Automatic visual alignment wire welding machine for endoscope

Abstract

The invention discloses an automatic visual alignment wire bonder for an endoscope, which belongs to the technical field of wire bonders, and comprises a cabinet, a bearing mechanism, a special clamp arranged above the cabinet, a visual mechanism, a positioning mechanism, a wire bonder and a wire bonder, comprising a first optical vision module and a second optical vision module which are arranged above the machine cabinet, a welding point is shot through the first optical vision module and the second optical vision module from different angles and transmitted to the image processor so as to obtain a three-dimensional image of the welding point, and the executing mechanism comprises a precise welding head arranged above the machine cabinet. According to the laser precise welding device, the welding requirements of endoscopes of different specifications are met through the bearing mechanism, the universality of the device is improved, alignment errors are recognized in a high-precision mode through the visual mechanism, the defective rate of products is reduced, precise elements are protected in the welding process through the executing mechanism, and the maintenance cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of wire bonding machine technology, and particularly relates to an automatic visual alignment wire bonding machine for endoscopes. Background Technology

[0002] An endoscope is a medical device that enters the body through natural cavities or tiny incisions to observe, diagnose, or treat diseases. It mainly consists of a lens, a light source, an imaging system, and an operating channel. It can directly display lesions in internal tissues and supports minimally invasive surgical procedures. It is characterized by minimal trauma, rapid recovery, and high precision. With the development of minimally invasive medical technology, endoscopes, as core diagnostic and treatment equipment, are evolving towards miniaturization and high pixel count. The endoscope integrates complex image sensors, chips, and signal transmission cables. Its solder pad size has entered the micrometer level, which places extremely high demands on the soldering process.

[0003] Existing wire bonding machines have a fixed structure, low adjustment accuracy, and limited range, making them difficult to adapt to the wire bonding production needs of endoscopes of different specifications. Existing wire bonding machines lack effective vibration reduction measures, and the tiny vibrations generated by mechanical movement can easily cause micron-level solder joint misalignment. The endoscope solder pads are tiny, and the alignment error of existing wire bonding machines is difficult to control, resulting in poor welding consistency between different batches of products and a high defect rate. The endoscope tip integrates precision solid-state imaging devices and optical lenses, which are extremely sensitive to heat and are prone to poor soldering or false soldering due to unstable temperature control. The high temperature during the welding process can cause thermal damage to the lens, resulting in damage to precision electronic components and increased maintenance costs. Summary of the Invention

[0004] The purpose of this invention is to address the problems of insufficient spatial positioning and versatility, poor visual alignment accuracy, and inadequate welding quality control and protection of heat-sensitive components in existing wire bonding machines, and to propose an automatic visual alignment wire bonding machine for endoscopes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An automated visual alignment and wire bonding machine for endoscopes includes a cabinet, a support mechanism including a dedicated clamp located above the cabinet to hold the endoscope in place for subsequent operations, a vision mechanism including a first optical vision module and a second optical vision module located above the cabinet to capture images of the bonding point from different angles and transmit them to an image processor to obtain a stereoscopic image of the bonding point, and an execution mechanism including a precision welding head located above the cabinet to perform laser precision welding on the bonding point.

[0006] As a further description of the above technical solution: The supporting mechanism also includes a linear guide rail located on the top of the cabinet and a moving platform located outside the linear guide rail, with the inner wall of the moving platform slidably connected to the outer side of the linear guide rail.

[0007] As a further description of the above technical solution: The supporting mechanism also includes a guide plate located on the top of the cabinet, a guide seat located on one side of the outer wall of the mobile platform, with the inner wall of the guide seat slidably connected to the outer wall of the guide plate, and a stepper motor located on the other side of the outer wall of the mobile platform.

[0008] As a further description of the above technical solution: The bearing mechanism also includes a shock absorber seat located on top of the mobile platform, a turntable located on top of the shock absorber seat, a special clamp connected to the top of the turntable, and a wire clamp located on top of the shock absorber seat.

[0009] As a further description of the above technical solution: The vision mechanism also includes an X-axis guide rail located at the top of the cabinet, a Y-axis guide rail located above the X-axis guide rail and slidably connected to it, and a micro-motion platform located at the top of the Y-axis guide rail and slidably connected to it. The first optical vision module is connected to the top of the micro-motion platform.

[0010] As a further description of the above technical solution: The vision mechanism also includes a shadowless cold light lamp located at one end of the first optical vision module, a lifting platform located at the top of the cabinet, a second optical vision module located at the top of the lifting platform, and a display screen located at the top of the cabinet.

[0011] As a further description of the above technical solution: The actuator also includes an attitude adjuster located above the cabinet; a laser located on top of the attitude adjuster; and a precision welding head connected to one end of the laser.

[0012] As a further description of the above technical solution: The actuator also includes a gas tank located on one side of the laser, which protects the nozzle located outside the precision welding head.

[0013] As a further description of the above technical solution: The actuator also includes a driver located on top of the micro-motion platform, an electric clamp located at one end of the driver, and a precision wire feed clamp located at the end of the driver where the electric clamp is located, with the precision wire feed clamp positioned between the electric clamps.

[0014] As a further description of the above technical solution: The bottom of the cabinet is provided with multiple legs around its axis, and the bottom of the cabinet is provided with multiple casters around its axis.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In this invention, by setting up a bearing mechanism, the shock-absorbing seat eliminates the influence of mechanical vibration on micron-level welding, and the three-axis linkage design ensures that it can adapt to the welding height and angle requirements of endoscopes of different specifications, thereby enhancing the versatility of the equipment.

[0016] 2. In this invention, by setting up a vision mechanism and using a high-precision optical vision module in conjunction with a vision algorithm, the recognition accuracy is greatly improved, the alignment error caused by the small size of the endoscope pad is reduced, and automatic calibration and shadowless illumination eliminate ambient light interference, ensuring the uniformity of the welding position of different batches of products and reducing the product defect rate.

[0017] 3. In this invention, by setting up an actuator, precise solder delivery and inert gas protection during the soldering process ensure that the solder joints are round and free of defects, avoid damage to the endoscope lens due to overheating, guarantee the soldering quality, and reduce maintenance costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the disassembled structure of an automatic visual alignment wire bonding machine for endoscopes proposed in this invention. Figure 2 This is a schematic diagram of the top view structure of an endoscope automatic visual alignment wire bonding machine proposed in this invention. Figure 3 For the present invention Figure 2 A magnified structural diagram of part A in the middle; Figure 4 This is a schematic diagram of the left-side structure of an endoscope automatic visual alignment wire bonding machine proposed in this invention. Figure 5 This is a front view structural diagram of an endoscope automatic visual alignment wire bonding machine proposed in this invention; Figure 6 This is a schematic diagram of the right side of the wire bonding machine structure of an automatic visual alignment wire bonding machine for endoscopes proposed in this invention.

[0019] Legend: 1. Cabinet; 2. Load-bearing mechanism; 201. Linear guide rail; 202. Moving platform; 203. Guide seat; 204. Guide plate; 205. Shock absorber seat; 206. Turntable; 207. Special fixture; 208. Stepper motor; 209. Wire clamp; 3. Vision mechanism; 301. First optical vision module; 302. Shadowless cold light lamp; 303. X-axis guide rail; 304. Y-axis guide rail; 305. Micro-motion platform; 306. Second optical vision module; 307. Lifting platform; 308. Display screen; 4. Actuator; 401. Laser; 402. Gas tank; 403. Protective nozzle; 404. Precision welding head; 405. Driver; 406. Electric clamp; 407. Precision wire feed clamp; 408. Attitude adjuster; 5. Support leg; 6. Casters. Detailed Implementation

[0020] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-6 This invention provides a technical solution: an automatic visual alignment and wire bonding machine for endoscopes, including a cabinet 1, a support mechanism 2 including a special clamp 207 disposed above the cabinet 1, which clamps the endoscope to fix its position for subsequent operations, a vision mechanism 3 including a first optical vision module 301 and a second optical vision module 306 disposed above the cabinet 1, which captures images of the welding point from different angles and transmits them to an image processor to obtain a three-dimensional image of the welding point, and an execution mechanism 4 including a precision welding head 404 disposed above the cabinet 1, which performs laser precision welding on the welding point.

[0022] The support mechanism 2 also includes a linear guide rail 201, which is located on the top of the cabinet 1, and a moving platform 202, which is located outside the linear guide rail 201, and the inner wall of the moving platform 202 is slidably connected to the outside of the linear guide rail 201.

[0023] The support mechanism 2 also includes a guide plate 204, which is located on the top of the cabinet 1; a guide seat 203, which is located on one side of the outer wall of the mobile platform 202, and the inner wall of the guide seat 203 is slidably connected to the outer wall of the guide plate 204; and a stepper motor 208, which is located on the other side of the outer wall of the mobile platform 202.

[0024] The bearing mechanism 2 also includes a shock absorber 205, which is located on the top of the mobile platform 202; a turntable 206, which is located on the top of the shock absorber 205; a special clamp 207 connected to the top of the turntable 206; and a wire clamp 209, which is located on the top of the shock absorber 205.

[0025] Specifically, the endoscope module to be processed is placed on a special fixture 207, which clamps and fixes the endoscope module, ensuring that the welding surface of the endoscope module faces upward. A stepper motor 208 controls the movement of the moving platform 202. The guide seat 203 and the guide plate 204 work together to ensure high linearity of the displacement. The moving platform 202 moves along the linear guide rail 201, transporting the endoscope module into the visual acquisition area. The external control system controls the turntable 206 to rotate, which drives the special fixture 207 to rotate the endoscope module to the appropriate direction. The external control system controls the lifting platform 307 to adjust the height of the laser 401. The external control system adjusts the tilt angle of the laser 401 through the attitude adjuster 408, aligning the precision welding head 404 with the welding point. The wire to be welded is placed in the wire fixture 209, completing the initial material fixation.

[0026] It should be noted that the stepper motor 208 mentioned above is a discrete control motor that converts electrical pulse signals into angular or linear displacement. The core function of the stepper motor 208 is to achieve precise position and speed control. This part is well-known technology in the field and will not be elaborated here.

[0027] The vision mechanism 3 also includes an X-axis guide rail 303, which is located at the top of the cabinet 1; a Y-axis guide rail 304, which is located above the X-axis guide rail 303 and is slidably connected to the X-axis guide rail 304; a micro-motion platform 305, which is located on top of the Y-axis guide rail 304 and is slidably connected to the Y-axis guide rail 304; and a first optical vision module 301, which is connected to the top of the micro-motion platform 305.

[0028] The vision mechanism 3 also includes a shadowless cold light lamp 302, which is located at one end of the first optical vision module 301, a lifting platform 307, which is located at the top of the cabinet 1, and a second optical vision module 306 is located at the top of the lifting platform 307, and a display screen 308, which is located at the top of the cabinet 1.

[0029] Specifically, the mechanism has a built-in image processor. When the workpiece reaches the shooting position, the external control system activates the shadowless cold light 302 to illuminate the welding area, and activates the first optical vision module 301 and the second optical vision module 306. The first optical vision module 301 takes a planar picture from directly above to obtain the planar coordinates of the welding pad, while the second optical vision module 306, located on the lifting platform 307, takes a picture from another angle. The first and second optical vision modules 301 and 306 transmit the captured image data to the image processor. The image processor combines the data transmitted by the first and second optical vision modules 301 and 306 to create a three-dimensional image of the welding point, which is then displayed in real time on the display screen 308. An external control system controls a driver 405, which, mounted on a micro-motion platform 305, controls an electric clamp 406 to clamp inward. The electric clamp 406 causes the tip of a precision wire feed clamp 407 to hold the end of the wire. An image processor calculates the spatial deviation between the end of the wire and the center of the endoscope pad. The external control system drives the micro-motion platform 305 to make precise displacements through the mutual sliding of the X-axis guide rail 303 and the Y-axis guide rail 304. The micro-motion platform 305 performs micron-level displacement compensation. At the same time, an attitude adjuster 408 adjusts the deflection angle of the top laser 401. A turntable 206 rotates at a specific angle as needed to ensure that the stripping position of the wire is precisely aligned with the pad, so that the precision welding head 404 is accurately positioned above the point to be welded.

[0030] The actuator 4 also includes an attitude adjuster 408, which is located above the cabinet 1, a laser 401, which is located on top of the attitude adjuster 408, and a precision welding head 404 connected to one end of the laser 401.

[0031] The actuator 4 also includes an air tank 402, which is located on one side of the laser 401, and a protective nozzle 403, which is located outside the precision welding head 404.

[0032] The actuator 4 also includes a driver 405, which is located on the top of the micro-motion platform 305; an electric clamp 406, which is located at one end of the driver 405; and a precision wire feed clamp 407, which is located at the end of the driver 405 where the electric clamp 406 is located, and is located between the electric clamps 406.

[0033] The bottom of the cabinet 1 is provided with multiple support legs 5 around its axis, and the bottom of the cabinet 1 is provided with multiple casters 6 around its axis.

[0034] Specifically: the external control system controls the gas tank 402 to open, and sprays inert gas into the welding area through the protective nozzle 403 to prevent high-temperature oxidation. The laser 401 emits a laser beam, which is focused on the solder joint by the precision welding head 404. While the laser is heating, the precision wire feeder 407, in conjunction with the wire feeding device, accurately delivers the solder wire to the solder joint. The shock absorber 205 filters out minor vibrations outside the cabinet 1 during the welding process, ensuring the uniformity and fullness of the solder joint. After the welding is completed, the first optical vision module 301 and the second optical vision module 306 take pictures of the solder joint again. The image processor uses an algorithm to determine whether the size and wettability of the solder joint are qualified, and the results are fed back to the display screen 308.

[0035] Working principle: During use, the operator moves the equipment to the designated workstation using the casters 6 at the bottom of the cabinet 1 and levels and fixes it using the support legs 5. The operator places the endoscope module to be processed into the special fixture 207 of the support mechanism 2 using the loading robot. The operator starts the stepper motor 208 through the external control system, driving the support mechanism 2 into the vision acquisition area. The execution mechanism 4 and the vision mechanism 3 work together to achieve micron-level alignment between the wire and the pad. The operator drives each axis module to perform motion compensation according to the deviation value through the external control system. After positioning is completed, the operator starts the laser 401 and performs high-precision laser welding on the endoscope module under inert gas protection. After welding is completed, the operator performs real-time quality evaluation through the image processor and obtains the evaluation results from the display screen 308.

[0036] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic visual alignment and wire bonding machine for endoscopes, comprising a cabinet (1), characterized in that, The support mechanism (2) includes a special clamp (207) located above the cabinet (1), which clamps the endoscope to fix its position for easy subsequent operation; The vision mechanism (3) includes a first optical vision module (301) and a second optical vision module (306) located above the cabinet (1). The first optical vision module (301) and the second optical vision module (306) capture images of the welding point from different angles and transmit them to the image processor to obtain a stereoscopic image of the welding point. The actuator (4) includes a precision welding head (404) located above the cabinet (1), which performs laser precision welding on the welding point.

2. The automatic visual alignment and wire bonding machine for endoscopes according to claim 1, characterized in that, The supporting mechanism (2) also includes: Linear guide rail (201), the linear guide rail (201) is located on the top of the cabinet (1); The mobile platform (202) is located outside the linear guide rail (201), and the inner wall of the mobile platform (202) is slidably connected to the outside of the linear guide rail (201).

3. An automatic visual alignment and wire bonding machine for endoscopes according to claim 2, characterized in that, The supporting mechanism (2) also includes: Guide plate (204), the guide plate (204) is located on the top of the cabinet (1); A guide seat (203) is provided on one side of the outer wall of the mobile platform (202), and the inner wall of the guide seat (203) is slidably connected to the outer wall of the guide plate (204); A stepper motor (208) is located on the outer wall of the other side of the mobile platform (202).

4. An automatic visual alignment and wire bonding machine for endoscopes according to claim 2, characterized in that, The supporting mechanism (2) also includes: A shock absorber (205) is provided on the top of the mobile platform (202); Turntable (206), the turntable (206) is located on top of the shock absorber (205), and the special clamp (207) is connected to the top of the turntable (206); A wire clamp (209) is located on top of a shock absorber (205).

5. An automatic visual alignment and wire bonding machine for endoscopes according to claim 1, characterized in that, The vision mechanism (3) also includes: X-axis guide rail (303), which is located on the top of the cabinet (1); Y-axis guide rail (304), the Y-axis guide rail (304) is located above the X-axis guide rail (303), and the X-axis guide rail (303) and the Y-axis guide rail (304) are slidably connected; The micro-motion platform (305) is located on the top of the Y-axis guide rail (304) and is slidably connected to the Y-axis guide rail (304). The first optical vision module (301) is connected to the top of the micro-motion platform (305).

6. An automatic visual alignment and wire bonding machine for endoscopes according to claim 5, characterized in that, The vision mechanism (3) also includes: Shadowless cold light lamp (302), the shadowless cold light lamp (302) is located at one end of the first optical vision module (301); A lifting platform (307) is located on the top of the cabinet (1), and a second optical vision module (306) is located on the top of the lifting platform (307); The display screen (308) is located on the top of the cabinet (1).

7. An automatic visual alignment and wire bonding machine for endoscopes according to claim 1, characterized in that, The actuator (4) also includes: Attitude adjuster (408), the attitude adjuster (408) is located above the cabinet (1); A laser (401) is located on top of the attitude adjuster (408), and a precision welding head (404) is connected to one end of the laser (401).

8. An automatic visual alignment and wire bonding machine for endoscopes according to claim 7, characterized in that, The actuator (4) also includes: Gas tank (402), the gas tank (402) is located on one side of the laser (401); A protective nozzle (403) is provided outside the precision welding head (404).

9. An automatic visual alignment and wire bonding machine for endoscopes according to claim 5, characterized in that, The actuator (4) also includes: A driver (405) is located on top of a micro-motion platform (305); An electric clamp (406) is located at one end of a driver (405); A precision wire feed clamp (407) is provided at one end of the driver (405) which is equipped with an electric clamp (406), and the precision wire feed clamp (407) is provided between the electric clamps (406).

10. An automatic visual alignment and wire bonding machine for endoscopes according to claim 1, characterized in that, The cabinet (1) has multiple legs (5) around its axis at the bottom and multiple casters (6) around its axis at the bottom.

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