CN106965417B

CN106965417B - System and method for intelligent electronic product line inserting 3D printing

Info

Publication number: CN106965417B
Application number: CN201710217655.8A
Authority: CN
Inventors: 李俊; 谢银辉; 李琦铭; 林锦新
Original assignee: Quanzhou Institute of Equipment Manufacturing
Current assignee: Quanzhou Institute of Equipment Manufacturing
Priority date: 2017-04-05
Filing date: 2017-04-05
Publication date: 2023-02-14
Anticipated expiration: 2037-04-05
Also published as: CN106965417A

Abstract

The invention relates to a system for 3D printing of an embedded line of an intelligent electronic product, which comprises a rack, an automatic conveying mechanism arranged on the rack, and a printing detection area, an embedding area and a product completion area which are arranged on a conveying path of the automatic conveying mechanism, wherein the embedding area is arranged between the printing detection area and the product completion area, the printing detection area is internally provided with a 3D printing mechanism and a multi-sensor detection system, and the embedding area is internally provided with an automatic grabbing mechanism for grabbing components. Adopt 3D printing technique to be used for the manufacturing of flexible electronic product, at the in-process embedding electronic components of printing, a complete electronic product is constituteed in the encapsulation, 3D printing technique makes the manufacturing of electronic product easier and high-efficient, imbed electronic components and circuit and also can make electronic product have dustproof, waterproof function at the printing in-process, the use and the assemble duration of material have been optimized, the aftertreatment link that needs has greatly been reduced, can improve production efficiency. The invention provides a 3D printing method for an embedded line of an electronic product.

Description

System and method for intelligent electronic product line inserting 3D printing

Technical Field

The invention relates to a system and a method for intelligent electronic product line inserting 3D printing.

Background

After the intelligent electronic product appears, the improvement of the production and manufacturing level promotes the development of the intelligent electronic product to a direction of being smaller, faster and more efficient. The flexible electronic product is a research hotspot at the present stage, and the main application fields are wearable electronic products, human-computer interaction interfaces and flexible robots. These emerging devices require new manufacturing solutions that integrate the odd-shaped structures and flexible materials into the electronic products. Due to the characteristic of flexible and deformable flexible electronic products, the flexible and deformable electronic products cannot be replaced by traditional rigid electronic products and integrated electronic equipment. Flexible electronic products typically have electronic components connected by a deformable conductive material and encapsulated in an insulating material. The production and manufacturing method of the flexible electronic product at the present stage has the defects of poor expansibility, high cost, poor durability, lack of extensibility for manufacturing and the like, and seriously restricts the manufacturing, production, development and popularization of the flexible electronic product.

Accordingly, the present inventors have made intensive studies on the above problems, and have made the present invention.

Disclosure of Invention

The invention aims to provide a system for intelligent electronic product embedded line 3D printing, which can make the manufacture of flexible electronic products easier and improve the production efficiency.

Another object of the present invention is to provide a printing method for intelligent electronic product rule 3D printing, which can improve the printing efficiency and manufacturing quality of flexible electronic products.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a system for intelligence electronic product rule 3D prints, includes the frame, set up automatic transport mechanism in the frame and set up the printing detection zone on automatic transport mechanism's transfer path, embedding district and product completion district, the setting of embedding district is being printed between detection zone and product completion district, is equipped with 3D printing mechanism in the printing detection zone, is equipped with the automation that is used for snatching components and parts in the embedding district and snatchs the mechanism.

As a preferable mode of the present invention, the automatic gripping mechanism includes a three-axis motion platform and a pneumatic suction cup disposed on the three-axis motion platform.

As a preferred aspect of the present invention, the 3D printing mechanism includes a printing robot mounted on the frame, a first printing head and a second printing head provided on the printing robot, a liquid metal delivery device communicating with the first printing head, and an insulating material delivery device communicating with the second printing head.

As a preferable mode of the present invention, the present invention further includes a computer and a PLC controller, the 3D printing mechanism, the three-axis motion platform and the automatic transfer mechanism are all connected to the PLC controller, the PLC controller is connected to the computer, the present invention further includes a multi-sensor detection system disposed on both sides of the 3D printing mechanism, the multi-sensor detection system is connected to the computer, and the multi-sensor detection system includes an industrial camera for collecting images of printed products and a laser sensor for collecting position information of the printed products.

In a preferred embodiment of the present invention, the automatic transfer mechanism includes a linear motor and a printing table coupled to the linear motor.

As a preferable mode of the present invention, the present invention further includes a holding mechanical arm configured to grip a printed product placed on the printing table, and the holding mechanical arm is disposed in the printing detection area.

In a preferred aspect of the present invention, the output shaft of the linear motor is disposed in a horizontal direction, the movement direction of the printing table is a horizontal direction, and the three-axis motion stage has three degrees of freedom of linear movement in three directions, i.e., a front-back direction, a left-right direction, and an up-down direction.

The invention also provides a printing method for the 3D printing of the embedded line of the intelligent electronic product, which comprises the following steps:

A. the computer outputs a three-dimensional model of the product, the model is an STL format file, the computer plans a 3D printing path, generates a 3D printing position control instruction and controls a printing mechanical arm to complete printing of a base layer;

B. c, grabbing the semi-finished product obtained in the step A through a clamping mechanical arm, detecting the semi-finished product through a multi-sensor detection system, and judging whether the semi-finished product returns to the printing area to be continuously printed or enters the embedding area according to a detection result;

C. sending the qualified semi-finished product obtained by the processing of the step into an embedding area through a linear motor motion platform, controlling the space motion of a pneumatic sucker by a three-axis motion platform, and grabbing components and embedding the components into the semi-finished product;

D. and C, returning the semi-finished product processed in the step C to the printing area to repeat the steps from the step A to the step C if the semi-finished product needs to be continuously printed or packaged, and entering a finished product finishing area if the semi-finished product does not need to be printed or packaged to finish the 3D printing of the electronic product.

After the technical scheme is adopted, the 3D printing technology is adopted for manufacturing the flexible electronic product, the electronic components are embedded in the printing process, and the electronic product is packaged to form a complete electronic product, the 3D printing technology enables the manufacturing of the electronic product to be easier and more efficient, and the electronic components and the circuit are embedded in the printing process, so that the electronic product has dustproof and waterproof functions, the use and assembly time of materials is optimized, the required post-processing links are greatly reduced, and the production efficiency can be improved.

By adopting the method, the 3D printing, the embedding of components and parts and the transmission of semi-finished products are realized through a computer, the semi-finished products in the printing process are detected through a multi-sensor detection system and are repaired according to the detection result, so that the automatic production of the whole manufacturing process is realized, the production efficiency can be improved, the whole printing process can be carried out in a closed space, the electronic products manufactured by printing have the functions of dust prevention and water prevention, and the quality of the products is effectively improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a block flow diagram of the system of the present invention;

FIG. 3 is a schematic block diagram of a system control bus according to the present invention;

in the figure:

10-frame 20-automatic conveying mechanism

21-print station 30-print zone

40-Embedded region 50-product finish region

60-printing mechanical arm 61-first printing nozzle

62-second print head 63-liquid metal delivery device

64-insulating material conveying device 65-clamping mechanical arm

66-multisensor detection system 70-three-axis motion platform

71-pneumatic suction cup 80-printing product

81-component

Detailed Description

In order to further explain the technical scheme of the invention, the following detailed description is combined with the accompanying drawings.

Referring to fig. 1 to 3, a system for intelligent electronic product inserting line 3D printing comprises a rack 10, an automatic conveying mechanism 20 arranged on the rack 10, a printing detection area 30 arranged on a conveying path of the automatic conveying mechanism 20, an inserting area 40 and a product finishing area 50, wherein the inserting area 40 is arranged between the printing detection area 30 and the product finishing area 50, the printing detection area 30 is provided with a 3D printing mechanism, and the inserting area 40 is provided with an automatic grabbing mechanism used for grabbing a component 81. The invention also comprises a computer and a PLC controller, and the control of the action time sequence of each component is realized through the computer and the PLC controller.

In a preferred embodiment of the present invention, the automatic transfer mechanism 20 is a linear motor and a printing table 21 coupled to the linear motor. As a preferred mode of the present invention, the present invention further includes a holding robot 65 configured to grasp the printed product 80 placed on the printing table 21, and the holding robot 65 is disposed in the print detection area 30. The printing table 21 is mounted on a linear motor having a freedom of linear movement in the X-axis direction (i.e., the left-right direction as will be described later), the transfer of the printed product 81 between the three areas is performed by the linear motor, and the high-precision linear motor drive ensures stability in the printing state and accurate positioning of the transfer position, and the structure of the linear motor is described in the prior art and will not be described in detail here.

As a preferred aspect of the present invention, the output shaft of the linear motor is arranged along the horizontal direction, the moving direction of the printing table 21 is the left-right direction, the three-axis motion platform 71 has three degrees of freedom of linear movement in the front-back, left-right, and up-down directions, and the three-axis motion platform 71 may be formed by a combination of a first air cylinder arranged along the front-back direction, a second air cylinder arranged along the left-right direction, and a third air cylinder arranged along the up-down direction, so as to achieve three-dimensional control of the moving direction of the qigong sucker 71.

As a preferred mode of the present invention, the automatic gripping mechanism includes a three-axis motion platform 70 and a pneumatic suction cup 71 provided on the three-axis motion platform 70. The invention also comprises a computer and a PLC controller, wherein the 3D printing mechanism, the three-axis motion platform 71 and the automatic conveying mechanism 20 are all connected to the PLC controller, and the PLC controller is connected to the computer. A technique of performing 3D printing control using a computer and a PLC controller has been disclosed in the prior art. In the present invention, the embedding region 40 functions to realize embedding of the wiring material in the electronic product. The damascene material is primarily electronic components, including resistors, capacitors, transistors, and sensors 81, disposed within the damascene region 40. The method comprises the steps that the printing position of a coil inserting material can be accurately positioned in a printing model, a computer controls the motion of a three-axis motion platform in XY two directions (namely front and back and left and right directions), the three-axis motion platform enters a placement area of an electronic component 81, the three-axis motion platform is accurately positioned above the electronic component 81 to be grabbed, the electronic component 81 is taken out through a pneumatic sucker 71 and positioned at the position of a printed product 80, which needs coil inserting printing, the electronic component 81 is embedded into the printed product 80 through the operation in the Z-axis direction (namely up and down direction), and the coil inserting printing of the electronic component 81 is realized. After the embedding process is completed, the computer determines whether the printed product 80 needs to be returned to the print detection area 30 for printing and detection. If the printed product 80 needs to be returned to the print test area 30, the PLC controller gives instructions to control the linear motor to transport the printed product 80 back to the print test area 30. If the printed product 80 does not need to return to the printing detection area 30, the system finishes the printing detection work of the printed product 80, the PLC gives an instruction to control the linear motor to transmit the printed product 80 to return to the finished product completion area 50, and the 3D printing manufacturing of the current electronic product is finished.

In a preferred embodiment of the present invention, the 3D printing mechanism includes a printing robot 60 mounted on the frame 10, a first printing head 61 and a second printing head 62 provided on the printing robot 60, a liquid metal transfer device 63 communicating with the first printing head 62, and an insulating material transfer device 64 communicating with the second printing head 62. The liquid metal conveying device 63 is used for conveying conductive metal liquid such as tin alloy and copper alloy and the like and printing a conductive circuit of an electronic product, and the insulating material conveying device 64 is used for conveying thermoplastic plastics such as PLA plastics, ABS plastics and nylon and the like and printing a base layer and an external structure of the electronic product. The computer controls the printing mechanical arm 60 to switch the positions of the first printing nozzle 61 and the second printing nozzle 62 according to the printing requirement. After the first printing nozzle 61 and the second printing nozzle 62 are switched, according to three-dimensional data information of a product, three-dimensional data point coordinates passing through a path are generated by using existing 3D printing path generation software (Slic 3r and the like), according to the point-to-point coordinates, trajectory planning of the printing mechanical arm 60 is achieved through a control algorithm, meanwhile, the repetition precision of the printing mechanical arm 60 needs to be ensured, and error compensation is performed in the movement process of the printing mechanical arm 60. While the printing mechanical arm 60 moves, the PID algorithm is applied to control the temperature, flow rate and pressure of different materials at the first printing nozzle 61 and the second printing nozzle 62.

In the invention, the 3D printing mechanism, the three-axis motion platform 71 and the automatic conveying mechanism 20 are all connected to the PLC controller, the PLC controller is connected to a computer, the three-axis motion platform further comprises multi-sensor detection systems 66 arranged on two sides of the 3D printing mechanism, the multi-sensor detection systems 66 are connected to the computer, and the multi-sensor detection systems 66 comprise an industrial camera for collecting images of printed products and a laser sensor for collecting position information of the printed products. The multi-sensor detection system 66 is installed on the upper portion of the printing detection area 30, two industrial cameras and a laser sensor are arranged inside the multi-sensor detection system, the two industrial cameras carry out binocular vision measurement, the three-dimensional data information of the printed products 81 is collected by a computer in cooperation with the laser sensor, and whether the 3D printed products are qualified or not and whether printing defects exist or not are analyzed and detected. After the printing process is finished, the detection process is carried out, the clamping mechanical arm 65 is used for grabbing the printed product 80, the four-side structure of the printed product 80 is detected through the multi-sensor detection system 66, the specific space position where the electronic component needs to be embedded is obtained according to the detection data, the next embedding process is controlled through the computer, whether the printed product 80 is qualified or whether a defect exists is judged, if the detection result shows that the printed product is unqualified or has a defect, the printed product is placed back to the printing workbench 21 through the clamping mechanical arm 65, and printing repair is carried out. If the detection result shows that the product is qualified, the clamping mechanical arm 65 puts the printed product back to the printing workbench 21, the PLC gives an instruction to control the linear motor to transmit the printing platform 21 to the embedding area 40, and the embedding process is carried out.

The invention also provides a printing method for the intelligent electronic product line inserting 3D printing, which comprises the following steps:

A. the three-dimensional model of the product needing high-precision printing is output through a computer, the model is an STL format file, in the printing detection area 30, the computer plans a 3D printing path, generates a 3D printing position control instruction and controls the printing mechanical arm 60 to complete printing action, and the printing mechanical arm 60 is a six-degree-of-freedom mechanical arm.

B. After the printing process is completed, the clamping mechanical arm 65 is used for grabbing the printed product 80, the clamping mechanical arm 65 is a six-degree-of-freedom mechanical arm, the printed product 80 is detected through the multi-sensor detection system 66, and the product is judged to return to the printing detection area 30 to be continuously printed or enter the embedding area 40 according to the detection result.

C. After the printed product 80 is detected to be qualified, the printed product enters the embedding area 40, the three-axis motion platform 70 controls the space motion of the pneumatic suction cup 71, the electronic component 81 is grabbed, and the printed product 80 is embedded.

D. After the embedding process is completed, the product returns to the printing detection area 30 to repeat the above steps if the product needs to be printed or packaged, and enters the finished product completion area 50 if the product does not need to be printed, so that the 3D printing of the electronic product is completed.

The printing system of the invention is characterized in that a computer and a PLC (programmable logic controller) are used for completing the motion coordination control and data acquisition processing among a printing mechanical arm 60, a clamping mechanical arm 65, a three-axis motion platform 71, a multi-sensor detection system 66 and a linear motor motion platform (composed of a linear motor and a printing workbench), and the specific control principle is shown in figure 3.

The product form of the present invention is not limited to the embodiments and examples shown in the present application, and any suitable changes or modifications of the similar ideas should be made without departing from the patent scope of the present invention.

Claims

1. The utility model provides a system that is used for intelligent electronic product rule 3D to print which characterized in that: including frame, the automatic transport mechanism of setting in the frame and the printing detection area, embedding district and the product completion district of setting on automatic transport mechanism's transfer path, the embedding district sets up between printing detection area and product completion district, is equipped with 3D printing mechanism in the printing detection area, is equipped with the automation that is used for snatching components and parts in the embedding district and snatchs the mechanism, the automation is snatched the mechanism and is included triaxial motion platform and the pneumatic chuck of setting on triaxial motion platform, 3D printing mechanism is including installing printing arm in the frame, first printing shower nozzle and the second of setting on printing arm print the shower nozzle, with the liquid metal conveyor of first printing shower nozzle intercommunication and print the insulating material conveyor of shower nozzle intercommunication with the second, still include computer and PLC controller, 3D printing mechanism triaxial motion platform and automatic transport mechanism all is connected to PLC controller, PLC controller is connected to the computer, still includes the multisensor detecting system who sets up in 3D printing mechanism both sides, and multisensor detecting system is connected to the computer, and multisensor detecting system includes the industry camera that is used for printing product image acquisition and prints the product position information and the conveying mechanism that the linear line sets up in on the automatic transport mechanism and the work platform and the cooperation of printing arm, the printing mechanism still includes the linear printing motor and the cooperation of the printing mechanism.

2. The system for intelligent electronic product rule 3D printing of claim 1, characterized by: the output shaft of the linear motor is arranged along the horizontal direction, the moving direction of the printing workbench is the left-right direction, and the three-axis motion platform has three linear motion freedom degrees in the front-back direction, the left-right direction and the up-down direction.