Three-dimensional curved surface micro-pen direct writing device based on six-axis mechanical arm

Abstract

The utility model relates to the technical field of micro-pen direct writing, and provides a three-dimensional curved surface micro-pen direct writing device based on a six-axis mechanical arm, which comprises a base, the six-axis mechanical arm, a mounting rack, a laser sensor and a plurality of direct writing printing heads, and is characterized in that the six-axis mechanical arm is fixedly arranged on the base; the mounting frame is fixedly arranged at the output end of the six-axis mechanical arm; the laser sensor is fixedly arranged on the mounting frame, and the relative position of the laser sensor and the mounting frame is adjustable; the direct writing printing heads are fixedly arranged on the mounting frame, and the multiple direct writing printing heads are arranged in a divergent mode. The direct-writing printing heads are installed at the output end of the six-axis mechanical arm through the installation frame, the moving flexibility of the direct-writing printing heads can be improved, so that a three-dimensional curved surface workpiece can be conveniently machined, the independence of the direct-writing printing heads is improved by arranging the multiple direct-writing printing heads in a divergent mode, and the machining precision of the three-dimensional curved surface workpiece is improved. Therefore, the machining efficiency of the workpiece is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of micro direct writing, in particular to a three-dimensional curved surface micro direct writing device based on a six-axis robotic arm. Background Technique

[0002] Direct writing technology refers to a technology that can deposit, transfer, or process materials on the surface of a certain material driven by pre-designed graphic data. It is a process technology that can achieve a variety of different functions and cross-scale (sub-micron to millimeter level) processing.

[0003] The utility model with the publication number CN204955750U discloses a device for micro direct writing electronic paste on a three-dimensional curved surface. The device includes a five-axis linkage workbench, a micro direct writing subsystem, and a control unit. The five-axis linkage workbench consists of an XY workbench, a Z-axis, and a rotary workbench. The micro direct writing subsystem consists of a micro pen array, a laser displacement sensor, and a fixture. The control unit is used to control the movement of the five-axis linkage workbench so that the laser displacement sensor and the micro pen array can move simultaneously, and control the vertical distance between the micro direct writing pen tip and the workpiece during the micro direct writing process. It can make the thickness of the electronic paste layer written on the uneven three-dimensional curved surface workpiece uniform, with good process stability, environmental friendliness, reduced manufacturing costs, and high reliability. It is applicable to the direct writing of various material substrates and electronic pastes with different properties, and can quickly obtain electronic components or thin film devices with good performance.

[0004] In the above technical solution, in order to be able to carry multiple electronic pastes at the same time, multiple micro pen tips are provided, and the multiple micro pen tips are connected to different electronic paste storage cavities; however, the multiple micro pen tips are arranged in an array, and their setting directions and setting lengths are the same. Especially when processing a three-dimensional curved surface workpiece, there is a problem that the micro pen tip is likely to interfere and collide with the workpiece, which is not conducive to improving the processing efficiency of the workpiece. Content of the Utility Model

[0005] In view of this, the utility model provides a three-dimensional curved surface micro direct writing device based on a six-axis robotic arm, which improves the independence of the direct writing print head and ensures the processing efficiency of the workpiece.

[0006] The technical solution of the utility model is realized as follows: The utility model provides a three-dimensional curved surface micro direct writing device based on a six-axis robotic arm, including a base, a six-axis robotic arm, a mounting bracket, a laser sensor, and a plurality of direct writing print heads, wherein,

[0007] The six-axis robotic arm is fixedly arranged on the base;

[0008] The mounting bracket is fixedly arranged on the output end of the six-axis robotic arm;

[0009] The laser sensor is fixedly arranged on the mounting bracket, and the relative positions of the two are adjustable;

[0010] The direct writing print head is fixedly arranged on the mounting bracket, and a plurality of the direct writing print heads are arranged in a divergent manner.

[0011] On the basis of the above technical solutions, preferably, the mounting bracket includes a T-shaped bracket and a fixing plate, wherein,

[0012] The T-shaped bracket is fixedly arranged on the output end of the six-axis robotic arm;

[0013] The fixing plate is fixedly arranged on one side of the T-shaped bracket away from the output end of the six-axis robotic arm. The laser sensor and the direct writing print head are both fixedly arranged on the fixing plate, and the direct writing print head penetrates through the fixing plate.

[0014] More preferably, the fixing plate includes a central part and an outer ring part, wherein,

[0015] The central part is fixedly arranged on the T-shaped bracket;

[0016] The outer ring part is fixedly arranged on the outside of the central part. It has a conical cylinder structure. The direct writing print head penetrates and is fixed on the outer ring part, and the axis of the direct writing print head is perpendicular to the tangent plane of the position on the outer ring part where the direct writing print head is arranged.

[0017] More preferably, the mounting bracket further includes a universal joint seat, and the universal joint seat is fixedly arranged between the laser sensor and the central part.

[0018] More preferably, the universal joint seat includes a fixed seat and a connecting ball head, wherein,

[0019] The fixed seat is fixedly arranged on the central part, and a ball groove is formed on one side of the fixed seat away from the central part;

[0020] The connecting ball head is fixedly arranged on the laser sensor and is rotatably fixed in the ball groove.

[0021] On the basis of the above technical solutions, preferably, a plurality of the direct writing print heads are arranged in a circumferential array around the center line of the mounting bracket.

[0022] More preferably, the laser sensor is arranged at an interval from the center line of the mounting bracket and is located between two adjacent direct writing print heads.

[0023] On the basis of the above technical solutions, preferably, it further includes a heating table, and the heating table is fixedly arranged on the base.

[0024] More preferably, it further includes a detection camera, which is fixedly arranged on the base.

[0025] Based on the above technical solutions, preferably, it can realize micro straight writing printing processing on the surface of a planar or three-dimensional curved substrate.

[0026] The three-dimensional curved surface micro straight writing device based on a six-axis robotic arm of the present utility model has the following beneficial effects compared with the prior art:

[0027] (1) By using the mounting frame to mount the straight writing print head on the output end of the six-axis robotic arm, the movement flexibility of the straight writing print head can be improved, thereby facilitating the processing of three-dimensional curved surface workpieces; by arranging a plurality of straight writing print heads in a divergent arrangement, the independence of the straight writing print heads is improved, thereby ensuring the processing efficiency of the workpieces.

[0028] (2) By setting the universal joint seat, the angle of the laser sensor can be adjusted. By restricting the position of the universal joint seat, the adjustment convenience of the laser sensor can be improved.

[0029] (3) By setting the heating table, the curing speed of the electronic paste can be increased, thereby improving the processing efficiency of the workpieces. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a three-dimensional view of the three-dimensional curved surface micro straight writing device based on a six-axis robotic arm of the present utility model;

[0032] Figure 2 It is a front view of the mounting frame in the three-dimensional curved surface micro straight writing device based on a six-axis robotic arm of the present utility model;

[0033] Figure 3 It is a bottom view of the mounting frame in the three-dimensional curved surface micro straight writing device based on a six-axis robotic arm of the present utility model;

[0034] Figure 4 It is an exploded view of the universal joint seat in the three-dimensional curved surface micro straight writing device based on a six-axis robotic arm of the present utility model;

[0035] Figure 5This is the detection schematic diagram of the laser sensor of the three-dimensional curved surface micro direct writing device based on a six-axis robotic arm of the present utility model.

[0036] Among them: 1. Base; 2. Six-axis robotic arm; 3. Mounting frame; 31. T-shaped frame; 32. Fixed disk; 321. Central part; 322. Outer ring part; 33. Universal joint seat; 331. Fixed seat; 332. Connecting ball head; 301. Ball groove; 4. Laser sensor; 5. Direct writing print head; 6. Heating table; 7. Detection camera. Specific implementation manners

[0037] Next, the technical solutions in the present utility model will be clearly and completely described in conjunction with the specific implementation manners of the present utility model. Obviously, the described implementation manners are only a part of the implementation manners of the present utility model, rather than all the implementation manners. Based on the implementation manners in the present utility model, all other implementation manners obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0038] As Figures 1-5 shown, the three-dimensional curved surface micro direct writing device based on a six-axis robotic arm of the present utility model includes a base 1, a six-axis robotic arm 2, a mounting frame 3, a laser sensor 4, a plurality of direct writing print heads 5, a heating table 6, and a detection camera 7.

[0039] Among them, the base 1 is used to carry other components.

[0040] The six-axis robotic arm 2 is used to drive the mounting frame 3 to move. The six-axis robotic arm 2 is fixedly arranged on the base 1; the six-axis robotic arm 2 is a prior art, which generally includes four segments and six motors, and adjacent two segments can rotate around two mutually perpendicular axes, so as to drive the mounting frame 3 to move to different positions.

[0041] The mounting frame 3 is used to carry the direct writing print head 5 and the laser sensor 4. The mounting frame 3 is fixedly arranged on the output end of the six-axis robotic arm 2.

[0042] The direct writing print head 5 is used to spray electronic paste on the workpiece to be processed. The direct writing print head 5 is fixedly arranged on the mounting frame 3. The rear end of the direct writing print head 5 is communicated with the electronic paste storage cavity, and the front end is used for jetting the electronic paste. When processing the workpiece, the six-axis robotic arm 2 and the mounting frame 3 can drive the direct writing print head 5 to move to different processing positions of the workpiece, and make the front end of the direct writing print head 5 perpendicular to the processing position of the workpiece, so that this direct writing device can be adapted to workpieces with three-dimensional curved surfaces. A plurality of direct writing print heads 5 are arranged in a divergent manner. The distance between the front ends of the plurality of direct writing print heads 5 is relatively large and they are located on the same spherical surface rather than on the same plane. When processing the workpiece, the direct writing print heads 5 that do not participate in the workpiece processing are located relatively far from the workpiece. This layout method is beneficial to keeping the direct writing print heads 5 that do not participate in the workpiece processing away from the workpiece, so that they will not interfere with each other, which is beneficial to improving the processing efficiency of the workpiece.

[0043] The laser sensor 4 is used to monitor in real time the distance between the workpiece and the front end of the direct writing print head 5 for processing the workpiece. The laser sensor 4 is fixedly arranged on the mounting frame 3, and their relative positions are adjustable, so that the laser sensor 4 can directly detect the distance between the workpiece processing position and the laser sensor 4. Since the direct writing print head 5 is perpendicularly arranged with respect to the processing position of the workpiece, and the laser sensor 4 detects the processing position of the workpiece, therefore, the processing position of the workpiece is on the axis of the laser sensor 4 and also on the axis of the direct writing print head 5. As Figure 5 shown, point A is the position of the laser sensor 4, point B is a point on the direct writing print head 5, C is the processing position of the workpiece, and AB is perpendicular to BC. L is the measured value of the laser sensor 4, and θ can be measured when adjusting the laser sensor 4. Therefore, the length of H, that is, the distance from point B to the workpiece processing position C, can be calculated. The difference between the length of H and the distance from point B to the front end of the direct writing print head 5 is the distance from the front end of the direct writing print head 5 to the workpiece processing position. By using the laser sensor 4 to monitor this distance in real time, the front end of the direct writing print head 5 can be kept within a suitable distance range from the workpiece processing position. Of course, in order to reduce the interference of the processing process on the detection accuracy of the laser sensor 4, the detection point of the laser sensor 4 can also be spaced a small distance (such as 0.5 mm) from the workpiece processing position, and the implementation principle of its function is the same as the above.

[0044] As Figure 2As shown in the figure, the mounting bracket 3 includes a T-shaped bracket 31, a fixed disk 32, and a universal joint 33. The T-shaped bracket 31 is fixedly arranged at the output end of the six-axis robotic arm 2; the fixed disk 32 is fixedly arranged on the side of the T-shaped bracket 31 away from the output end of the six-axis robotic arm 2. The laser sensor 4 and the direct writing print head 5 are both fixedly arranged on the fixed disk 32, and the direct writing print head 5 penetrates the fixed disk 32. The T-shaped bracket 31 is used to space the fixed disk 32 and the output end of the six-axis robotic arm 2, so that the direct writing print head 5 can penetrate the fixed disk 32, thereby providing enough space at the rear end of the direct writing print head 5 for connection with the electronic paste storage cavity.

[0045] As a preferred embodiment, the fixed disk 32 includes a central portion 321 and an outer ring portion 322. The central portion 321 is fixedly arranged on the T-shaped bracket 31; the outer ring portion 322 is fixedly arranged on the outside of the central portion 321, and it has a conical cylinder structure. The direct writing print head 5 penetrates and is fixed on the outer ring portion 322, and the axis of the direct writing print head 5 is perpendicular to the tangent plane of the position where the direct writing print head 5 is arranged on the outer ring portion 322. Using this perpendicular positional relationship can not only strengthen the fixing firmness of the direct writing print head 5 and the fixed disk 32, but also prevent the fixed disk 32 from interfering and colliding with the workpiece.

[0046] The universal joint 33 is fixedly arranged between the laser sensor 4 and the central portion 321 and is used for universal adjustment of the laser sensor 4 so that the laser sensor 4 can be moved to different positions.

[0047] As a preferred embodiment, the universal joint 33 includes a fixed seat 331 and a connecting ball head 332. As Figure 4 shown, the fixed seat 331 is fixedly arranged on the central portion 321, and a ball groove 301 is opened on the side of the fixed seat 331 away from the central portion 321; the connecting ball head 332 is fixedly arranged on the laser sensor 4 and is rotatably fixed in the ball groove 301, so that the laser sensor 4 can be rotated to the required adjusted position; the ball groove 301 and the connecting ball head 332 are in interference fit, or a rubber plate with a large frictional force is arranged in the ball groove 301. Only when a large external force is applied to the connecting ball head 332 can the connecting ball head 332 rotate. Otherwise, the connecting ball head 332 is fixed in the ball groove 301, thereby achieving the effect that the connecting ball head 332 is rotatably fixed in the ball groove 301.

[0048] As Figure 3 shown, it is preferably to arrange multiple direct writing print heads 5 in a circumferential array around the center line of the mounting bracket 3, that is, only one circle of direct writing print heads 5 is arranged, so as to improve the independence of each direct writing print head 5 and prevent the direct writing print heads 5 that do not participate in workpiece processing from interfering and colliding with the workpiece.

[0049] The laser sensor 4 is arranged at an interval from the center line of the mounting bracket 3 and is located between two adjacent direct writing print heads 5, that is, the laser sensor 4 is arranged at the edge position of the mounting bracket 3, so as to facilitate the adjustment of the position of the laser sensor 4 and avoid interference with the direct writing print head 5.

[0050] The heating table 6 is fixedly arranged on the base 1. The heating table 6 replaces the mounting seat of the workpiece, and the workpiece is directly processed on the heating table 6. The heating table 6 has a heating function, which can improve the curing efficiency of the electronic paste and thus accelerate the processing efficiency of the workpiece; among them, the heating function of the heating table 6 is the prior art.

[0051] The detection camera 7 is used to monitor the moving position of the direct writing print head 5 in real time, so that the direct writing print head 5 moves from the initial position to the initial processing position of the workpiece. The detection camera 7 is fixedly arranged on the base 1.

[0052] In order to avoid interference and collision between the detection camera 7 and the six-axis robotic arm 2, it is preferably to arrange the detection camera 7 and the six-axis robotic arm 2 on both sides of the heating table 6 relatively.

[0053] The using method of the three-dimensional curved surface micro direct writing device based on the six-axis robotic arm of the present invention is as follows:

[0054] First, fix the workpiece to be processed on the heating table 6, then select the direct writing print head 5 at a suitable position, move the direct writing print head 5 to the initial processing position of the workpiece, and make the front end of the direct writing print head 5 perpendicular to the workpiece and maintain a safe distance. Then, adjust the position of the laser sensor 4 so that the detection light spot of the laser sensor 4 falls on the processing position of the workpiece or is spaced a short distance from it. Finally, start the electronic paste storage cavity and control the six-axis robotic arm 2 to move the direct writing print head 5 along the processing path to process the workpiece; during this period, different direct writing print heads 5 can be controlled by the six-axis robotic arm 2 to process the workpiece.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-dimensional curved surface micro direct writing device based on a six-axis robotic arm, characterized in that: It includes a base (1), a six-axis robotic arm (2), a mounting frame (3), a laser sensor (4) and a plurality of direct writing print heads (5). Among them, the six-axis robotic arm (2) is fixedly arranged on the base (1); the mounting frame (3) is fixedly arranged on the output end of the six-axis robotic arm (2); the laser sensor (4) is fixedly arranged on the mounting frame (3), and their relative positions are adjustable; the direct writing print heads (5) are fixedly arranged on the mounting frame (3), and the plurality of direct writing print heads (5) are arranged in a divergent manner.

2. The three-dimensional curved surface micro straight writing device based on a six-axis robotic arm according to claim 1, characterized in that: The mounting frame (3) includes a T-shaped frame (31) and a fixed disk (32). Among them, the T-shaped frame (31) is fixedly arranged on the output end of the six-axis robotic arm (2); the fixed disk (32) is fixedly arranged on the side of the T-shaped frame (31) away from the output end of the six-axis robotic arm (2). The laser sensor (4) and the direct writing print heads (5) are both fixedly arranged on the fixed disk (32), and the direct writing print heads (5) penetrate through the fixed disk (32).

3. The three-dimensional curved surface micro direct writing device based on a six-axis robotic arm according to claim 2, characterized in that: The fixed disk (32) includes a central part (321) and an outer ring part (322). Among them, the central part (321) is fixedly arranged on the T-shaped frame (31); the outer ring part (322) is fixedly arranged on the outside of the central part (321). It has a conical barrel structure. The direct writing print heads (5) penetrate and are fixed on the outer ring part (322), and the axis of the direct writing print heads (5) is perpendicular to the tangent plane of the position on the outer ring part (322) where the direct writing print heads (5) are arranged.

4. The three-dimensional curved surface micro straight writing device based on a six-axis robotic arm according to claim 3, characterized in that: The mounting frame (3) further includes a universal joint seat (33). The universal joint seat (33) is fixedly arranged between the laser sensor (4) and the central part (321).

5. The three-dimensional curved surface micro direct writing device based on a six-axis robotic arm according to claim 4, characterized in that: The universal joint seat (33) includes a fixed seat (331) and a connecting ball head (332). Among them, the fixed seat (331) is fixedly arranged on the central part (321), and a ball groove (301) is opened on the side of the fixed seat (331) away from the central part (321); the connecting ball head (332) is fixedly arranged on the laser sensor (4) and is rotatably fixed in the ball groove (301).

6. The three-dimensional curved surface micro direct writing device based on a six-axis robotic arm according to claim 1, wherein: The plurality of direct writing print heads (5) are arranged in a circumferential array around the center line of the mounting frame (3).

7. The three-dimensional curved surface micro direct writing device based on a six-axis robotic arm according to claim 6, characterized in that: The laser sensor (4) is arranged at an interval from the center line of the mounting frame (3) and is located between two adjacent direct writing print heads (5).

8. The three-dimensional curved surface micro straight writing device based on a six-axis robotic arm according to claim 1, characterized in that: It further includes a heating table (6). The heating table (6) is fixedly arranged on the base (1).

9. The three-dimensional curved surface micro direct writing device based on a six-axis robotic arm according to claim 8, wherein: It further includes a detection camera (7). The detection camera (7) is fixedly arranged on the base (1).

10. The three-dimensional curved surface micro straight writing device based on a six-axis robotic arm according to any one of claims 1 to 9, characterized in that: It can realize micro straight writing printing processing on the surface of a planar or three-dimensional curved substrate.

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