechanisms are powered on to feedback the normal operation signal of the mechanism and wait for the signal to start execution;

[0019] Step 2: After receiving the signal, the terminal system sends a start forming instruction, and the loading and unloading mechanism grabs the printing substrate and places it on the conveying mechanism;

[0020] Step 3: After the visual inspection camera a detects the printing substrate, it sends a command to drive the motor b to rotate forward to drive the conveyor belt to transport the printing substrate into the receptive field of the visual inspection camera b;

[0021] Step 4: After the visual inspection camera b detects the printing substrate, it sends the printing substrate position information and grabbing instructions to the forming inspection mechanism;

[0022] Step 5: After the multi-joint robot a grabs the printing substrate and moves to the designated position, it sends a signal to the ink path system, and then the multi-joint robot a moves in coordination with the ink path system to spray ink for curved surface printing;

[0023] Step 6: After forming, the multi-joint robot a grabs the printing substrate to the specified position and sends a signal to the drive motor a. The motor drives the clamping mechanism to rotate the inspection camera to the top of the printing substrate to perform forming accuracy inspection;

[0024] Step 7: After the inspection is completed, the inspection camera sends a command to the drive motor a to make the clamping mechanism rotate to the printing position, and the multi-joint robot a grabs the printing substrate to the specified position on the conveying mechanism;

[0025] Step 8: After the visual inspection camera b detects the printing substrate, it sends a command to drive the motor b to reverse and drive the conveyor belt to transport the printing substrate into the receptive field of the visual inspection camera a;

[0026] Step 9: After the visual inspection camera a detects the printing substrate, it sends the position information and grabbing instructions of the printing substrate that has been formed and inspected to the loading and unloading mechanism.

[0027] Step 10: After receiving the instruction, the loading and unloading mechanism grabs the printing substrate and places it in the finished product area.

[0028] As a further design of the present solution, during the forming process of the curved surface element, the normal distance of the curved surface at the end of the nozzle is between 3 and 5 mm, and the angle difference between the normal of the nozzle and the normal of the curved surface at the path point is ensured to be between 0 and 2°.

[0029] Beneficial effects of the present invention:

[0030] (1) The present invention effectively integrates an array nozzle, a multi-axis motion device, a curing device and motion printing coordinated control technology, and provides an efficient and high-precision on-demand manufacturing method for curved conformal electronic components by non-contact array printing, which does not require the design of a mask template, has a flexible process and is highly designable.

[0031] (2) The present invention ensures that the inkjet forming system and the ink path system remain stationary during the entire forming process by designing a fixed printing end, an array inkjet motion inverse algorithm, and a multi-joint robot original part lifting collaborative printing device, thereby effectively avoiding the influence of ink path pressure oscillation, ink droplet initial velocity changes, and injection angle changes during the forming process on the forming accuracy and quality.

[0032] (3) The present invention forms an end-to-end closed-loop control of the surface multi-degree-of-freedom inkjet forming accuracy by designing a forming accuracy detection system for printing system image input and printing image detection, thereby ensuring that the forming dimensional accuracy error is within 0.1 mm.

[0033] (4) The present invention integrates a conveying device, a loading and unloading device, an original grasping coordinated motion device, a printing device, a visual inspection device and an ink circulation control device, providing a scientific, intelligent and automated solution for the efficient and high-precision inkjet forming of curved conformal antennas, which can greatly improve production efficiency and forming accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is the method and device for inkjet forming of a spatial multi-degree-of-freedom conformal structure array as described in an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of the multi-joint robot lifting and forming detection mechanism according to an embodiment of the present invention.

[0036] Figure 3 This is a diagram of the forming detection mechanism described in an embodiment of the present invention.

[0037] Figure 4 The figure is a schematic diagram of the coordinate system annotation described in the embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of solving the lifting and forming path of the multi-joint robot described in an embodiment of the present invention.

[0039] Figure 6 It is a schematic diagram of the lifting and forming simulation of the multi-joint robot according to an embodiment of the present invention.

[0040] Figure 7 This is a forming accuracy detection diagram described in an embodiment of the present invention.

[0041] Figure 8 It is a schematic diagram of the loading and unloading mechanism described in an embodiment of the present invention.

[0042] Fig. 9 This is a diagram of the curved conformal electronic antenna mentioned in the present invention.

[0043] List of reference numerals:

[0044] 1-nozzle drive board; 2-ink supply system; 3-detection camera; 4-drive motor a; 5-reduction gear set; 6-clamping mechanism; 7-forming detection mechanism; 8-nozzle bracket; 9-array nozzle; 10-printing substrate; 11-pneumatic suction claw a; 12-connecting flange; 13-multi-joint robot a; 14-multi-joint robot grasping mechanism; 15-conveyor belt frame; 16-visual inspection camera a; 17-transmission mechanism; 18-visual inspection camera b; 19-emergency stop control button; 20-device base; 22-multi-joint robot b; 23-loading and unloading mechanism; 24-bottom plate; 25-pneumatic suction claw b; 26-drive motor b. DETAILED DESCRIPTION

[0045] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0046] Reference Figure 1The present embodiment provides a spatial multi-degree-of-freedom conformal structure array inkjet forming device, which includes: a multi-joint robot grasping mechanism 14, an ink path system 21, a loading and unloading mechanism 23, a conveying mechanism 17 and a forming detection mechanism 7; the right side of the multi-joint robot grasping mechanism 14 is a conveying mechanism 17 and an emergency stop control button 19, and the front side is an ink path system 21 and a forming detection mechanism 7, and the ink path system 21 is connected to the forming detection mechanism 7 through a clamping mechanism 6; the multi-joint robot grasping mechanism 14 is used to grasp the printing substrate to realize the forming of the curved original, the ink path system 21 is used to control the ink supply temperature, pressure and printing coordination during the forming process, the loading and unloading mechanism 23 is used to grasp the printing substrate to realize transportation, the conveying mechanism 17 is used to transport the printing substrate and the formed original, and the forming detection mechanism 7 is used to print functional patterns on the moving printing substrate.

[0047] Reference Figure 2 The multi-joint robot grasping mechanism 14 described in this embodiment includes a device base 20, a multi-joint robot a13, and a pneumatic suction claw a11. The end of the axis one of the multi-joint robot a13 is connected to the device base 20 through a fixing bolt, and the axis six of the multi-joint robot a13 is connected to the pneumatic suction claw a11 through a connecting flange. The air pipe of the pneumatic suction claw a11 is connected to the air hole interface of the axis four, and the cable and the cable of the multi-joint robot a13 are fixed on the axis two.

[0048] The forming detection mechanism 7 includes an array nozzle driving plate 1, an ink supply and power supply circuit 2, a detection camera 3, a driving motor a4, a reduction gear set 5, a clamping mechanism 6, a nozzle bracket 8 and an array nozzle 9; the ink supply and power supply circuit 2 is a hollow structure, which contains ink inlet, ink return and circuit circuits. The driving motor a4 is connected to the reduction gear set 5 through a rotating shaft. The end of the reduction gear set 5 is connected to the clamping mechanism 6. The end of the clamping mechanism 6 clamps the nozzle bracket 8 and the detection camera 3. The nozzle driving plate 1 and the array nozzle 9 are installed in the nozzle bracket.

[0049] The array nozzle driving board is used to drive the piezoelectric ceramic to print functional ink, the ink supply and power supply circuits are used to supply power to the motor, camera and printing control board and ink to the array nozzle, the detection camera is used to detect the forming accuracy of the formed functional pattern, the driving motor a is used to drive the reduction gear set, the reduction gear set is used to reduce the speed and increase the torque to drive the clamping mechanism, the clamping mechanism is used to install the nozzle bracket and the detection camera, the nozzle bracket is used to fix the nozzle driving board and the array nozzle, the array nozzle is used to receive the voltage signal of the driving board to generate array ink dots, the forming detection mechanism remains stationary during the forming process and the multi-joint robot grasping mechanism grasps the printing substrate, the array nozzle at the end of the relative forming detection mechanism feeds and cooperates with the ink path system 21 to complete the curved surface functional pattern printing task;

[0050] The conveying mechanism 17 includes a conveyor belt frame 15, a visual inspection camera a16, a visual inspection camera b18, a drive motor b26 and an emergency stop control button 19; the visual inspection camera a16 and the visual inspection camera b18 are located at both ends of the conveyor belt frame 15 away from the loading and unloading mechanism 23, the drive motor b26 is located at one end of the conveying mechanism 17 close to the loading and unloading mechanism 23, and the emergency stop control button 19 is located on the right side of the loading and unloading mechanism 23 close to the forming inspection mechanism 7.

[0051] The loading and unloading mechanism 23 includes a base plate 24, a multi-joint robot b22, and a pneumatic clamp b25; the end of the first axis of the multi-joint robot b22 is connected to the base plate 24 by a fixing bolt, and the fourth axis of the multi-joint robot b22 is connected to the pneumatic suction claw b25 by a connecting flange. The air pipe of the pneumatic suction claw b25 is connected to the air hole interface of the third axis, and the cable and the cable of the multi-joint robot b22 are fixed on the second axis.

[0052] The ink circuit system 21 includes an ink supply system, an ink circuit power module, an ink tank, and a print manager. The ink supply system, the ink circuit power module, the ink tank, and the print manager are packaged and integrated and located between the forming detection mechanism and the loading and unloading mechanism, and are uniformly controlled by the production line terminal; the visual detection camera a and the visual detection camera b in the transmission mechanism detect the position of the object through the camera and transmit the position information and the grasping signal to the loading and unloading mechanism and the forming detection mechanism; the driving motor b in the transmission mechanism can receive the signals sent by the visual detection camera a and the visual detection camera b, and can realize forward and reverse rotation and adjust the workpiece transmission speed to cooperate with the loading and unloading mechanism and the forming detection mechanism to realize grasping and loading and unloading.

[0053] A method for forming a curved surface multi-degree-of-freedom array by inkjet, the method comprising the following steps:

[0054] (1) All mechanisms are powered on to feedback the normal operation signal and wait for the signal to start execution. All originals in the printing original container have been calibrated and the corresponding spatial position data are stored in the computer control terminal according to the sequence number. The computer control terminal sends a start printing signal.

[0055] (2) The computer control terminal drives robot b to read the coordinate of the printing original with serial number 1 in the dictionary and move it to 200 mm above the coordinate and then move in a straight line to 1 mm above the coordinate. A signal is sent by the computer control terminal to drive the pneumatic gripper b to grab the printing original and move it to 200 mm above the fixed position on the conveying mechanism and then move in a straight line to 1 mm above the fixed position to release the original.

[0056] (3) After the visual inspection system a detects the original, it sends a signal and the computer control terminal drives the transmission mechanism drive motor b to rotate forward at a speed of 3r / min to drive the conveyor belt to transport the printed original to the inspection receptive field of the visual inspection system b. When the visual inspection system b detects the target object at 100mm of the target position, it sends a signal to the computer control terminal to decelerate and stop the drive motor b to within 5mm of the target position.

[0057] (4) The visual inspection system b then calibrates the original position information and calculates the grasping position and sends it to the computer control terminal. The computer control terminal sends a grasping instruction to drive the multi-joint robot a in the multi-joint grasping mechanism to run to 200 mm above the coordinate and then run in a straight line to 1 mm above the coordinate. The computer control terminal sends a signal to drive the pneumatic gripper a to grasp the printing original.

[0058] (5) The computer control terminal reads the three-dimensional model and plans the printing path. The printing path is the model surface forming path and also the relative forming path in the present invention. The spatial position relationship is connected through various coordinate systems, namely the earth coordinate system W, the robot joint coordinate system {J}, the robot terminal working coordinate system K and the workpiece coordinate system L. The relevant spatial coordinate conversion relationship and the position setting process need to be considered in the design process. The earth coordinate system W is used for overall calibration, the joint coordinate system {J} is used for the forward and inverse solution calculation of the robot posture, and the working coordinate system K is used to calibrate the robot terminal posture, which is given by solving the target surface motion plan in the workpiece coordinate system. The workpiece coordinate system L, which changes in real time during the printing process, is used to set the spatial position relative to the zero point of the target surface. Assume that the coordinates of a point P on the surface in the workpiece coordinate system L are (x L ,y L ,z L ), a moving frame is established at a distance h from the surface normal, which is the workpiece coordinate system K at the center of the nozzle. The overall spatial coordinate system is referenced to Figure 4 .

[0059] (6) Then, the spatial coordinate transformation is performed, that is, the end nozzle is considered to be stationary during conformal printing, the printing material is considered to be moving, the coordinate system of the center point of the suction claw is the working coordinate system K2, and the coordinate system of the center point of the nozzle is the workpiece coordinate system L2. Assume that a point P on the surface is h below the nozzle injection point, and a moving frame is established at this point. Its posture matrix M is consistent with L2. The nozzle injection point is at the absolute lower coordinate (x I ,y I ,z I ), from which we know that the matrix can be expanded to the description matrix T of the coordinate system L2 under the coordinate system K2.

[0060]

[0061] Where R is the transposition of the nozzle injection point in the absolute coordinate system [x I ,y I ,z I ] T , M is the attitude matrix of the moving frame, and D is the position of the moving frame.

[0062] Set the identity matrix E 4×4 That is, the coordinate system description matrix of the coordinate system K2 under the coordinate system K2, so the working coordinate system K′2 of the suction claw center under the nozzle injection point coordinate system L2 is obtained.

[0063] TK′2=EK2

[0064] Among them, K′2 is the expansion matrix of the working coordinate system of the suction claw center under the nozzle injection point coordinate system L2, K2 is the suction claw center coordinate system matrix, and T is the description matrix of the coordinate system L2 under the coordinate system K2. Therefore, the relative forming path is converted into the actual path of the multi-joint, referring to Figure 5 The multi-joint robot a prints the conformal functional pattern on the surface according to the converted path and cooperates with the forming detection mechanism and the ink path system.

[0065] (7)Reference Figure 6 After the printing is completed, the multi-shutdown robot a runs to the precision detection posture and sends a signal. The computer control terminal drives the driving motor a in the forming detection mechanism to drive the clamping mechanism to rotate 90° so that the detection camera is located directly above the printing substrate. The forming position accuracy is detected and calculated. The final forming key point position accuracy is 0.629mm.

[0066] (8) After the precision test is completed, the multi-shutdown robot a grabs the formed original and transports it to 200 mm above the target position on the conveyor mechanism, and then runs in a straight line to 1 mm above the coordinate. The computer control terminal sends a signal to drive the motor b to rotate in the opposite direction at a speed of 3 r / min to drive the conveyor belt to transport the printed original to the inspection field of the visual inspection system a. When the visual inspection system a detects that the target object is 100 mm away from the target position, it sends a signal to the computer control terminal to cause the drive motor b to slow down and stop to within 5 mm of the target position. Then, the visual inspection system a calibrates the original position information and calculates the grabbing position and sends it to the computer control terminal. Figure 8 , the computer control terminal sends a grabbing command to drive the multi-joint robot b in the loading and unloading mechanism to run to 200mm above the coordinate and then run in a straight line to 1mm above the coordinate, and sends a signal to drive the pneumatic gripper b to grab the printing original and place it in the cargo box; Fig. 9 This is a picture of a product processed using this embodiment.

[0067] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above technical features.

Claims

1. A spatial multi-degree-of-freedom conformal structure array inkjet forming device, including the entire production automation device; characterized in that: The automated production device comprises a multi-joint robot grasping mechanism (14), an ink path system (21), a loading and unloading mechanism (23), a conveying mechanism (17) and a forming detection mechanism (7); the conveying mechanism (17) and an emergency stop control button (19) are located on the right side of the multi-joint robot grasping mechanism (14), and the ink path system (21) and the forming detection mechanism (7) are located on the front side; the ink path system (21) is connected to the forming detection mechanism (7) via a clamping mechanism (6).

2. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 1, characterized in that: The multi-joint robot grasping mechanism (14) comprises a device base (20), a multi-joint robot a (13), and a pneumatic suction claw a (11). The end of the axis one of the multi-joint robot a (13) is connected to the device base (20) via a fixing bolt, the axis six of the multi-joint robot a (13) is connected to the pneumatic suction claw a (11) via a connecting flange, the air pipe of the pneumatic suction claw a (11) is connected to the air hole interface of the axis four, and the cable and the cable of the multi-joint robot a (13) are fixed on the axis two.

3. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 1, characterized in that: The forming detection mechanism (7) comprises an array nozzle drive plate (1), an ink supply and power supply circuit (2), a detection camera (3), a drive motor a (4), a reduction gear set (5), a clamping mechanism (6), a nozzle bracket (8) and an array nozzle (9); the ink supply and power supply circuit (2) is a hollow structure, and contains ink inlet, ink return and circuit circuits; the drive motor a (4) is connected to the reduction gear set (5) via a rotating shaft; the end of the reduction gear set (5) is connected to the clamping mechanism (6); the end of the clamping mechanism (6) clamps the nozzle bracket (8) and the detection camera (3); the nozzle drive plate (1) and the array nozzle (9) are installed in the nozzle bracket.

4. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 1, characterized in that: The loading and unloading mechanism (23) comprises a base plate (24), a multi-joint robot b (22), and a pneumatic gripper b (25); the end of the axis of the multi-joint robot b (22) is connected to the base plate (24) via a fixing bolt, the axis four of the multi-joint robot b (22) is connected to the pneumatic gripper b (25) via a connecting flange, the air pipe of the pneumatic gripper b (25) is connected to the air hole interface of the axis three, and the cable and the cable of the multi-joint robot b (22) are fixed on the axis two.

5. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 1, characterized in that: The conveying mechanism (17) comprises a conveyor belt frame (15), a visual inspection camera a (16), a visual inspection camera b (18), a drive motor b (26) and an emergency stop control button (19); the visual inspection camera a (16) and the visual inspection camera b (18) are located at two ends of the conveyor belt frame (15) on a side away from the loading and unloading mechanism (23), the drive motor b (26) is located at an end of the conveying mechanism (17) close to the loading and unloading mechanism (23), and the emergency stop control button (19) is located on the right side of an end of the loading and unloading mechanism (23) close to the forming inspection mechanism (7).

6. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 1, characterized in that: The ink circuit system (21) comprises an ink supply system, an ink circuit power module, an ink reservoir, and a print manager. The ink supply system, the ink circuit power module, the ink reservoir, and the print manager are packaged and integrated and are located between the forming detection mechanism (7) and the loading and unloading mechanism (23), and are uniformly controlled by the production line terminal.

7. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 5, characterized in that: The visual inspection camera a (16) and the visual inspection camera b (18) in the transmission mechanism detect the position of the object through the camera and transmit the position information and the grasping signal.

8. The multi-degree-of-freedom conformal structure array inkjet forming device according to claim 5, characterized in that: The driving motor b (26) in the conveying mechanism can receive signals sent by the visual inspection camera a (16) and the visual inspection camera b (18), and can realize forward and reverse rotation and adjust the workpiece transmission speed to cooperate with the loading and unloading mechanism (23) and the forming inspection mechanism (7) to realize grasping and loading and unloading.

9. The method for forming a curved surface multi-degree-of-freedom array by inkjet according to claim 1, characterized in that: The method comprises the following steps: Step 1: All mechanisms are powered on to feedback the normal operation signal of the mechanism and wait for the signal to start execution; Step 2: After receiving the signal, the terminal system sends a command to start forming, and the loading and unloading mechanism (23) grabs the printing substrate (10) and places it on the conveying mechanism (17); Step 3: After the visual inspection camera a (16) inspects the printing substrate, it sends a command to drive the motor b (26) to rotate forward to drive the conveyor belt to transport the printing substrate (10) to the sensing field of the visual inspection camera b (18); Step 4: After the visual inspection camera b (18) detects the printing substrate (10), it sends the position information of the printing substrate (10) and a grabbing instruction to the forming inspection mechanism (7); Step 5: After the multi-joint robot a (13) grabs the printing substrate (10) and moves to a designated position, it sends a signal to the ink path system (21), and then the multi-joint robot a (13) moves in coordination with the ink path system (21) to spray ink to perform curved surface printing; Step 6: After forming is completed, the multi-joint robot a (13) grabs the printing substrate (10) to a specified position and sends a signal to the drive motor a (4), and the motor drives the clamping mechanism (6) to rotate the detection camera (3) to the top of the printing substrate (10) to perform forming accuracy detection; Step 7: After the inspection is completed, the inspection camera (3) sends a command to the drive motor a (4) to rotate the clamping mechanism (6) to the printing position, and the multi-joint robot a (13) grabs the printing substrate (10) to a specified position on the conveying mechanism (17); Step 8: After the visual inspection camera b (18) inspects the printing substrate, it sends a command to drive the motor b (26) to reversely drive the conveyor belt to transport the printing substrate (10) to the sensing field of the visual inspection camera a (16); Step 9: After the visual inspection camera a (16) detects the printing substrate (10), it sends the position information and grabbing instructions of the printing substrate (10) that has been formed and inspected to the loading and unloading mechanism (23); Step 10: After receiving the instruction, the loading and unloading mechanism (23) grabs the printing substrate (10) and places it in the cargo box.

10. The method for forming a curved surface multi-degree-of-freedom array by inkjet according to claim 9, characterized in that: During the forming process of the curved surface element, it should be ensured that the normal distance of the curved surface at the end of the nozzle is strictly guaranteed to be between 3 and 5 mm, and the angle difference between the normal of the nozzle and the normal of the curved surface at the path point is guaranteed to be between 0 and 2°.

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