A quick-release positioning device and method for a nozzle

Abstract

This invention relates to the field of printing equipment and discloses a printhead quick-release positioning device and method. The device includes a back plate, a posture compensation module, a hinge structure, a quick-release module adapter plate, a quick-release module mounting plate, and a magnetic sensor array. The posture compensation module includes a first, second, and third piezoelectric ceramic actuator. The first piezoelectric ceramic actuator is mounted on the back plate, and the quick-release module mounting plate is mounted on the first piezoelectric ceramic actuator. The quick-release module mounting plate is used for magnetic adsorption connection with the printhead. The quick-release module mounting plate, the second piezoelectric ceramic actuator, and the third piezoelectric ceramic actuator are all mounted on the quick-release module adapter plate. The second piezoelectric ceramic actuator is connected to the quick-release module mounting plate through a first flexible hinge, and the third piezoelectric ceramic actuator is connected to the quick-release module mounting plate through a second flexible hinge. The magnetic sensor array is mounted on the back of the quick-release module mounting plate. This printhead quick-release positioning device can quickly install and remove printheads while maintaining high positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of printing equipment, and more particularly to a printhead quick-release positioning device and method. Background Technology

[0002] In the inkjet printing manufacturing process of OLED display panels, the printhead is the core component. Its positioning accuracy directly determines the printing quality of thin-film transistor (TFT) circuits, RGB pixels, etc. Any deviation at the micrometer level can lead to fatal defects such as short circuits, pixel color mixing, and moiré patterns, seriously affecting the yield rate.

[0003] In actual production, printheads, as precision and easily damaged parts, require frequent manual or automated quick disassembly and installation, such as for changing printheads to different inks, performing preventative maintenance, cleaning clogged nozzles, or switching production tasks. This disassembly and reassembly process faces serious challenges: traditional mechanical quick-release mechanisms (such as clips and guide rails) are quick to operate, but inevitably have backlash and mechanical wear, making it difficult to meet sub-micron level repeatability requirements; while screw fastening can ensure accuracy, it is time-consuming and labor-intensive, completely failing to meet the dual requirements of efficiency and accuracy in modern production lines. In other words, existing printheads cannot achieve quick assembly and disassembly while maintaining high positioning accuracy.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The first objective of this invention is to provide a quick-release positioning device for printheads, which aims to solve the technical problem that existing printheads cannot achieve quick loading and unloading while maintaining high positioning accuracy.

[0006] To achieve the above objectives, the solution provided by the present invention is as follows:

[0007] A quick-release positioning device for a nozzle includes a back plate, a posture compensation module, a hinge structure, a quick-release module adapter plate, a quick-release module mounting plate, and a magnetic sensor array. The posture compensation module includes a first piezoelectric ceramic actuator, a second piezoelectric ceramic actuator, and a third piezoelectric ceramic actuator. The first piezoelectric ceramic actuator is mounted on the back plate, and the quick-release module mounting plate is mounted on the first piezoelectric ceramic actuator. The quick-release module mounting plate is used for magnetic adsorption connection with the nozzle. The quick-release module adapter plate is provided with a first mounting groove, a second mounting groove, and a third mounting groove. The first mounting groove and the second mounting groove are respectively connected to the third mounting groove, and the first mounting groove... The first mounting slot is located in the first mounting slot. The second mounting slot is located in the second mounting slot in the third mounting slot in the longitudinal direction. The quick-release module mounting plate is located in the first mounting slot. The hinge structure includes a first flexible hinge and a second flexible hinge. The second piezoelectric ceramic actuator is installed in the second mounting slot and is connected to the quick-release module mounting plate through the first flexible hinge. The third piezoelectric ceramic actuator is installed in the third mounting slot and is connected to the quick-release module mounting plate through the second flexible hinge. The magnetic sensor array is installed on the back of the quick-release module mounting plate.

[0008] Preferably, three first piezoelectric ceramic actuators are provided, and the three first piezoelectric ceramic actuators are arranged in a triangular pattern on the back plate.

[0009] Preferably, there are two second mounting slots, both of which are located on the same side of the first mounting slot. There are two second piezoelectric ceramic actuators, each corresponding to one of the two second mounting slots. There are two first flexible hinges, each of which is connected to the quick-release module mounting plate via one of the first flexible hinges.

[0010] Preferably, the first flexible hinge includes a connecting block, a first flexible parallel beam, a first curved connecting beam, and a second curved connecting beam. The connecting block is connected to the second piezoelectric ceramic actuator. Two first flexible parallel beams are provided, with each of the first flexible parallel beams having its two ends connected to the connecting block and the quick-release module adapter plate, respectively. The first curved connecting beam is connected to the quick-release module mounting plate. The two ends of the second curved connecting beam are connected to the connecting block and the first curved connecting beam, respectively. The size of the second curved connecting beam is smaller than the size of the connecting block and the size of the first curved connecting beam.

[0011] Preferably, the magnetic sensing array includes a magnet array and a sensor array. The magnet array is mounted on the quick-release module mounting plate, and the sensor array includes at least six magnetic sensors. The magnetic sensors are evenly arranged in a ring around the magnet array with the adsorption center as the center. The nozzle is provided with a mounting base, which is a magnetic conductor. The quick-release module mounting plate is used for magnetic adsorption connection with the mounting base.

[0012] Preferably, the quick-release module mounting plate has a second mounting portion recessed inward on its front side. The second mounting portion is adapted to fit the mounting base. The second mounting portion has a first stop and a second stop. The first stop is horizontally arranged, the second stop is vertically arranged, and a 90° connection angle is formed between the first stop and the second stop.

[0013] The second objective of this invention is to provide a quick-release positioning method for a nozzle, which is based on the quick-release positioning device described above. The quick-release positioning method includes: acquiring raw magnetic field data output by a magnetic sensor array and preprocessing the raw magnetic field data to obtain preprocessed magnetic field data; solving the preprocessed magnetic field data to obtain the current nozzle position and calculating the deviation between the current nozzle position and the pre-installation position; if the deviation between the current nozzle position and the pre-installation position is greater than a preset deviation threshold, calculating a compensation parameter based on the deviation between the current nozzle position and the pre-installation position; and driving a pose compensation module to adjust the position of the quick-release module mounting plate according to the compensation parameter, thereby adjusting the nozzle position.

[0014] Preferably, the step of acquiring the raw magnetic field data output by the magnetic sensing array and preprocessing the raw magnetic field data to obtain preprocessed magnetic field data includes: acquiring the raw magnetic field data output by the magnetic sensing array, and performing differential amplification and filtering on the raw magnetic field data to obtain primary processed magnetic field data; processing the zero-point bias voltage of the primary processed magnetic field data to obtain secondary processed magnetic field data; and converting the secondary processed magnetic field data into a digital signal to obtain preprocessed magnetic field data.

[0015] Preferably, the step of solving the preprocessed magnetic field data to obtain the current nozzle position and calculating the deviation between the current nozzle position and the pre-installed position includes: constructing a magnetic dipole forward model, simplifying each magnetic unit in the magnet array of the magnetic sensing array into a magnetic dipole, and describing the mapping relationship between pose and magnetic field strength through a magnetic field function; transforming the difference between the preprocessed magnetic field data and the predicted value of the magnetic dipole forward model into a nonlinear least squares optimization problem, solving iteratively through the Levenberg-Marquardt algorithm to obtain the six-degree-of-freedom pose parameters of the current nozzle position; calculating the difference between the six-degree-of-freedom pose parameters of the current nozzle position and the parameters of the pre-installed position to obtain the current nozzle position, and calculating the deviation between the current nozzle position and the pre-installed position.

[0016] Preferably, if the deviation between the current nozzle position and the pre-installation position is greater than a preset deviation threshold, the compensation parameters are calculated based on the deviation between the current nozzle position and the pre-installation position, including: if the deviation between the current nozzle position and the pre-installation position is greater than the preset deviation threshold, the deviation between the current nozzle position and the pre-installation position is input into a pre-trained fully connected neural network to obtain the compensation displacement value of each piezoelectric ceramic actuator in the pose compensation module; each compensation displacement value is input into the corresponding pre-trained time series neural network model to obtain the initial voltage compensation value corresponding to each piezoelectric ceramic actuator; the actual displacement of each piezoelectric ceramic actuator is obtained, the difference between the actual displacement and the compensation displacement value of each piezoelectric ceramic actuator is calculated, and based on the difference between the actual displacement and the compensation displacement value of each piezoelectric ceramic actuator, the voltage correction value corresponding to each piezoelectric ceramic actuator is calculated by a PID controller; the initial voltage compensation value and the voltage correction value corresponding to each piezoelectric ceramic actuator are added together to obtain the final driving voltage corresponding to each piezoelectric ceramic actuator.

[0017] In this solution, the printhead can be magnetically attached to the quick-release module mounting plate, eliminating the need for complex alignment and simplifying the printhead assembly and disassembly process, thus increasing the speed of assembly and disassembly. At the same time, the combined transmission of the piezoelectric ceramic actuator and the flexible hinge, combined with the real-time sensing of the magnetic force sensor array on the back, enables precise driving of the piezoelectric ceramic actuator in the horizontal, vertical, and corresponding directions. Combined with the frictionless transmission of the flexible hinge, it can quickly correct the printhead's posture deviation while ensuring positioning accuracy. This not only meets the requirements of ease of operation but also adapts to the precision operation scenarios of printing equipment, achieving a dual improvement in convenience and positioning reliability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the combination of the nozzle quick-release positioning device, mounting base, and nozzle provided in the embodiment of the present invention. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the combination of the nozzle quick-release positioning device, mounting base, and nozzle provided in the embodiment of the present invention. Figure 2 ;

[0021] Figure 3 This is a schematic diagram of the combination of the nozzle quick-release positioning device, mounting base, and nozzle provided in the embodiment of the present invention. Figure 3 ;

[0022] Figure 4 yes Figure 3 Enlarged view of A in the middle;

[0023] Figure 5 This is a schematic diagram of the structure of the quick-release positioning device for the nozzle provided in an embodiment of the present invention;

[0024] Figure 6 This is a flowchart of the nozzle quick-release positioning method provided in the embodiments of the present invention.

[0025] Explanation of icon numbers:

[0026] 10. Backplate; 20. Posture compensation module; 21. First piezoelectric ceramic actuator; 22. Second piezoelectric ceramic actuator; 23. Third piezoelectric ceramic actuator; 30. Hinge structure; 31. First flexible hinge; 311. Connecting block; 312. First flexible parallel beam; 313. First curved connecting beam; 314. Second curved connecting beam; 32. Second flexible hinge; 40. Quick-release module adapter plate; 41. First mounting slot; 42. Second mounting slot; 43. Third mounting slot; 50. Quick-release module mounting plate; 51. Second mounting part; 52. First baffle; 53. Second baffle; 60. Magnet array; 70. Mounting base; 80. Nozzle. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0029] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0030] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0031] like Figures 1 to 5 As shown, this is a quick-release positioning device for the nozzle according to an embodiment of the present invention.

[0032] Please see Figures 1-5The quick-release positioning device for the nozzle in this embodiment of the invention includes a back plate 10, a posture compensation module 20, a hinge structure 30, a quick-release module adapter plate 40, a quick-release module mounting plate 50, and a magnetic sensor array. The posture compensation module 20 includes a first piezoelectric ceramic actuator 21, a second piezoelectric ceramic actuator 22, and a third piezoelectric ceramic actuator 23. The first piezoelectric ceramic actuator 21 is mounted on the back plate 10, and the quick-release module mounting plate 50 is mounted on the first piezoelectric ceramic actuator 21. The quick-release module mounting plate 50 is used for magnetic adsorption with the nozzle 80. The quick-release module adapter plate 40 is provided with a first mounting groove 41, a second mounting groove 42, and a third mounting groove 43. The first mounting groove 41 and the second mounting groove 42 are respectively connected to the third mounting groove 43. The three mounting slots are connected, and the first mounting slot 41 is located laterally adjacent to the third mounting slot 43, the second mounting slot 42 is located longitudinally adjacent to the third mounting slot 43, the quick-release module mounting plate 50 is located in the first mounting slot 41, the hinge structure 30 includes a first flexible hinge 31 and a second flexible hinge 32, the second piezoelectric ceramic actuator 22 is installed in the second mounting slot 42, and the second piezoelectric ceramic actuator 22 is connected to the quick-release module mounting plate 50 through the first flexible hinge 31, the third piezoelectric ceramic actuator 23 is installed in the third mounting slot 43, and the third piezoelectric ceramic actuator 23 is connected to the quick-release module mounting plate 50 through the second flexible hinge 32, and the magnetic sensor array is installed on the back of the quick-release module mounting plate 50.

[0033] In this embodiment, by setting piezoelectric ceramic actuators in three directions, six degrees of freedom for fine-tuning can be provided, forming a hierarchical structure of basic support, magnetic quick-release connection, and function execution.

[0034] In this embodiment, the printhead 80 is magnetically attached to the quick-release module mounting plate 50, allowing for easy installation and removal without complex alignment. This simplifies the printhead installation and removal process and increases the speed of installation and removal. Meanwhile, the combined transmission of the piezoelectric ceramic actuator and the flexible hinge, combined with the real-time sensing of the back magnetic sensor array, enables precise driving of the piezoelectric ceramic actuator in the horizontal, vertical, and corresponding directions. Combined with the frictionless transmission of the flexible hinge, this allows for rapid correction of the printhead's positional deviation while ensuring positioning accuracy. This satisfies the need for ease of operation and adapts to the precision operation scenarios of printing equipment, achieving a dual improvement in convenience and positioning reliability.

[0035] In this embodiment, three first piezoelectric ceramic actuators 21 are provided, and the three first piezoelectric ceramic actuators 21 are arranged in a triangular pattern on the back plate 10.

[0036] Furthermore, there are two second mounting slots 42, both of which are located on the same side of the first mounting slot 41. There are two second piezoelectric ceramic actuators 22, which are arranged one-to-one in the two second mounting slots 42. There are two first flexible hinges 31, and each second piezoelectric ceramic actuator is connected to the quick-release module mounting plate 50 through a first flexible hinge 31. That is, the nozzle quick-release positioning device in this embodiment has a total of 6 piezoelectric ceramic actuators, which can provide 6 degrees of freedom for fine adjustment.

[0037] In this embodiment, a first mounting portion is recessed on the back of the quick-release module mounting plate 50, and the magnet array 60 is installed in the first mounting portion.

[0038] It should be noted that the motion trajectory of the flexible hinge structure 30 is uniquely determined by the geometry of its thin-walled flexible groove, which has been optimized through finite element analysis, resulting in excellent repeatability and positioning accuracy. Through specific configuration designs (such as biaxial flexible hinges), unnecessary degrees of freedom can be precisely constrained, allowing only the required single-direction translation or rotation around a specific axis, playing a crucial role in precise guidance and motion decoupling.

[0039] In this embodiment, the first flexible hinge 31 is used to drive the quick-release module mounting plate 50 to translate along the X-axis and tilt around the Y-axis, and the second flexible hinge 32 is used to drive the quick-release module mounting plate 50 to translate along the Y-axis and tilt around the X-axis, which, together with the piezoelectric ceramic actuator, realizes six degrees of freedom fine adjustment.

[0040] In this embodiment, the first flexible hinge 31 includes a connecting block 311, a first flexible parallel beam 312, a first curved connecting beam 313, and a second curved connecting beam 314. The connecting block 311 is connected to the second piezoelectric ceramic actuator 22. There are two first flexible parallel beams 312, and the two ends of each first flexible parallel beam 312 are connected to the connecting block 311 and the quick-release module adapter plate 40, respectively. The first curved connecting beam 313 is connected to the quick-release module mounting plate 50. The two ends of the second curved connecting beam 314 are connected to the connecting block 311 and the first curved connecting beam 313, respectively. The size of the second curved connecting beam 314 is smaller than the size of the connecting block 311 and the size of the first curved connecting beam 313.

[0041] In this embodiment, both the first curved connecting beam 313 and the second curved connecting beam 314 are hyperbolic flexible.

[0042] In this embodiment, the first curved connecting beam 313 includes a connecting section and a first I-shaped arc segment and a second I-shaped arc segment disposed at both ends of the connecting section. The first I-shaped arc segment is connected to the quick-release module mounting plate 50, and the second I-shaped arc segment is connected to the second curved connecting beam 314.

[0043] In this embodiment, the second curved connecting beam 314 is arranged in an I-shape.

[0044] Understandably, because of the uniform stiffness of traditional rectangular straight beam connection structures, when subjected to external loads (such as tension or torque), the deformation will be distributed throughout the entire connection section, causing slight displacement of the rigid components (such as sensors or lenses) connected at both ends, which seriously affects the positional accuracy of precision mechanisms.

[0045] In this embodiment, the first curved connecting beam 313 and the second curved connecting beam 314, through deliberate thinning of the middle thin zone and stress guidance of the hyperbolic contour, completely limit deformation to the middle elastic zone. When the mechanism moves, the middle thin zone undergoes controllable elastic bending, while the rigid sections at both ends remain absolutely stationary, ensuring the posture stability of the connected components. Furthermore, the right-angle corners of a rectangular structure are areas of high stress concentration; when the mechanism moves repeatedly, microcracks are prone to form at the corners, eventually leading to fatigue fracture. The design of the first curved connecting beam 313 and the second curved connecting beam 314 significantly reduces the stress concentration factor.

[0046] Understandably, the core function of the first flexible parallel beam 312 is to limit the longitudinal displacement of the connecting block 311, allowing it to make precise translations only in the lateral direction.

[0047] In this embodiment, the structure of the second flexible hinge 32 is the same as that of the first flexible hinge 31. The first flexible hinge 31 is used to drive the quick-release module mounting plate 50 to move in the horizontal direction, and the second flexible hinge 32 is used to drive the quick-release module mounting plate 50 to move in the vertical direction.

[0048] In this embodiment, the nozzle 80 can be configured as a magnetic conductor, thereby enabling it to be magnetically attached to the quick-release module mounting plate 50. In practical applications, the nozzle 80 is provided with a mounting base 70, which is a magnetic conductor. By attaching the mounting base 70 to the quick-release module mounting plate 50, the nozzle 80 is fixed to the nozzle quick-release positioning device.

[0049] In this embodiment, the magnetic sensing array includes a magnet array 60 and a sensor array. The sensor array includes at least six magnetic sensors. The magnet array 60 is mounted on the quick-release module mounting plate 50. The mounting base is magnetically attached to the quick-release module mounting plate. The magnetic sensors are evenly arranged in a ring around the magnet array 60 with the adsorption center of the magnet array 60 as the center.

[0050] In this embodiment, the magnet array 60 employs a Hellbeck array of permanent magnets. By arranging permanent magnets with different magnetization directions in a specific sequence, the Hellbeck array can significantly enhance the magnetic field on one side while almost canceling it out on the other. The magnetic force direction of the magnet array 60 is as follows: Figure 4As shown, the cross points inwards perpendicular to the paper, and the circle points outwards perpendicular to the paper.

[0051] In this embodiment, the magnetic field coverage of the Hellbeck array in the horizontal (X-axis) and vertical (Y-axis) directions is designed to be slightly larger than the coverage of the corresponding magnet on the mounting base 70. This over-coverage design results in an uneven magnetic force acting on the quick-release module when it approaches the mounting base 70 in the early stages of the adsorption process. The horizontal and vertical components of this magnetic force form a strong directional bias pull, constantly attempting to pull the mounting base 70 towards the center region of the strongest magnetic field, i.e., the predetermined coarse positioning position.

[0052] In this embodiment, a second mounting portion 51 is formed by an inward recess on the front side of the quick-release module mounting plate 50. The second mounting portion 51 has a first baffle 52 and a second baffle 53. The first baffle 52 is horizontally arranged, and the second baffle 53 is vertically arranged. A 90° connection angle is formed between the first baffle 52 and the second baffle 53. The second mounting portion 51 is used to fit with the mounting base 70. When the nozzle 80 is installed, the mounting base 70 is installed on the second mounting portion 51, and the mounting base 70 abuts against the first baffle 52 and the second baffle 53 respectively.

[0053] Specifically, the first stop 52 and the second stop 53 together form an L-shaped precision reference coordinate system.

[0054] The second mounting slot 42 is located on the left side of the first mounting slot 41, the third mounting slot 43 is located on the upper side of the first mounting slot 41, the left side of the mounting base 70 abuts against the first stop 52, and the upper side of the mounting base 70 abuts against the second stop 53.

[0055] Please see Figure 6 As shown, this embodiment of the invention also provides a quick-release positioning method for a nozzle, which is based on the quick-release positioning device for a nozzle as described above. The quick-release positioning method for a nozzle includes:

[0056] S101. Obtain the raw magnetic field data output by the magnetic force sensing array, and preprocess the raw magnetic field data to obtain preprocessed magnetic field data.

[0057] S102. Solve the pre-processed magnetic field data to obtain the current nozzle position, and calculate the deviation between the current nozzle position and the pre-installation position;

[0058] S103. If the deviation between the current nozzle position and the pre-installation position is greater than the preset deviation threshold, the compensation parameter is calculated based on the deviation between the current nozzle position and the pre-installation position.

[0059] S104. Drive the pose compensation module 20 according to the compensation parameters to adjust the position of the quick-release module mounting plate 50, so as to adjust the position of the nozzle 80.

[0060] In this embodiment, step S101 involves acquiring the raw magnetic field data output by the magnetic sensing array and preprocessing the raw magnetic field data to obtain preprocessed magnetic field data. This includes: acquiring the raw magnetic field data output by the magnetic sensing array and performing differential amplification and filtering on the raw magnetic field data to obtain primary processed magnetic field data; processing the zero-point bias voltage of the primary processed magnetic field data to obtain secondary processed magnetic field data; and converting the secondary processed magnetic field data into a digital signal to obtain preprocessed magnetic field data.

[0061] In this embodiment, in step S101, the original magnetic field data output by the magnetic sensing array is acquired, and the original magnetic field data is preprocessed to obtain preprocessed magnetic field data. Before this, the method further includes: generating a directional bias force through the magnet array 60 of the magnetic sensing array to pull the mounting base 70 to move the nozzle 80 to a preset reference position to complete the coarse positioning.

[0062] In this embodiment, step S102 involves solving the preprocessed magnetic field data to obtain the current nozzle position and calculating the deviation between the current nozzle position and the pre-installed position. This includes: constructing a magnetic dipole forward model, simplifying each magnetic unit in the magnet array 60 of the magnetic sensing array into a magnetic dipole, and describing the mapping relationship between pose and magnetic field strength through a magnetic field function; transforming the difference between the preprocessed magnetic field data and the predicted value of the magnetic dipole forward model into a nonlinear least squares optimization problem, and solving iteratively using the Levenberg-Marquardt algorithm to obtain the six-degree-of-freedom pose parameters of the current nozzle position; calculating the difference between the six-degree-of-freedom pose parameters of the current nozzle position and the parameters of the pre-installed position to obtain the current nozzle position, and calculating the deviation between the current nozzle position and the pre-installed position.

[0063] Understandably, in this embodiment, the readings of the magnetic sensor array are compared with the forward model of the magnetic dipole by the built-in inverse calculation algorithm to solve a nonlinear least squares optimization problem, and the pose deviation of the current six degrees of freedom, that is, the deviation between the current nozzle position and the pre-installation position, is calculated in real time.

[0064] In this embodiment, the forward magnetic dipole model describes the magnetic field strength at any point in space when the pose of the permanent magnet array is determined. This is the physical basis of the entire solution.

[0065] Typically, each magnetic unit in a permanent magnet array can be simplified as a magnetic dipole. A magnetic moment is... The magnetic dipole in position vector The magnetic field generated at the location It can be represented by a magnetic field function, which is expressed as:

[0066]

[0067] In the formula, The magnetic moment is The magnetic dipole at position The magnetic field vector at that location (sensor measurement). The permeability of free space, Let be the magnetic moment vector of the magnetic dipole. Let be the position vector from the magnetic dipole to the sensor of the magnetic force sensing array. It is the mode length of the magnetic dipole.

[0068] In this embodiment, it is assumed that the deviation between the current nozzle position and the pre-installation position is:

[0069] .

[0070] No. The readings of a single sensor can be represented as a complex function:

[0071]

[0072] In the formula, It is the first Predicted readings from each sensor, It is the forward model function of the magnetic dipole, which encapsulates the aforementioned physical formulas for the magnetic dipole. This is the nozzle's current pose deviation vector. These are the parameters of the magnet array 60 (such as the position and magnetic moment of each magnetic dipole). These are the parameters of the sensor array (such as the fixed position and orientation of each sensor).

[0073] In this embodiment, after reading the change in sensor values, it is necessary to deduce which pose it represents. This led to the change. It's a "reverse problem." Suppose we have a measured vector of sensor readings. The goal is to find an optimal pose state vector. This makes the predicted reading vector calculated by the magnetic dipole positive model... with measured reading vector The difference between them is minimal.

[0074] This typically transforms into a nonlinear least squares optimization problem:

[0075] Find to minimize:

[0076] in It is a loss function that measures the difference between predictions and actual results. It is the squared second norm of the vector sum (i.e., the Euclidean distance).

[0077] Furthermore, solve directly It is extremely difficult because of the function. It is nonlinear and complex. Therefore, iterative numerical optimization algorithms are used, such as the Levenberg-Marquardt algorithm, which is very suitable for solving nonlinear least squares problems. It adaptively switches between the Gauss-Newton method and the steepest descent method, combining convergence speed and stability.

[0078] The simplified solution process is as follows:

[0079] Initialization: Given an initial pose guess (Usually set to zero, i.e.) ).

[0080] Iteration:

[0081] In the In the next iteration, the current guess is calculated. Predicted readings below and loss .

[0082] Calculate the Jacobian matrix This matrix is ​​crucial; its elements... , indicating the first The readings of the first sensor are compared with the first... Sensitivity of deviation for each degree of freedom.

[0083] Solve an equation: To calculate a position step vector . It is the identity matrix. This is the pose guess value for the k-th iteration. This is the deviation vector between the measured reading and the theoretical reading.

[0084] Updated speculation: .

[0085] Convergence criterion: If the loss Small enough, or step size If the value can be ignored, then the algorithm is considered to have converged. This is the calculated pose deviation. Otherwise, continue iterating.

[0086] In this embodiment, the sensor signal may be processed before the calculation. Filtering (such as Kalman filtering) is performed to suppress environmental magnetic and electronic noise, improve the signal-to-noise ratio, and thus make the reverse calculation more stable and accurate.

[0087] Understandably, in theory, it is possible to obtain precise information through measurement. and However, this is very difficult in practice. A more common approach is data-driven calibration:

[0088] A high-precision rangefinder (such as a laser interferometer) is used to control the actuator in a series of known positions. , ,..., Move downwards.

[0089] Record the sensor reading vector at each pose. , ,..., .

[0090] In this way, a huge dataset can be obtained. Therefore, a polynomial model or neural network model can be used to directly fit the data from... arrive The mapping relationship is used to bypass complex physical models. In actual operation, the real-time readings are directly used. By inputting this trained model, the pose can be quickly output. .

[0091] In this embodiment, in step S103, if the deviation between the current nozzle position and the pre-installation position is greater than a preset deviation threshold, compensation parameters are calculated based on the deviation between the current nozzle position and the pre-installation position. This includes: if the deviation between the current nozzle position and the pre-installation position is greater than the preset deviation threshold, the deviation between the current nozzle position and the pre-installation position is input into a pre-trained fully connected neural network to obtain the compensation displacement value of each piezoelectric ceramic actuator in the pose compensation module 20; each compensation displacement value is input into the corresponding pre-trained time series neural network model to obtain the initial voltage compensation value corresponding to each piezoelectric ceramic actuator; the actual displacement of each piezoelectric ceramic actuator is obtained, the difference between the actual displacement and the compensation displacement value of each piezoelectric ceramic actuator is calculated, and the voltage correction value corresponding to each piezoelectric ceramic actuator is calculated by a PID controller based on the difference between the actual displacement and the compensation displacement value of each piezoelectric ceramic actuator; the initial voltage compensation value and the voltage correction value corresponding to each piezoelectric ceramic actuator are added together to obtain the final driving voltage corresponding to each piezoelectric ceramic actuator.

[0092] In this embodiment, the preset deviation threshold is 0.3μm~0.5μm.

[0093] In this embodiment, the compensation displacement value of each piezoelectric ceramic actuator in the pose compensation module 20 is... .

[0094] In this embodiment, the fully connected neural network includes an input layer, a hidden layer, and an output layer. The input layer includes 6 neurons, corresponding to... The algorithm has six dimensions. It employs four hidden layers, each containing 512 neurons, and uses the LeakyReLU activation function to mitigate the vanishing gradient problem. The output layer consists of six neurons, using a linear activation function to output the compensated displacement value for each piezoelectric actuator.

[0095] The training configuration for a fully connected neural network is as follows:

[0096] Loss function: Mean Squared Error (MSE).

[0097] Optimizer: Adam, with an initial learning rate of 1e-4 and a learning rate decay strategy.

[0098] Regularization: Dropout (random deactivation technique) with a ratio of 0.1 is used in the hidden layer, and L2 weight decay (coefficient 1e-5) is added to the loss function to strongly suppress overfitting.

[0099] Batch processing: Set the batch size to 128.

[0100] Training monitoring: The validation set loss is monitored in real time during training. When the validation set loss no longer decreases after 10 consecutive iterations, training is automatically stopped and the system is restored to the optimal model parameters.

[0101] In this embodiment, a time-series neural network model is trained for each piezoelectric ceramic actuator to learn its dynamic hysteresis inverse characteristics. The pre-trained time-series neural network model is a Long Short-Term Memory (LSTM) network model. The LSTM network model adopts a two-layer LSTM structure, with each layer containing 64 hidden units, followed by a fully connected output layer. The training of the LSTM network model is similar to that of the fully connected neural network, using MSE loss and the Adam optimizer. The key is to ensure that the training data contains both rising and falling trajectories, i.e., the elongation and contraction of the piezoelectric ceramic actuator, to fully describe the hysteresis loop.

[0102] In this embodiment, an amplitude coverage [0, ] is applied to a single piezoelectric ceramic actuator. The low-frequency triangular wave voltage should have a sufficiently long period (e.g., 100 seconds) to ensure quasi-static measurement and avoid dynamic interference. Simultaneously, sinusoidal wave data of different frequencies should also be collected to enhance the model's dynamic robustness, and high-frequency data should be recorded synchronously. Voltage at time and displacement .

[0103] Understandably, hysteresis is a nonlinearity with a memory effect, where the output depends not only on the current input but also on the historical state.

[0104] Therefore, when constructing samples, a time window length is set. (like The input feature is a vector containing historical information. , , ..., , , , ..., The reason why this includes This is because the goal is for the model to predict the corresponding voltage value based on historical information and the current required displacement, with the target output being... .

[0105] When constructing the samples, the entire time series data is transformed into hundreds of thousands of training samples using the sliding window method.

[0106] In this embodiment, the compensated displacement value of each piezoelectric ceramic actuator in the pose compensation module 20 is input into the pre-trained time series neural network model corresponding to each piezoelectric ceramic actuator to obtain the initial voltage compensation value corresponding to each piezoelectric ceramic actuator. For the first... A piezoelectric ceramic actuator retrieves past data from the historical buffer. Data for each period: [ , ..., , , , ..., ]. Compare historical data with current data. The input vectors are combined and fed into a pre-trained time-series neural network model corresponding to each piezoelectric ceramic actuator to obtain the initial voltage compensation value corresponding to each piezoelectric ceramic actuator.

[0107] In this embodiment, for the first The first piezoelectric ceramic actuator, from the first The piezoelectric ceramic actuator's built-in high-resolution displacement sensor reads its true displacement. Based on the difference between the actual displacement and the compensated displacement value of each piezoelectric ceramic actuator, the voltage correction value corresponding to each piezoelectric ceramic actuator is calculated by the PID controller.

[0108] In this embodiment, in step S104, after adjusting the position of the nozzle 80, the corrected magnetic field data output by the magnetic force sensing array is obtained, and the corrected magnetic field data is preprocessed and calculated to obtain the corrected nozzle position. The deviation value between the corrected nozzle position and the pre-installed position is calculated. If the deviation value between the corrected nozzle position and the pre-installed position is not greater than the preset deviation threshold, the position of the pose compensation module 20 is locked. If the deviation value between the corrected nozzle position and the pre-installed position is greater than the preset deviation threshold, steps S101-S104 are repeated.

[0109] In this embodiment of the invention, magnetic field data is collected by a magnetic sensor array and the current position of the nozzle 80 is accurately obtained through preprocessing and calculation. The deviation value between the nozzle 80 and the pre-installation position is calculated in real time. When the deviation exceeds a preset threshold, compensation parameters are automatically generated and the pose compensation module 20 is driven to adjust the position of the quick-release module mounting plate 50, thereby realizing dynamic correction of the nozzle position. This not only significantly improves the positioning accuracy and installation consistency of the nozzle 80 during quick-release, reducing the operation cost and error of manual adjustment, but also significantly improves the efficiency and reliability of nozzle 80 installation through an automated deviation detection and compensation mechanism. This ensures that the nozzle 80 can quickly return to the accurate working position when reinstalled after quick-release, adapting to various application scenarios with high requirements for nozzle 80 positioning accuracy.

[0110] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A nozzle quick release positioning device, characterized in that, The back plate, the pose compensation module, the hinge structure, the quick release module adapter plate, the quick release module mounting plate and the magnetic force sensing array, the pose compensation module includes a first piezoelectric ceramic actuator, a second piezoelectric ceramic actuator and a third piezoelectric ceramic actuator; the first piezoelectric ceramic actuator is installed on the back plate, the quick release module mounting plate is installed on the first piezoelectric ceramic actuator, the quick release module mounting plate is used for being connected with the nozzle by magnetic adsorption, the quick release module adapter plate is provided with a first installation slot, a second installation slot and a third installation slot, the first installation slot and the second installation slot are communicated with the third installation slot respectively, and the first installation slot is arranged at the transverse adjacent position of the third installation slot, the second installation slot is arranged at the longitudinal adjacent position of the third installation slot, the quick release module mounting plate is located in the first installation slot, the hinge structure includes a first flexible hinge and a second flexible hinge, the second piezoelectric ceramic actuator is installed in the second installation slot, and the second piezoelectric ceramic actuator is connected with the quick release module mounting plate through the first flexible hinge, the third piezoelectric ceramic actuator is installed in the third installation slot, and the third piezoelectric ceramic actuator is connected with the quick release module mounting plate through the second flexible hinge, and the magnetic force sensing array is installed on the back of the quick release module mounting plate; the first flexible hinge includes a connecting block, a first flexible parallel beam, a first curved connecting beam and a second curved connecting beam, the connecting block is connected with the second piezoelectric ceramic actuator, the first flexible parallel beam is provided with two, and the two ends of each first flexible parallel beam are connected with the connecting block and the quick release module adapter plate respectively, the first curved connecting beam is connected with the quick release module mounting plate, and the two ends of the second curved connecting beam are connected with the connecting block and the first curved connecting beam respectively, and the size of the second curved connecting beam is smaller than the size of the connecting block and the size of the first curved connecting beam; the first curved connecting beam includes a connecting section, a first I-shaped arc section and a second I-shaped arc section arranged at the two ends of the connecting section, the first I-shaped arc section is connected with the quick release module mounting plate, and the second I-shaped arc section is connected with the second curved connecting beam; the second curved connecting beam is arranged in an I-shaped mode.

2. The nozzle quick release positioning device of claim 1, wherein, The first piezoelectric ceramic actuator is provided with three, and the three first piezoelectric ceramic actuators are arranged in a triangular distribution on the back plate.

3. The nozzle quick release positioning device of claim 1, wherein The second installation slot is provided with two, and the two second installation slots are arranged on the same side of the first installation slot, the second piezoelectric ceramic actuator is provided with two, the two second piezoelectric ceramic actuators are arranged in the two second installation slots one by one, and the first flexible hinge is provided with two, each second piezoelectric ceramic actuator is connected with the quick release module mounting plate through one first flexible hinge.

4. The nozzle quick release positioning device of claim 1, wherein, The magnetic force sensor array comprises a magnet array and a sensor array, the magnet array is mounted on the quick-release module mounting plate, the sensor array comprises at least six magnetic force sensors, the magnetic force sensors are arranged in a ring around the center of the magnet array, the nozzle is provided with a mounting base, the mounting base is a magnetic conductor, and the quick-release module mounting plate is used for magnetic adsorption connection with the mounting base.

5. The nozzle quick release positioning device of claim 4, wherein, The front surface of the quick-release module mounting plate is inwardly recessed to form a second mounting portion, the second mounting portion is used for adapting to the mounting base, the second mounting portion is formed with a first stop edge and a second stop edge, the first stop edge is horizontally arranged, the second stop edge is vertically arranged, and a 90° connection angle is formed between the first stop edge and the second stop edge.

6. A method for quick release positioning of a showerhead, comprising: The nozzle quick-release positioning method is realized based on the nozzle quick-release positioning device according to any one of claims 1-5, and the nozzle quick-release positioning method comprises: Obtaining raw magnetic field data output by the magnetic force sensor array, and pre-processing the raw magnetic field data to obtain pre-processed magnetic field data; Solving the pre-processed magnetic field data to obtain the current nozzle position, and calculating the deviation value of the current nozzle position from the pre-installation position; If the deviation value of the current nozzle position from the pre-installation position is greater than a preset deviation threshold, a compensation parameter is calculated according to the deviation value of the current nozzle position from the pre-installation position; The position of the quick-release module mounting plate is adjusted by driving the pose compensation module according to the compensation parameter, so as to adjust the position of the nozzle.

7. The method of claim 6, wherein, The obtaining of the raw magnetic field data output by the magnetic force sensor array and the pre-processing of the raw magnetic field data to obtain the pre-processed magnetic field data comprises: Obtaining raw magnetic field data output by the magnetic force sensor array, and pre-processing the raw magnetic field data to obtain pre-processed magnetic field data; Processing the zero-bias voltage of the once-processed magnetic field data to obtain twice-processed magnetic field data; Converting the twice-processed magnetic field data into a digital signal to obtain the pre-processed magnetic field data.

8. The method of claim 6, wherein the nozzle quick release positioning method is characterized by, The solving of the pre-processed magnetic field data to obtain the current nozzle position and the calculation of the deviation value of the current nozzle position from the pre-installation position comprise: A magnetic dipole forward model is constructed, each magnetic unit in the magnet array of the magnetic force sensor array is simplified as a magnetic dipole, and the mapping relationship between the pose and the magnetic field strength is described through a magnetic field function; The difference between the pre-processed magnetic field data and the predicted value of the magnetic dipole forward model is converted into a nonlinear least squares optimization problem, and the six-degree-of-freedom pose parameters of the current nozzle position are obtained by iterative solution through the Levenberg-Marquardt algorithm; The difference between the six-degree-of-freedom pose parameters of the current nozzle position and the parameters of the pre-installation position is calculated to obtain the current nozzle position, and the deviation value of the current nozzle position from the pre-installation position is calculated.

9. The method of claim 6, wherein the nozzle quick release positioning method is characterized by, The compensation parameter is calculated according to the deviation value of the current nozzle position from the pre-installation position if the deviation value of the current nozzle position from the pre-installation position is greater than a preset deviation threshold, comprising: If the deviation value of the current nozzle position and the pre-installation position is greater than the preset deviation threshold value, the deviation value of the current nozzle position and the pre-installation position is input into the pre-trained full connection neural network to obtain a compensation displacement value of each piezoelectric ceramic actuator in the pose compensation module; Each compensation displacement value is input into a corresponding pre-trained time sequence neural network model to obtain an initial voltage compensation value corresponding to each piezoelectric ceramic actuator; The real displacement of each piezoelectric ceramic actuator is obtained, the difference between the real displacement and the compensation displacement value of each piezoelectric ceramic actuator is calculated, and the voltage correction value corresponding to each piezoelectric ceramic actuator is calculated through a PID controller according to the difference between the real displacement and the compensation displacement value of each piezoelectric ceramic actuator; The initial voltage compensation value corresponding to each piezoelectric ceramic actuator is added to the voltage correction value to obtain a final driving voltage corresponding to each piezoelectric ceramic actuator.

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