CN112654229B

CN112654229B - Binding equipment and control method thereof

Info

Publication number: CN112654229B
Application number: CN202011534830.4A
Authority: CN
Inventors: 王广炎; 张作军; 冯晓庆; 刘晏; 何烽光; 刘正勇
Original assignee: Hefei Sineva Intelligent Machine Co Ltd
Current assignee: Hefei Sineva Intelligent Machine Co Ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-12-10
Anticipated expiration: 2040-12-22
Also published as: CN112654229A

Abstract

The invention discloses binding equipment and a control method thereof, relates to the field of microelectronic processing equipment, and aims to solve the problem that the binding precision is influenced by internal vibration caused by the binding equipment in a high-frequency motion process. The binding device includes: the first linear guide rail is arranged on the base; the main motion platform is arranged on the first linear guide rail; the first driving device is used for driving the main motion platform to move; the second linear guide rail is arranged on the main motion platform and is arranged in the same direction as the first linear guide rail; the working tail end is arranged on the second linear guide rail, and the overall mass of the working tail end is smaller than that of the main motion platform; the second driving device is used for driving the working tail end to move; and the control device is respectively connected with the first driving device and the second driving device and is used for controlling the main motion platform to move on the first linear guide rail and controlling the working tail end to do reciprocating motion on the second linear guide rail. The invention is used for processing microelectronic equipment.

Description

Binding equipment and control method thereof

Technical Field

The invention relates to the field of microelectronic processing equipment, in particular to binding equipment and a control method thereof.

Background

The binding device is a common device in the semiconductor field. For binding densely packed semiconductor devices in the incoming material to a multitude of discrete target locations. The binding precision and the binding frequency (the number of bound devices per unit time) are two most critical indexes.

With the rapid development of the industry, higher requirements are put forward on the binding frequency while the binding precision is ensured. During the binding process, the binding device needs to perform a motion process of "translate to target location-bind-translate to next target location-bind". In the process of frequently moving from one binding target position to the next target position, a periodic motion form is presented, and shortening the time of the process is the key for improving the binding frequency.

The binding equipment moves from one target position to another target position, the working part is accelerated in the early stage and decelerated in the later stage, and finally moves to another target position, and in the process, the working part needs to be accelerated by force in one direction in the early stage and decelerated by reverse force in the later stage. When the working part is accelerated or decelerated, reaction force can be generated on the equipment base; on the one hand, the violent change of motion part atress can lead to the vibration of working portion group, and on the other hand, along with the improvement of step motion frequency, need increase rapidly the acceleration in the corresponding direction, and then lead to reaction force to increase rapidly, has further increased the vibration range of binding equipment.

However, in order to ensure the binding accuracy of the binding device design, the vibration amplitude of the binding device needs to be further defined. Therefore, in precise high-frequency motion, internal vibration is a main reason for restricting the improvement of the motion performance (i.e., binding frequency) of the binding device.

Disclosure of Invention

The embodiment of the invention provides binding equipment and a control method thereof, aiming at solving the problem that the binding precision is influenced by internal vibration caused by the binding equipment in the high-frequency motion process.

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

in one aspect, the present invention provides a binding device, including: the first linear guide rail is arranged on the base; the main motion platform is arranged on the first linear guide rail; the first driving device is used for driving the main motion platform to move on the first linear guide rail; the second linear guide rail is arranged on the main motion platform and is arranged in the same direction as the first linear guide rail; the working tail end is arranged on the second linear guide rail, and the overall mass of the working tail end is smaller than that of the main motion platform; the second driving device is used for driving the working tail end to move on the second linear guide rail; the control device is respectively connected with the first driving device and the second driving device and is used for controlling the main motion platform to move on the first linear guide rail; and controls the working end to reciprocate on the second linear guide rail.

Optionally, the binding device further includes: the reciprocating end is arranged on the second linear guide rail; the third driving device is used for driving the reciprocating end to move on the second linear guide rail; and the control device is connected with the third driving device and used for controlling the reciprocating motion end to reciprocate on the second linear guide rail, and the directions of the accelerations of the reciprocating motion end and the working tail end are always opposite.

Optionally, the second driving device and the third driving device are both linear motors, the motor stators of the second driving device and the third driving device are the same and are arranged on the main motion platform, and the motor movers of the second driving device and the third driving device are respectively arranged at the working tail end and the reciprocating motion end. Or, the second driving device and the third driving device are the same cam driving device, including setting up the rotating electrical machines on the main motion platform, be provided with the disc cam parallel with the main motion platform on the drive shaft of rotating electrical machines, be equipped with centrosymmetric guide way on the disc cam, work end and reciprocating motion end are respectively through first connection structure and second connection structure and guide way sliding connection, the center of guide way coincides with the center pin of drive shaft, and work end and two contact points of reciprocating motion end and guide way are collinear with the center of guide way all the time.

Optionally, the first driving device is a linear motor, a motor stator of the first driving device is disposed on the base, and a motor mover of the first driving device is disposed on the main motion platform.

According to the binding device provided by the embodiment of the invention, under the control of the control device, the working tail end performs reciprocating linear motion along the second linear guide rail, so that the speed of the working tail end is changed constantly, namely the working tail end has acceleration, and according to Newton's third law, the thrust borne by the working tail end and the reaction force of the working tail end to the interior of the binding device are equal in magnitude but opposite in direction. Combining Newton's second law, the thrust that the end of work received in reciprocating motion process equals the product of the terminal whole quality of work and its acceleration, and because the terminal whole quality of work is less than the whole quality of main motion platform, consequently, through the setting of second grade motion platform (be work end promptly), need not main motion platform and carry out variable motion, reduced the quality of variable motion structure promptly, can show to reduce the variable motion structure and to binding the inside reaction force of equipment in the variable motion process to, thereby be favorable to reducing the inside vibration amplitude that equipment arouses at this in-process of binding. Because the binding precision of the binding equipment is negatively related to the vibration amplitude inside the binding equipment, the binding precision is lower when the vibration amplitude is larger, and thus, the binding frequency of the binding equipment is favorably improved under the condition that the binding precision of the binding equipment is not changed.

On the other hand, the present invention also provides a control method for a binding device, which is used for the binding device and includes:

a first binding step comprising: the working tail end is positioned at a preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device;

a positioning step, comprising: controlling the main motion platform to move to a next preset position, controlling the working tail end to reciprocate on the second linear guide rail, and controlling the working tail end to move to the next preset position relative to the first linear guide rail;

a second binding step comprising: the working tail end is positioned at a preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device;

the judging step comprises the following steps: judging whether the binding equipment completes the binding action for a preset number of times; if yes, controlling the binding equipment to execute an ending action; otherwise, controlling the binding device to repeatedly execute the positioning step and the second binding step.

Optionally, the positioning step sequentially comprises:

a first positioning step comprising: controlling the acceleration direction of the working tail end relative to the second linear guide rail to be the same as the speed direction of the main motion platform;

a second positioning step comprising: and controlling the acceleration direction of the working tail end relative to the second linear guide rail to be opposite to the speed direction of the main motion platform.

Optionally, the first binding step, the positioning step and the second binding step further include: and controlling the main motion platform to do uniform motion on the first linear guide rail.

Optionally, the positioning step further comprises: and controlling the main motion platform to perform variable speed motion at a first acceleration relative to the first linear guide rail, and simultaneously controlling the working tail end to perform reciprocating motion at a second acceleration relative to the second linear guide rail, wherein the direction of the first acceleration is always opposite to that of the second acceleration.

Optionally, the ratio of the overall mass of the working tip to the overall mass of the primary motion platform is b, and the positioning step further comprises: controlling the magnitude ratio of the first acceleration and the second acceleration to be always equal to

Optionally, the binding device further includes:

the reciprocating end is arranged on the second linear guide rail;

the third driving device is used for driving the reciprocating end to move on the second linear guide rail and is connected with the control device;

the positioning step further comprises:

controlling the reciprocating motion end to reciprocate relative to the second linear guide rail at a third acceleration, wherein the direction of the third acceleration is opposite to the direction of the second acceleration all the time; wherein the second acceleration is an acceleration of the working tip relative to the second linear guide.

Optionally, the ratio of the overall mass of the working tip to the overall mass of the reciprocating tip is c, and the positioning step further comprises: and controlling the magnitude ratio of the third acceleration to the second acceleration to be always equal to c.

Optionally, from the beginning of the positioning step to the end of the second binding step, the sum of the displacements of the working end relative to the second linear guide is controlled to be zero.

Optionally, the control method further includes:

an importing step, located before the first binding step, comprising: controlling the main motion platform to gradually accelerate to a first preset speed relative to the first linear guide rail and controlling the working tail end to gradually accelerate to a second preset speed relative to the second linear guide rail; the first preset speed and the second preset speed are equal in magnitude but opposite in direction;

an ending step, after the judging step, of controlling the binding device to execute an ending action, including: and controlling the main motion platform and the working tail end to gradually decelerate to a static state.

Optionally, the importing step and the ending step further include: at any time, the speed of the main motion platform relative to the first linear guide and the speed of the working end relative to the second linear guide are controlled to be equal in magnitude but opposite in direction.

Compared with the prior art, the control method of the binding equipment provided by the embodiment of the invention has the same beneficial effects as the binding equipment provided by the technical scheme, and can greatly reduce the quality of a variable-speed motion structure through the arrangement of a secondary motion platform (namely a working tail end), and can obviously reduce the reaction force of the working tail end to the interior of the binding equipment in the reciprocating motion process; therefore, the internal vibration amplitude of the binding equipment in the process is reduced, and the binding frequency of the binding equipment is favorably improved under the condition that the binding precision of the binding equipment is unchanged. In addition, through the periodic positioning and binding process, the binding of the preset devices is favorably carried out on a large scale, and the average running time of each binding process is favorably further reduced, namely the binding frequency is increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a front view of a binding device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a binding apparatus including a reciprocating end according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a cam driving device of a binding apparatus according to an embodiment of the present invention, wherein the second driving device and the third driving device are the same;

FIG. 4 is a graph illustrating a displacement curve of a binding device according to an embodiment of the present invention;

FIG. 5 is a graph illustrating velocity profiles of a binding device according to an embodiment of the present invention;

FIG. 6 is a second graph of the velocity profile of the binding apparatus according to the embodiment of the present invention;

FIG. 7 is a third velocity profile of a binding apparatus according to an embodiment of the present invention;

fig. 8 is a flowchart illustrating steps of a method for controlling a binding device according to an embodiment of the present invention;

fig. 9 is a second flowchart illustrating steps of a method for controlling a binding device according to an embodiment of the present invention;

fig. 10 is a third flowchart illustrating steps of a method for controlling a binding apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, are not to be construed as limiting the present invention.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "located," "connected," and "connected" are to be construed broadly and may be, for example, detachably connected, integrally connected, mechanically connected, and electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In a first aspect, an embodiment of the present invention provides a binding device, as shown in fig. 1, including:

the base 1 is a bearing part of the binding equipment, and is mainly used for supporting the binding equipment. Generally, the binding device has excellent comprehensive performance on indexes such as strength, hardness and toughness, and meanwhile, the binding device can be used for stably binding internal acting force and reacting force in the movement process of the device through large mass of the binding device.

The first linear guide 2 is arranged on the base 1. The first linear guide rail 2 may be directly disposed on the base 1, or may be indirectly disposed on the base 1 through other mounting and fixing structures, which is not limited herein; in addition, in order to guarantee the precision degree of binding equipment, the length of first linear guide 2 slightly is less than the length of base 1, like this, can realize through base 1 that it is fixed to the complete support of first linear guide 2, guarantees the whole precision degree of first linear guide 2. In addition, the first linear guide 2 can be provided with a double-track structure, so that the stability of the first linear guide 2 is further improved.

And the main motion platform 3 is arranged on the first linear guide rail 2. In this way, the main motion platform 3 can move along the first linear guide 2, and may be a sliding motion or a rolling motion, which is not limited herein. Preferably, in order to reduce the friction resistance between the main motion platform 3 and the first linear guide 2, the main motion platform 3 is connected with the first linear guide 2 in a rolling manner, and compared with the arrangement manner of sliding connection, the friction resistance between the main motion platform 3 arranged on the first linear guide 2 in a rolling manner is smaller. Typically, the primary motion platform 3 is disposed directly on the first linear guide 2.

The first driving device 5 is used for driving the main motion platform 3 to move on the first linear guide rail 2; wherein the first driving device 5 can provide the main motion platform 5 with thrust force required for changing the motion state thereof and generate reaction force corresponding to the thrust force. By controlling the first drive means 5, the movement of the main movement platform 3 on the first linear guide 2 can be controlled indirectly. The first driving devices 5 may be all disposed on the main moving platform 3, or may be partially disposed on the main moving platform 3, and different disposing manners are not limited herein, and the masses of the first driving devices 5 distributed on the main moving platform 3 are different.

And the second linear guide rail 6 is arranged on the main motion platform 3 and is arranged in the same direction as the first linear guide rail 2. Similarly, the second linear guide 6 may be directly disposed on the main motion platform 3, or may be indirectly disposed on the main motion platform 3 through other mounting structures (e.g., an adjusting platform assembly), which is not limited herein. In addition, the second linear guide 6 can be provided with a double-track structure, so that the stability of the second linear guide 6 is further improved.

A working end 7, the working end 7 being adapted to perform an action of binding a preset device to a target position at a preset position with respect to the first linear guide 2; the preset device is a component which needs to be assembled and installed in the microelectronic manufacturing process, such as: a resistor, a capacitor, an inductor, a semiconductor device, or the like; wherein the preset position is the position of the working end 7 relative to the first linear guide 2 when the binding structure on the working end 7 is able to contact the target position; the binding of the predetermined device to the target position may be understood as mounting a semiconductor device, which may be a crystal diode, a crystal triode, an integrated circuit, or the like, at a specific position on the circuit board, and the working terminal 7 may perform an action of binding the predetermined device at the predetermined position, that is, a binding action.

Wherein, along the direction that first linear guide 2 extends, the target position that needs to bind the default device is a plurality of, and is corresponding, in the one complete binding period who binds equipment, the end of work also has a plurality of default positions with the target position one-to-one relatively first linear guide 2, can make end of work 7 carry out corresponding binding action here, and the distance between arbitrary two adjacent default positions equals.

Further, the working end 7 is arranged on the second linear guide 6, and the overall mass of the working end 7 is smaller than that of the main motion platform 3. The working end 7 can move along the second linear guide 6, and can move in a sliding manner or a rolling manner, which is not limited herein. Preferably, in order to reduce the friction resistance between the working end 7 and the second linear guide 6, the working end 7 is connected with the second linear guide 6 in a rolling manner, and the friction resistance between the working end 7 arranged on the second linear guide 6 in the rolling manner is smaller than that in the sliding manner. Typically, the working end 7 is arranged directly on the second linear guide 6.

It should be noted that: the overall mass of the main motion platform 3 comprises the mass of a structural part which is arranged on the main motion platform 3 and does not move relative to the main motion platform 3 in the extending direction along the second linear guide rail 6, specifically comprises the mass of the main motion platform 3, the mass of the second linear guide rail 6, the mass of part or all of the first driving device 5 and the second driving device 8 which are arranged on the main motion platform 6, and also comprises the corresponding mass of the drag chain 4 which moves synchronously along with the main motion platform 3; in addition, if other structures are provided between the main motion platform 3 and the second linear guide 6, such as an adjustment platform assembly, the overall mass of the main motion platform 3 also includes the total mass of the adjustment platform assembly. Whereas the overall mass of the working end 7 comprises the mass of the working end 7 itself and the mass of the second drive means 8 arranged directly on the working end 7; in addition, if the working end 7 is provided with other structures which move synchronously with the working end 7, the mass of the structure is also included, such as: the mass of the cable electrically connected to the main motion platform 3.

In addition, because the second linear guide 6 is arranged in the same direction as the first linear guide 2, the movement tracks of the main movement platform 3 arranged on the first linear guide 2 and the working end 7 arranged on the second linear guide 6 are both parallel to the same straight line, i.e. the distribution directions of the inertia forces of the main movement platform 3 and the working end 7 are located on the same straight line. Therefore, in the process that the main motion platform 3 moves along the first linear guide rail 2, the working tail end 7 can be enabled to be relatively static with the first linear guide rail 2 at the preset position under a certain condition through the reciprocating motion of the working tail end 7, and therefore the action of binding the preset device to the target position is executed. Further, when the second linear guide 6 is provided with two rails, the plane of the main motion platform 3 provided with the second linear guide 6 is parallel to the plane of the base 1 provided with the first linear guide 2.

The second driving device 8 is used for driving the working tail end 7 to move on the second linear guide rail 6; wherein the second driving means 8 can provide the working tip 7 with a thrust force necessary for changing its state of motion and generate a reaction force corresponding to the thrust force. By controlling the second drive means 8, the movement of the working end 7 on the second linear guide 6 can be indirectly controlled. The second driving device 8 may be disposed on the working end 7 entirely or partially, and the different disposing manners are different in mass of the second driving device 8 distributed on the working end 7, which is not limited herein.

A control device (not shown) is also included, which is connected to the first drive device 5 and the second drive device 8, respectively. The control device can be electrically connected with the first driving device 5 and the second driving device 8 respectively, at this time, the first driving device 5 and the second driving device 8 can be motors, and the movement condition of the first driving device 5 is controlled through an electric control signal, so as to control the main movement platform 3 to move on the first linear guide rail 2; and the motion condition of the second driving device 8 is controlled through an electric control signal, so that the working tail end 7 is controlled to do reciprocating motion on the second linear guide rail 6. In addition, the control device may be connected to the first drive device 5 and the second drive device 8 through an air pressure pipe or a hydraulic pressure pipe, and in this case, the first drive device 5 and the second drive device 8 may be of a hydraulic or pneumatic drive structure. The main motion platform 3 can make uniform linear motion on the first linear guide rail 2, and can also make variable-speed linear motion with small acceleration under the condition of ensuring that the motion direction is not changed in part of time.

Compared with the prior art, according to the binding device provided by the embodiment of the invention, under the control of the control device, the working end 7 performs reciprocating linear motion along the second linear guide rail 6, so that the speed of the working end 7 is changed continuously, that is, the working end 7 has acceleration, according to the newton's third law, in the technical scheme of the application, the thrust applied to the working end 7 is equal to the reaction force of the working end 7 to the interior of the binding device, but the direction is opposite. Combining Newton's second law, the thrust that work end 7 received in reciprocating motion process equals the product of the whole quality of work end 7 and its acceleration, and because the whole quality of work end 7 is less than the whole quality of main motion platform 3, consequently, through the setting of second grade motion platform (being work end 7), need not main motion platform and carry out variable motion, reduced the quality of variable motion structure promptly, can show the variable motion structure and to the inside reaction force of binding equipment in the variable motion process, thereby be favorable to reducing the inside vibration amplitude that binding equipment arouses at this in-process. Because the binding precision of the binding equipment is negatively related to the internal vibration amplitude of the binding equipment, the binding frequency of the binding equipment is favorably improved under the condition that the binding precision of the binding equipment is not changed.

It should be noted that the binding accuracy and the binding frequency of the binding device are two main design parameters. In order to ensure the binding precision of the binding equipment, the internal vibration amplitude needs to be limited within a preset range in the movement process of the binding equipment; however, the continuously increased binding frequency can greatly increase the acceleration of the variable-speed motion structural member, that is, the internal reaction force of the binding device is increased, so that the internal vibration amplitude is increased, and the binding precision is influenced. However, the above embodiment is advantageous for reducing the reaction force received by the interior of the binding device during the shifting process by reducing the mass of the shifting mechanism (i.e. the change from the main motion platform 3 to the working end 7); therefore, according to the technical scheme, under the condition that the basic functions of the binding equipment are ensured by the reciprocating motion of the working tail end 7, the binding frequency is ensured to be unchanged, the reaction force in the binding equipment is favorably reduced, and the internal vibration amplitude of the binding equipment in the process is reduced; in other words, under the condition that the vibration amplitude or the binding precision is basically stable, the acceleration of the binding equipment in the working process is favorably improved through the scheme of the low-quality secondary motion platform, namely, the binding frequency of the binding equipment can be increased by improving the running speed, so that the stable running of the binding equipment under the high-frequency motion is realized.

In addition, in binding the equipment, still be provided with tow chain 4 between base 1 and the main motion platform 3 usually, as shown in fig. 1, the one end of tow chain 4 is fixed to be set up on base 1, and the other end is fixed to be set up on main motion platform 3, and follows main motion platform 3 synchronous motion, sets up the connection structure between base 1 and the main motion platform 3 in the inside of tow chain 4, can play support and guard action to it. The connection structure includes: cable, wire, air pressure pipe or oil pressure pipe structure. Due to the large travel of the first linear guide 2, the mass of the drag chain 4 moving along with the main moving platform 3 will also be taken into account in the overall mass of the main moving platform 3.

In the prior art scheme, because the variable speed motion structure is directly connected with the tow chain 4, the mass of the tow chain 4 further increases the whole mass of the variable speed motion structure, which is not beneficial to reducing the internal acting force of the binding equipment.

And in the technical scheme of this application, through the setting of second grade motion platform (being work end 7), can reduce the stroke length of second linear guide 6 by a wide margin for work end 7 can be connected with controlling means through main motion platform 3 is indirect, can only realize the electricity through the wire between work end 7 and the main motion platform 3 promptly and connect, because the stroke of second linear guide 6 is shorter, need not extra tow chain setting, compare in above-mentioned structure, further reduced the whole quality of work end 7, reduce the vibration range of binding the inside equipment promptly. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

During the binding action or the movement to the next preset position at the working end. Specifically, if the working end 7 needs to perform binding operation, the main motion platform 3 is controlled to perform uniform motion in the process, meanwhile, the working end 7 and the main motion platform 3 are controlled to have the same speed but opposite directions, and at this time, the working end 7 is stationary relative to the first linear guide rail 2 and is located at a preset position, so that the binding structure of the working end 7 can contact a target position for performing the binding operation; if the working tail end 7 needs to move to the next preset position, the working tail end 7 is controlled to reciprocate relative to the second linear guide rail 6 at a second acceleration, at this time, the movement direction of the working tail end 7 relative to the first linear guide rail 2 is the same as the movement direction of the main movement platform 3, namely, the working tail end moves to the next preset position, and the main movement platform 3 moves at a constant speed in the process.

In the process that the working tail end 7 moves to the next preset position, the reason that the working tail end 7 reciprocates is that the binding frequency of the binding equipment is very high, so that the acceleration of the working tail end 7 is very high, the working tail end 7 firstly performs reverse deceleration movement relative to the second linear guide rail 6, the speed is quickly reduced to zero, and then performs equidirectional acceleration movement, after the preset speed is reached, the working tail end 7 continues deceleration movement at the reverse acceleration, and after the speed is reduced to zero, the reverse acceleration movement is continued; in the four speed changing processes, the displacement direction of the working end 7 relative to the second linear guide 6 is towards a preset position in the front and rear speed changing processes; and the displacement direction of the working end 7 relative to the second linear guide 6 is directed to the next preset position during the middle two speed changes.

In addition, the control device can also control the main motion platform 3 to move on the first linear guide rail 2 at a first acceleration during the process that the working end 7 moves to the next preset position, and simultaneously control the working end 7 to reciprocate relative to the second linear guide rail 6 at a second acceleration, wherein the directions of the first acceleration and the second acceleration are opposite all the time during the process. Therefore, by controlling the main motion platform 3 to perform variable speed motion opposite to the acceleration direction of the working end 7, the directions of the reaction forces acting on the interior of the binding device by the working end 7 and the main motion platform 3 are opposite, that is, the reaction force of the main motion platform 3 can balance part or all of the reaction force of the working end 7, so that the influence of the reaction force generated when the working end 7 performs reciprocating motion in the process of moving to the next preset position can be weakened or completely counteracted, and the internal vibration amplitude caused by the binding device in the process can be favorably reduced. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

Furthermore, the ratio of the overall mass of the working end 7 to the overall mass of the main motion platform 3 is set as b, so that the control device controls the ratio of the magnitudes of the first acceleration and the second acceleration to be always equal to

Therefore, in the binding equipment, the reaction force acting on the inside of the binding equipment during the reciprocating motion of the working tail end 7 is equal to the reaction force acting on the inside of the binding equipment during the variable-speed motion of the main motion platform 3, but the reaction force is opposite in direction, the stress between the reaction force and the reaction force is balanced, and the internal vibration amplitude caused by the binding equipment in the process is favorably and maximally reduced. Therefore, the binding frequency of the binding equipment is further improved under the condition that the binding precision of the binding equipment is not changed.

As shown in fig. 2 and 3, the binding device further includes:

and the reciprocating end 9 is arranged on the second linear guide rail 6. For balancing the forces caused by the working tip 7 during the reciprocating movement. The reciprocating end 9 can move along the second linear guide 6, and can move in a sliding manner or a rolling manner, which is not limited herein. Preferably, in order to reduce the friction resistance between the reciprocating end 9 and the second linear guide 6, the reciprocating end 9 is arranged to be in rolling connection with the second linear guide 6, and the friction resistance between the reciprocating end 9 arranged on the second linear guide 6 through rolling connection is smaller than that of the sliding connection. Typically, the reciprocating end 9 is disposed directly on the second linear guide 6.

And a third driving device 10 for driving the reciprocating end 9 to move on the second linear guide 6. By controlling the third driving device 10, the movement of the reciprocating end 9 on the second linear guide rail can be indirectly controlled. The third driving device 10 may be disposed on the reciprocating end 9 entirely or partially, and the different disposing manners are different in mass of the third driving device 10 disposed on the reciprocating end 9, which is not limited herein.

Meanwhile, the control device is also connected with a third driving device 10; in order to simplify the control program of the control device, the third drive device 10 and the second drive device 8 are provided as identical drive devices. E.g. both motors, the control device controls the motion of the third driving device 10 by the electric control signal, so as to control the reciprocating end 9 to reciprocate at a third acceleration relative to the second linear guideway 6, and the direction of the acceleration of the reciprocating end 9 and the working end 7 is always opposite.

Because the directions of the accelerations of the reciprocating end 9 and the working end 7 are always opposite, the directions of the reaction forces of the working end 7 and the reciprocating end 9 acting on the interior of the binding device are opposite, namely the reaction force of the reciprocating end 9 can balance part or all of the reaction force of the working end 7, so that the influence of the reaction force generated when the working end 7 reciprocates in the process of moving to the next preset position can be weakened or counteracted, and the internal vibration amplitude caused in the process of binding the device can be reduced. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

Further, when the main motion platform 3 performs a binding motion at the working end 7 or performs a uniform motion in the process of moving to a next preset position, the ratio of the overall mass of the working end 7 to the overall mass of the reciprocating end 9 is set to be c, so that the control device controls the ratio of the third acceleration to the second acceleration to be always equal to c. Therefore, in the binding equipment, the reaction force acting on the inside of the binding equipment when the working tail end 7 reciprocates is equal to the reaction force acting on the inside of the binding equipment when the reciprocating end 9 reciprocates but opposite in direction, the stress between the reaction force and the reaction force is balanced, and the internal vibration amplitude caused by the binding equipment in the process is favorably reduced to the maximum extent. Therefore, the binding frequency of the binding equipment is further improved under the condition that the binding precision of the binding equipment is not changed.

In addition, the third acceleration and the second acceleration can be set to be equal in magnitude all the time, and the mass of the working end and the mass of the reciprocating end are equal.

Therefore, the binding frequency of the binding equipment can be improved while the stable binding precision of the binding equipment is ensured; and, the control scheme of the binding device is also made simpler.

It should be noted that:

firstly, the whole mass of the reciprocating end 9 comprises the mass of the reciprocating end 9 and the mass of the third driving device 10 directly arranged on the reciprocating end 9; in addition, if other structures which move synchronously with the reciprocating end 9 are arranged on the reciprocating end 9, the mass of the structure is also included, such as: the mass of the cable electrically connected to the main motion platform 3.

In the above embodiment, since the first acceleration, the second acceleration and the third acceleration are not necessarily a constant value, the magnitude and direction of the acceleration may change continuously; therefore, the relationship between the magnitude and the direction of each acceleration in the above embodiment is compared based on a certain point in time (i.e., the same time).

Thirdly, in the binding device, more motion platforms can be arranged for adjusting the spatial position of the working end 7. Since the working tip 7 is a direct actuator, in order to be able to achieve a stable movement of the binding device at the same time with high frequency and high accuracy, it has to be ensured that the mass of the working tip 7 is minimized, i.e. the working tip 7 has to be arranged in the last stage of a multi-stage movement platform.

Specifically, the binding device further includes:

a third linear guide (not shown) is located on the main motion platform 3. The third linear guide may be directly disposed on the main motion platform 3, or may be indirectly disposed on the main motion platform 3 through another mounting structure, which is not limited herein. The plane on which the first linear guide rail 2 is arranged on the base 1 is the plane of the base 1, and the extending direction of the third linear guide rail is perpendicular to the extending direction of the first linear guide rail 2. In addition, the third linear guide rail can also be arranged into a double-rail structure, so that the stability of the third linear guide rail is further improved, and at the moment, the third linear guide rail is arranged to be parallel to the plane where the first linear guide rail 2 is located; for example, the extending direction of the first linear guide 2 and the second linear guide 6 corresponds to the X-axis direction of the coordinate axes, and the extending direction of the third linear guide corresponds to the Y-axis or Z-axis direction of the coordinate axes.

And the adjusting platform (not shown in the figure) is arranged on the third linear guide rail. In this way, the adjustment platform may move along the third linear guide, and may be a sliding motion or a rolling motion, which is not limited herein. Preferably, in order to reduce the friction resistance between the main motion platform 3 and the first linear guide 2, the adjusting platform is connected with the third linear guide in a rolling manner, and compared with the sliding connection mode, the friction resistance between the adjusting platform arranged on the third linear guide in a rolling manner is smaller. Usually, the adjustment platform is directly arranged on the third linear guide.

Meanwhile, the second linear guide 6 is located on the adjusting platform, specifically, the second linear guide 6 may be directly disposed on the adjusting platform, or may be indirectly disposed on the adjusting platform through other mounting structures, which is not limited herein. It should be noted that, for the case where the second linear guide 6 is provided on the main moving platform 3 as described in the foregoing embodiment, it is understood that: the second linear guide 6 is indirectly arranged on the main motion platform 3 through the adjusting platform and the third linear guide.

And a fourth driving device (not shown in the figure) for driving the adjusting platform to move on the third linear guide rail. Through controlling the fourth driving device, the motion condition of the adjusting platform on the third linear guide rail can be indirectly controlled.

The control device is further connected with the fourth driving device, so that through the electric connection between the control device and the fourth driving device, the control device can control the movement condition of the fourth driving device through an electric control signal, and therefore the movement of the adjusting platform on the third linear guide rail is controlled and adjusted, and the spatial position between the second linear guide rail 6 and the first linear guide rail 2 is controlled and adjusted.

Specifically, a third linear guide rail, an adjusting platform and a fourth driving device are used as adjusting components. The number of the adjusting components can be one group, and the adjusting components are arranged in the direction vertical to the first linear guide rail 2; in addition, the number of the adjusting components can be two, and the adjusting components are sequentially arranged between the main motion platform and the second linear guide rail, at this time, the extending directions of the first linear guide rail 2 and the second linear guide rail 6 are equivalent to the X-axis direction of the coordinate axes, and the adjusting directions of the two groups of adjusting components are respectively equivalent to the Y-axis direction and the Z-axis direction of the coordinate axes.

The adjusting component is used for finely adjusting the spatial position of the binding structure on the working end in the process of binding the binding device to move to the next preset position or the next preset position, so that the binding structure can continuously contact the next target position.

In addition, in the present application, the description of the motion states such as the speed, the acceleration, the displacement and the like of the working end 7 and the reciprocating end 9 is made by taking the second linear guide 6 as a reference unless otherwise specified; the description of the motion states of the main motion platform 3, such as speed, acceleration, displacement and the like, takes the first linear guide 2 as a reference object unless otherwise specified. Meanwhile, the influence of the adjusting component on the motion state in the adjusting process is ignored.

It should be noted that, in the actual manufacturing process, due to the limitations of the equipment precision and the assembly processing technology, the absolute parallel or perpendicular effect is difficult to achieve; the vertical, parallel or same directional descriptions in this application are not an absolute limitation, but rather indicate that the vertical or parallel structural arrangement can be implemented within a preset error range, so that the technical effect of defining features can be achieved maximally, and the corresponding technical solution is easy to implement and has high feasibility.

The first driving device 5, the second driving device 8, the third driving device 10, and the fourth driving device are all driving devices, and the driving devices may be motors, pneumatic driving devices, or hydraulic driving devices, which are not limited herein. But for the convenience of operation control, the driving device is preferably a motor; meanwhile, as the binding equipment requires higher precision and rapidity, the preferred driving devices are all linear motors. The first drive device 5, the second drive device 8, the third drive device 10, and the fourth drive device may be the same drive device, such as linear motors, or may be different drive devices, such as motors in one part and cylinders in another part, or different motors in all.

Specifically, the second driving device 8 and the third driving device 10 are both linear motors, and since the linear motors include motor stators and motor movers, as shown in fig. 2, the motor stators of the second driving device 8 and the third driving device 10 are the same stator (i.e. the structure between the two second linear guide rails 6 in fig. 2, which is also a part of the second driving device 8 and the third driving device 10), and are arranged on the main motion platform 3, and the motor movers of the second driving device 8 and the third driving device 10 are respectively arranged on the working end 7 and the reciprocating end 9. When the working end 7 and the reciprocating end 9 move, only the motor mover moves synchronously with the corresponding working end 7 and the reciprocating end 9, so that the overall mass of the working end 7 and the reciprocating end 9 only comprises a part of the mass of the corresponding driving device (i.e. the mass of the motor mover), thereby further reducing the overall mass of the working end 7 and the reciprocating end 9, weakening the reaction force generated by the working end 7 or the reciprocating end 9 during the reciprocating motion, and being beneficial to reducing the internal vibration amplitude caused by the binding equipment in the process. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

It should be noted that the second drive means 8 themselves also meet the conditions of the above described embodiment, when the binding device comprises only the working end 7, as shown in fig. 1.

As for the first driving device 5 and the fourth driving device, they may be linear motors as well, as shown in fig. 1, the motor stator of the first driving device 5 is disposed on the base 1, and the motor mover of the first driving device 5 is disposed on the main motion platform 3, so that the overall mass of the main motion platform 3 can be reduced; the motor stator of the fourth driving device is arranged on the main motion platform 3, and the motor rotor of the fourth driving device is arranged on the adjusting platform, so that the consistency of the binding equipment is ensured.

In addition, the second driving device 8 and the third driving device 10 may also be the same cam driving device, specifically, the cam driving device includes a rotating motor fixedly disposed on the main moving platform 3, a disc cam parallel to the main moving platform 3 is disposed on a driving shaft of the rotating motor, a guide slot 11 is disposed on the disc cam, and the working end 7 and the reciprocating end 9 are respectively connected with the guide slot 11 through a first connecting structure 12 and a second connecting structure 13, specifically, may be connected in a sliding manner, and may also be connected in a rolling manner; wherein the center of the guide groove 11 coincides with the central axis of the drive shaft, and two contact points of the working end 7 and the reciprocating end 9 with the guide groove 11 are always collinear with the center of the guide groove 11.

Therefore, when the control device controls the rotating motor to rotate, the disc-shaped cam synchronously rotates at a constant speed, the working tail end 7 and the reciprocating end 9 are driven by the guide groove 11 through the first connecting structure 12 and the second connecting structure 13, and the guide groove 11 is in a central symmetrical pattern, and the two contact points and the center of the guide groove 11 are positioned on the same straight line, so that the speed and the acceleration of the working tail end 7 and the reciprocating end 9 are equal but opposite to each other relative to the main moving platform 3 at any moment. Therefore, the cam driving device can drive the working tail end 7 to reciprocate to realize the basic function of the binding equipment, and meanwhile, the influence of the reaction force generated when the working tail end 7 reciprocates in the process of moving to the next preset position can be weakened or offset by controlling the motion state of the reciprocating end 9, so that the internal vibration amplitude caused by the binding equipment in the process can be reduced. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

Furthermore, the reciprocating motion end 9 and the working tail end 7 synchronously move in opposite directions on the main motion platform 3, namely the acceleration of the reciprocating motion end and the working tail end is equal in magnitude but opposite in direction; from this, set up the whole quality of reciprocating motion end 9 and work end 7 and equal, like this, because acceleration size is unanimous all the time between the two, like this, bind the inside of equipment, the reaction force that acts on binding the inside of equipment when work end 7 reciprocating motion is equal with the reaction force that acts on binding the inside of equipment when reciprocating motion end 9 reciprocating motion, but opposite direction, the atress is balanced between the two, is favorable to the maximize to reduce the inside vibration amplitude that binds equipment and arouse at this in-process. Therefore, the binding frequency of the binding equipment is further improved under the condition that the binding precision of the binding equipment is not changed.

When the first driving device 5, the second driving device 8, and the third driving device 10 are all linear motors, the mover portion of the first driving device 5 is a part of the overall mass of the main motion platform 3, and the stator portions of the second driving device 8 and the third driving device 10 are also a part of the overall mass of the main motion platform 3; while the mover part of the second drive means 8 is a part of the overall mass of the working end 7; the mover part of the third driving means 10 is a part of the overall mass of the reciprocating end 9; the stator part of the first drive means 5 is part of the overall mass of the base 1. In addition, for the working tail end 7 and the reciprocating motion platform, the motor driving devices on the working tail end 7 and the reciprocating motion platform are electrically connected with the control device through the main motion platform 3, and due to the fact that the displacement distance of the working tail end and the reciprocating motion platform on the main motion platform 3 is limited, and a structure of the drag chain 4 is not required to be additionally arranged, the quality of a connecting cable can be ignored. The same applies to the adjustment platform assembly provided with the motor drive.

In a second aspect, an embodiment of the present invention further provides a method for controlling a binding device, where the method is used to control the binding device in the first aspect; specifically, the binding equipment comprises a base, a first linear guide rail, a main motion platform, a first driving device, a second linear guide rail, a working tail end and a second driving device, wherein the first linear guide rail is arranged on the base; through the control device, the control of the binding equipment can be realized. As shown in fig. 8, 9 and 10, the control method includes:

an importing step, comprising: controlling the main motion platform to gradually accelerate to a first preset speed relative to the first linear guide rail, and controlling the working tail end to gradually accelerate to a second preset speed relative to the second linear guide rail; wherein the first preset speed and the second preset speed are equal in magnitude but opposite in direction. In this process, the bound device is in a lead-in period.

Specifically, the importing step is a starting process of the bound device. In the process, the speed of the main motion platform is gradually accelerated from zero to a first preset speed, the speed of the working end is also gradually increased from zero to a second preset speed, and the first preset speed and the second preset speed are equal in magnitude but opposite in direction.

After the binding equipment executes the importing step, the speed of the working tail end and the speed of the main motion platform are kept consistent, but the directions are opposite, and at the moment, the working tail end is static relative to the first linear guide rail; subsequently, the binding device enters the first binding step. Thus, if the relative position of the working end on the first linear guide needs to be controlled before the end of the first binding step, adjustments in the introduction step are required, for example by setting the main motion platform and the working end to have different magnitudes of acceleration during the introduction period, or by staggering the start times for acceleration of the main motion platform and the working end.

A first binding step comprising: the working tail end is located at a preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device. In this process, the binding device is in a first binding period.

When the binding equipment starts to perform the first binding step, the working tail end moves at a second preset speed relative to the second linear guide rail, and the main moving platform moves at a first preset speed relative to the first linear guide rail; at this time, the working end is located at the preset position on the first linear guide rail, and since the speed of the main motion platform is equal to the speed of the working end relative to the second linear guide rail in the first binding step but opposite in direction, that is, the working end is stationary relative to the first linear guide rail, the working end is controlled to bind the preset device to the target position.

In the first binding step (i.e., the first binding period), the speed of the main motion platform relative to the first linear guide rail and the speed of the working end relative to the second linear guide rail may be constant or may be changed at any time.

A positioning step, comprising: and controlling the main motion platform to move to a next preset position, controlling the working tail end to do reciprocating motion on the second linear guide rail, and controlling the working tail end to move to the next preset position relative to the first linear guide rail. In this process, the bound device is in a location period.

In the process, the working end moves towards the next preset position relative to the first linear guide as the working end moves towards the next preset position relative to the first linear guide, namely, the combined speed direction of the speed of the main motion platform relative to the first linear guide and the speed of the working end relative to the second linear guide faces the direction of the next preset position.

A second binding step comprising: the working tail end is located at the next preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device. In this process, the binding device is in a second binding period.

The second binding step is similar to the first binding step, in the second binding step (i.e., the second binding period), the speed of the main motion platform relative to the first linear guide rail and the speed of the working end relative to the second linear guide rail may be constant or may be changed at any time, and since the working end needs to perform an action of binding the preset device, the working end needs to be in a relatively stationary state relative to the base or the first linear guide rail to ensure the stability of the working end when binding the preset device, so that it is only necessary to satisfy that the speed of the main motion platform relative to the first linear guide rail and the speed of the working end relative to the second linear guide rail are equal in magnitude but opposite in direction, and no specific limitation is made here.

The judging step comprises the following steps: judging whether the binding equipment completes the binding action for a preset number of times; if yes, controlling the binding equipment to enter the next step; otherwise, controlling the binding device to repeatedly execute the positioning step and the second binding step.

By carrying out the determination step, the binding device can be caused to perform repeated periodic movements. Specifically, the binding action performed for the preset number of times may be preset, so that the first binding step is recorded as a primary binding action, and then, under the action of the determining step, the binding device is controlled to repeatedly perform the positioning step and the second binding step which are less than the preset number of times, so as to complete the binding action for the preset number of times, and then the end period is entered. Therefore, by repeatedly executing the positioning step and the second binding step, the time proportion of the lead-in period and the end period occupying the whole motion process of the binding equipment is reduced, the average running time of each binding process is further reduced, and the binding frequency is increased. Wherein the preset times are more than or equal to two times.

The determining step is typically performed by the control device. Specifically, the actual number of times of execution of each binding action may be recorded in combination with a counter, so as to compare with a preset number of times, when the actual number of times of execution is less than the preset number of times, the positioning step and the second binding step are repeatedly executed, and when the actual number of times of execution is equal to the preset number of times, the binding device is controlled to enter the ending step; in addition, the number of the preset devices on the working end can be counted through the image acquisition system, when the residual number of the preset devices is larger than zero, the positioning step is repeatedly executed, and when the residual number of the preset devices is equal to zero, the binding equipment is controlled to enter the ending step. In general, the process of the control device performing the determination step is very short, the time used is negligible, and the process from the second binding step to the ending step or the repeated positioning step can be considered to be continuous without a time interval.

An ending step of controlling the binding device to execute an ending action, including: and controlling the main motion platform and the working tail end to gradually decelerate to a static state. In this process, the bound device is in the end period.

Wherein the ending step is an ending process of binding the equipment. In the process, the speed of the main motion platform is gradually reduced to zero, the speed of the working end is also gradually reduced to zero, and the speed of the main motion platform and the speed direction in the working end are always opposite.

The control method of the binding device provided by the embodiment of the invention has the same beneficial effects as the binding device provided by the first aspect, and can greatly reduce the mass of the variable-speed motion structure (namely the working tail end) through the arrangement of the secondary motion platform (namely the working tail end), and can obviously reduce the reaction force of the variable-speed motion structure to the interior of the binding device in the variable-speed motion process, thereby being beneficial to reducing the internal vibration amplitude of the binding device in the process. Therefore, under the condition that the binding precision (limited by the vibration amplitude) of the binding equipment is not changed, the binding frequency of the binding equipment is favorably improved. In addition, through the periodic positioning and binding process, the binding of the preset devices is favorably carried out on a large scale, and the average running time of each binding process is favorably further reduced, namely the binding frequency is increased.

It should be noted that:

in order to increase the binding frequency of the binding equipment and reduce the occupied time of each period, in the motion process of the lead-in period and the end period, the working tail end and the main motion platform both move in a variable-speed linear motion mode and do not include a uniform motion process, so that the variable-speed efficiency in the lead-in period and the end period can be improved, the occupied time of the lead-in period and the end period is reduced, and the binding frequency of the binding equipment is favorably improved.

On the basis of the condition one, a first binding period and a second binding period are respectively adjacent to the lead-in period and the end period, and the speed of the main motion platform relative to the first linear guide rail and the speed of the working tail end relative to the second linear guide rail in the first binding period and the second binding period are respectively equal in size but opposite in direction; therefore, in the lead-in period and the end period, the moving speed of the main moving platform relative to the first linear guide rail and the speed of the working tail end relative to the second linear guide rail are always equal in magnitude and opposite in direction, and the synchronism of the main moving platform and the working tail end in the lead-in period and the end period can be guaranteed.

Third, combining the contents of the second condition, it can be seen that in the lead-in period and the end period, the speed variation amounts of the main motion platform and the working end are the same, and when the main motion platform and the working end move synchronously, the acceleration amounts of the main motion platform and the working end are equal but opposite, that is, in the process, the working end is stationary relative to the first linear guide. That is, the working end is initially at the first predetermined position, so that after accelerating to the predetermined speed, the first binding step is entered, and then the first binding action is executed.

In the positioning step, a first positioning step and a second positioning step are sequentially included, specifically:

the first positioning step comprises: and the acceleration direction of the control working tail end relative to the second linear guide rail is the same as the speed direction of the main motion platform. In this process, the bound device is in a first location period.

The second positioning step includes: and controlling the acceleration direction of the working tail end relative to the second linear guide rail to be opposite to the speed direction of the main motion platform. In this process, the bound device is in a second location period.

The positioning period sequentially comprises a first positioning period and a second positioning period.

When the binding equipment enters a first positioning period, because the acceleration direction of the working tail end relative to the second linear guide rail is the same as the speed direction of the main motion platform, and the speed of the working tail end relative to the second linear guide rail is opposite to the speed direction of the main motion platform, the speed of the working tail end relative to the second linear guide rail is gradually reduced to zero and then gradually increased from zero along with the lapse of time, and the speed direction of the increased working tail end relative to the second linear guide rail is the same as the speed direction of the main motion platform; when the binding equipment enters a second positioning period, because the acceleration direction of the working tail end relative to the second linear guide rail is opposite to the speed direction of the main motion platform, and the speed direction of the working tail end relative to the second linear guide rail is the same as the speed direction of the main motion platform at the moment, the working tail end faces the next preset position, the speed of the working tail end relative to the second linear guide rail is gradually reduced to zero along with the lapse of time, then the working tail end is gradually increased from zero, and the speed direction of the increased working tail end relative to the second linear guide rail is opposite to the speed direction of the main motion platform.

Therefore, in the whole positioning period from the first positioning period to the second positioning period, the working end moves in a reverse deceleration mode relative to the second linear guide rail, namely moves in a reverse direction, then moves in a same direction in an acceleration mode until the first positioning period is finished, namely moves in a forward direction, then moves in a same direction in a deceleration mode, or moves in a forward direction, and finally moves in a reverse acceleration mode until the second positioning period is finished, wherein the process is reverse displacement, and therefore the reciprocating motion process is achieved on the second linear guide rail. In the positioning period, the displacement direction of the working tail end relative to the first linear guide rail is always the same as the speed direction of the main motion platform and faces to the next preset position.

It should be noted that, during the reciprocating process of deceleration, acceleration, deceleration and acceleration at the working end, a uniform motion process may also be included between each process, that is, the working end moves at the maximum speed for a period of time. However, in order to further increase the binding frequency of the binding device, i.e. the movement time of the movement cycle needs to be further compressed, it is preferable that the working end performs the acceleration or deceleration movement all the way during the positioning period, so that the time occupied by the positioning period can be maximally reduced, i.e. the binding frequency of the binding device can be increased.

Specifically, the control method further includes:

and controlling the displacement sum of the working end on the second linear guide rail to be zero from the positioned step to the end of the second binding step.

It can also be said that the sum of the displacements of the working end in the positioning phase and the binding phase is zero. Due to the fact that the positioning step and the second binding step of the binding equipment can be cycled periodically, the minimum moving distance of the working tail end in a plurality of periodic movements can be guaranteed, the length of the second linear guide rail is shortened as far as possible, the mass of the second linear guide rail is minimized, the overall mass of the main motion platform is effectively reduced, and therefore the reaction force inside the binding equipment is favorably reduced, namely the vibration amplitude inside the binding equipment is reduced. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

It should be noted that, in order to reduce the length of the second linear guide as much as possible, for the motion process of the working end, in addition to the uniform motion necessary in the first binding period and the second binding period, the variable-speed linear motion (relative to the motion process of the second linear guide) is performed in the positioning period, the lead-in period, and the end period. Further, the sum of the displacement of the working end relative to the second linear guide in the first binding step and the displacement of the working end relative to the second linear guide in the positioning step is controlled to be zero.

In addition, the speed and the acceleration of the main motion platform, the working end and even the reciprocating end of the binding device are smoothly and continuously changed, namely, sudden changes do not occur during the motion process of the leading-in period, the first binding period, the positioning period, the second binding period and the ending period. Therefore, the problem that the acceleration is infinite due to the fact that the speed of the internal structure of the binding equipment is suddenly changed at a certain moment is avoided, and the binding precision is prevented from being influenced by the huge vibration amplitude inside the binding equipment caused by the sudden change of the speed. And in the first binding period and the second binding period, the speed of the main motion platform relative to the first linear guide rail is controlled to be consistent, and the speed of the working tail end relative to the second linear guide rail is also controlled to be consistent, so that the positioning step is conveniently and repeatedly executed.

There are several different embodiments for the above control method of the binding device:

example one

The basic scheme of the control method is as follows: controlling the main motion platform to perform variable speed motion at a first acceleration relative to the first linear guide rail in the positioning step, wherein the direction of the first acceleration is always opposite to the direction of the second acceleration; wherein the second acceleration is the acceleration relative to the second linear guide while the working end is in the positioning step.

Because the first acceleration of the main motion platform is opposite to the second acceleration of the working end, in the positioning period, the main motion platform is controlled to perform variable speed motion opposite to the acceleration of the working end, so that the reaction force of the working end and the reaction force of the main motion platform acting on the interior of the binding device are opposite in direction, namely the reaction force of the main motion platform can balance part or all of the reaction force of the working end, in this way, the influence of the reaction force generated when the working end performs reciprocating motion in the moving process to the next preset position can be weakened or completely counteracted, and the reduction of the internal vibration amplitude caused by the binding device in the process is facilitated. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

In order to further reduce the vibration amplitude caused by the attack force generated when the working end reciprocates in the binding device, the ratio of the overall mass of the working end to the overall mass of the main motion platform is recorded as b, and the positioning step further comprises:

controlling the magnitude ratio of the first acceleration and the second acceleration to be always equal to

So, binding the inside of equipment, the reaction force that acts on binding the inside of equipment when the terminal reciprocating motion of work and the reaction force that acts on binding the inside of equipment when main motion platform variable speed motion are the same, but opposite direction, and the atress is balanced between the two, is favorable to the maximize to reduce the inside vibration range that binds equipment and arouse at this in-process. Therefore, the binding frequency of the binding equipment is further improved under the condition that the binding precision of the binding equipment is not changed. And no additional structural part is needed on the binding equipment, and the binding equipment is simple in structure and convenient to control.

In the control method of the binding device, in combination with the above technical solution of this embodiment, as shown in fig. 8, a specific control method corresponding to the binding device is as follows:

step S100 is introduced: controlling the main motion platform to gradually accelerate to a first preset speed relative to the first linear guide rail and controlling the working tail end to gradually accelerate to a second preset speed relative to the second linear guide rail; wherein the first preset speed and the second preset speed are equal in magnitude but opposite in direction.

First binding step S200: the working tail end is located at a preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device.

A positioning step S300: the method specifically comprises the following steps:

first positioning step S310: the direction of the second acceleration is controlled to be the same as the speed direction of the main motion platform, the working tail end is controlled to do reciprocating motion on the second linear guide rail, and the working tail end and the main motion platform are both opposite to the first linear guide railThe guide rail moves to the next preset position, and the ratio of the first acceleration to the second acceleration is controlled to be always equal to

But in the opposite direction; wherein, the ratio of the overall mass of the working end to the overall mass of the main motion platform is b.

Second positioning step S320: the direction of the second acceleration is controlled to be opposite to the speed direction of the main motion platform, the working tail end is controlled to do reciprocating motion on the second linear guide rail, the working tail end and the main motion platform are both controlled to move to the next preset position relative to the first linear guide rail, and the ratio of the first acceleration to the second acceleration is controlled to be equal to the speed of the main motion platform all the time

Second binding step S400: the working tail end is located at the next preset position, the speed of the main motion platform and the speed of the working tail end relative to the second linear guide rail are controlled to be equal in size but opposite in direction, and the working tail end is controlled to be bound with a preset device.

A judgment step S500: judging whether the binding equipment completes the binding action for a preset number of times; if yes, controlling the binding equipment to enter the next step (namely step S600); otherwise, controlling the binding equipment to shift to the positioning step.

End step S600: and controlling the main motion platform and the working tail end to gradually decelerate to a static state.

It should be noted that, in the first binding step of S200 and the second binding step of S400 in the above-mentioned scheme, the main motion platform and the working end may perform a uniform motion or a variable motion, and it is only necessary to satisfy that the motion speeds of the main motion platform and the working end are equal, but the directions are opposite, and the method is not limited herein.

When the main motion platform does uniform motion in both the first binding step of S200 and the second binding step of S400, the binding device is used to openThe step of starting to execute the import is taken as a starting point, the step of finishing the binding device is taken as an end point, and the time of the binding device when executing any step is taken as t. If the time used in the judging step is ignored, the movement speed of the main movement platform relative to the first linear guide rail (i.e. the base) is set as V in the whole process of the leading-in step, the first binding step, the positioning step, the second binding step and the ending step_{Master and slave}The working end moves at a speed V relative to the second linear guide_PowderThe velocity of the binding device at the end of the lead-in period and the end of the lead-in period as a function of time is shown in fig. 6.

In the process, a curve of the speed of the working end relative to the second linear guide rail as a function of time t is shown in fig. 7, the area of a region surrounded by the curve and a t axis of a coordinate axis is the displacement of the working end relative to the second linear guide rail, the area above the t axis represents the displacement towards the direction of the next preset position, and the area below the t axis represents the displacement towards the direction of the previous preset position. In fig. 7, the area below the t-axis is a negative value, the area above the t-axis is a positive value, and the sum of the areas surrounded by the curve and the t-axis of the coordinate axis in the positioning period and the second binding period is zero, that is, after the positioning step and the second binding step of any one period, the displacement of the working end relative to the second linear guide rail is zero. In addition, in the first binding period and the second binding period, the area of two regions surrounded by the curve and the t axis of the coordinate axis is equal in size.

Example two

Because the overall mass of the working end is less than that of the main motion platform, the influence of the working end on the vibration amplitude inside the binding device can be ignored in order to simplify the control scheme. In this case, the control method is:

and controlling the main motion platform to do uniform motion on the first linear guide rail at a first preset speed in the first binding step, the positioning step and the second binding step. And the working tail end moves at a constant speed at a second preset speed in the first binding step and the second binding step.

Compared with the technical scheme that the main motion platform and the working tail end perform variable-speed motion in the first positioning step and the second positioning step, the technical scheme of the embodiment can simplify the control program of the binding device, and is more beneficial to the control of the binding device. It should be noted that, here, the uniform motion of the main motion platform and the working end refers to: the main motion platform moves at a constant speed along the first linear guide rail, and the working tail end moves at a constant speed along the second linear guide rail.

In addition, in the whole cycle of the motion process of the main motion platform, the main motion platform only performs accelerated linear motion in the lead-in period, performs decelerated linear motion in the end period, and performs uniform motion on the first linear guide rail in the rest processes, so that the control difficulty of binding equipment is further reduced.

As shown in fig. 9, the specific control method corresponding to the binding device is as follows:

First binding step S200': and the working tail end is positioned at a preset position, the main motion platform is controlled to move at a first preset speed at a constant speed, the working tail end is controlled to move at a second preset speed at a constant speed, and the working tail end is controlled to bind a preset device.

Positioning step S300': the positioning step specifically comprises:

first positioning step S310': and controlling the main motion platform to move at a constant speed at a first preset speed, and simultaneously controlling the direction of the second acceleration to be the same as the direction of the first preset speed so as to enable the working tail end to reciprocate, wherein the working tail end and the main motion platform both move to a next preset position relative to the first linear guide rail.

Second positioning step S320': and controlling the main motion platform to move at a constant speed at a first preset speed, and simultaneously controlling the direction of the second acceleration to be opposite to the direction of the first preset speed so as to enable the working tail end to reciprocate, wherein the working tail end and the main motion platform both move to a next preset position relative to the first linear guide rail.

Second binding step S400': and the working tail end is positioned at the next preset position, the main motion platform is controlled to move at a first preset speed at a constant speed, the working tail end is controlled to move at a second preset speed at a constant speed, and the working tail end is controlled to bind a preset device.

A judgment step S500: judging whether the binding equipment completes the binding action for a preset number of times; if yes, controlling the binding equipment to enter the next step (namely step S600); otherwise, the control binding device proceeds to perform step S300'.

When the main motion platform does uniform motion in the first binding step of S200 ', the positioning step of S300 ', and the second binding step of S400 ', the start point of the step of starting to execute the import by the binding device is set, the end point of the step of finishing the binding device is set, and the time of the binding device executing any step is t. Setting the movement speed of the main movement platform relative to the first linear guide rail (namely the base) as V in the whole process of the leading-in step, the first binding step, the positioning step, the second binding step and the ending step_{Master and slave}A displacement of S_{Master and slave}(ii) a The working end moves at a speed V relative to the first linear guide (i.e. the base)_{Combination of Chinese herbs}A displacement of S_{Combination of Chinese herbs}(ii) a The working end moves at a speed V relative to the second linear guide rail_PowderA displacement of S_Powder. The displacement versus time curves of the working end and the main motion platform of the binding device during the whole process from the lead-in period to the end period are shown in fig. 4, and the velocity versus time curves of the working end and the main motion platform are shown in fig. 5.

Obviously, the displacement, speed and acceleration curve changes of the main motion platform and the working end in each period are continuous and smooth, and sudden changes do not occur. Therefore, the situation that the instantaneous acceleration is large due to sudden change of the speed can be effectively avoided, and huge counter-acting force suddenly generated in the binding equipment is avoided.

In the process, as shown in fig. 7, the area of a region surrounded by the curve and a coordinate axis t axis is the displacement of the working end relative to the second linear guide rail, the area above the t axis represents the displacement toward the next preset position, and the area below the t axis represents the displacement toward the previous preset position. In fig. 7, the area below the t-axis is a negative value, the area above the t-axis is a positive value, and the sum of the areas surrounded by the curve and the t-axis of the coordinate axis in the positioning period and the second binding period is zero, that is, after the positioning step and the second binding step of any one period, the displacement of the working end relative to the second linear guide rail is zero. In addition, in the first binding period and the second binding period, the area of two regions surrounded by the curve and the t axis of the coordinate axis is equal in size.

EXAMPLE III

In order to further reduce the vibration amplitude caused by the reaction force generated when the working tail end reciprocates in the binding equipment, on the basis of controlling the main motion platform to do uniform motion on the first linear guide rail at a first preset speed in the first binding step, the positioning step and the second binding step, the binding equipment further comprises:

and the reciprocating motion end is arranged on the second linear guide rail.

And the third driving device is used for driving the reciprocating end to move on the second linear guide rail, and the control device is also connected with the third driving device.

At this time, the positioning step further includes: and controlling the reciprocating end to reciprocate on the second linear guide rail at a third acceleration, wherein the direction of the third acceleration is opposite to the direction of the second acceleration all the time.

The directions of the accelerations of the reciprocating motion end and the working tail end are always opposite, so that the directions of the reaction forces of the working tail end and the reciprocating motion end acting on the interior of the binding equipment are opposite, namely the reaction force of the reciprocating motion end can balance the reaction force of part or all of the working tail end, and thus, the influence of the reaction force generated when the working tail end reciprocates in the process of moving to the next preset position can be weakened or counteracted, and the internal vibration amplitude caused by the binding equipment in the process can be reduced. Therefore, the binding frequency of the binding equipment is favorably improved under the condition of ensuring that the binding precision of the binding equipment is not changed.

Further, the positioning step further comprises: and controlling the magnitude ratio of the third acceleration to the second acceleration to be always equal to c, wherein the integral mass ratio of the working end to the reciprocating end is c.

Because the ratio of the mass of the working tail end to the mass of the reciprocating end is equal to the inverse ratio of the numerical values of the second acceleration and the third acceleration, in the binding equipment, the reaction force acting on the inside of the binding equipment during the reciprocating motion of the working tail end is equal to the reaction force acting on the inside of the binding equipment during the reciprocating motion of the reciprocating end but opposite in direction, the stress between the reaction force and the reaction force is balanced, and the internal vibration amplitude caused by the binding equipment in the process is favorably and maximally reduced. Therefore, the binding frequency of the binding equipment is further improved under the condition that the binding precision of the binding equipment is not changed.

And the guiding step of variable speed motion is carried out at the working end, the reciprocating end is controlled to gradually accelerate to a third preset speed relative to the second linear guide rail, wherein the ratio of the third preset speed to the second preset speed is always equal to c, but the directions are opposite, namely, the ratio of the acceleration of the reciprocating end in the guiding step to the acceleration of the working end in the process is equal to c in the guiding step and the ending step. Therefore, in the step of performing uniform motion at the working end, namely the first binding step and the second binding step, the reciprocating end performs uniform motion at a third preset speed, and the ratio of the third speed to the second speed in the process is also equal to c.

On the basis of the scheme, the third acceleration and the second acceleration can be controlled to be equal all the time, and the mass of the working end and the mass of the reciprocating end are equal.

As shown in fig. 10, the specific control method of the scheme corresponding to the binding device is as follows:

step S100 ″ is introduced: controlling the main motion platform to gradually accelerate to a first preset speed relative to the first linear guide rail, controlling the working tail end to gradually accelerate to a second preset speed relative to the second linear guide rail, and controlling the reciprocating motion end to gradually accelerate to a third preset speed relative to the second linear guide rail; the first preset speed and the second preset speed are equal in magnitude and opposite in direction, and the third preset speed and the second preset speed are opposite in direction and have a magnitude ratio equal to c all the time; the overall mass ratio of the working end to the reciprocating end is c.

First binding step S200 ″: the working tail end is positioned at a preset position, the main motion platform is controlled to move at a first preset speed at a constant speed, the working tail end is controlled to move at a second preset speed at a constant speed, and the working tail end is controlled to be bound with a preset device; and controlling the reciprocating motion end to move at a third preset speed at a constant speed.

Positioning step S300 ″: the positioning step specifically comprises:

first positioning step S310 ″: the positioning step controls the main motion platform to move at a constant speed at a first preset speed, controls the direction of the second acceleration to be the same as the direction of the first preset speed, controls the working tail end and the reciprocating end to reciprocate on the second linear guide rail, and controls the direction of the third acceleration to be always opposite to that of the second acceleration but controls the value ratio of the third acceleration to be always equal to c; and the working tail end and the main motion platform move to the next preset position relative to the first linear guide rail. Second positioning step S320 ″: controlling the main motion platform to move at a constant speed at a first preset speed, controlling the direction of the second acceleration to be opposite to the direction of the first preset speed, controlling the working tail end and the reciprocating end to reciprocate on the second linear guide rail, and controlling the direction of the third acceleration to be always opposite to that of the second acceleration and the magnitude ratio to be always equal to c; and the working tail end and the main motion platform move to the next preset position relative to the first linear guide rail.

Second binding step S400 ″: the working tail end is positioned at the next preset position, the main motion platform is controlled to move at a first preset speed at a constant speed, the working tail end is controlled to move at a second preset speed at a constant speed, and the working tail end is controlled to be bound with a preset device; and controlling the reciprocating motion end to move at a third preset speed at a constant speed.

Judgment step S500': judging whether the binding equipment completes the binding action for a preset number of times; if yes, controlling the binding device to enter the next step (namely step S600'); otherwise, the control binding device proceeds to step S300 ″.

End step S600: and controlling the main motion platform, the working tail end and the reciprocating motion end to gradually decelerate to a static state.

The following is a detailed description of the specific motion state of the binding device during the positioning period through a specific data formula. When the binding equipment is in a lead-in period, a first binding period, a second binding period and an end period, the working end is controlled to be static relative to the first linear guide rail in the extending direction of the first linear guide rail.

When the binding equipment is in a positioning period, the maximum value of the displacement of the working end relative to the first linear guide rail in the extending direction of the first linear guide rail at any moment is equal to the distance d between two adjacent preset positions, and the movement time in the positioning period is t₀Setting the variation of the acceleration a of the working end in the unit time in the process as the jerk j of the working end, wherein the jerk j is a constant value, and the acceleration a has a maximum value a_m。

Example four

The working end has a movement speed v in the extension direction of the first linear guide relative to the first linear guide when

At the same time, the working end always performs a variable-speed movement in the positioning period, and the acceleration a increases from zero to a maximum value (the maximum value)A is less than or equal to_m) Then, it is decreased to 0, becomes negative, and finally becomes 0.

At this time, the function relationship of the speed v of the control working end and the time t is as follows:

wherein the movement time of the working end in the positioning period

The time t in this embodiment is a starting point at the start time of the positioning step at the end of the operation, and an ending point at the end time of the positioning step.

EXAMPLE five

The working end is in the extending direction of the first linear guide rail, the moving speed of the working end relative to the first linear guide rail is v, when the distance d between two adjacent preset positions is smaller, the working end always performs variable speed movement in the positioning period, and the acceleration a is increased to the maximum value (the maximum value is less than or equal to a)_m) Thereafter, it decreases rapidly, i.e., the magnitude of the acceleration changes from moment to moment.

In this case, the functional relationship between the speed v of the working end and the time t can be further controlled as follows:

in the present embodiment, the time t is set to start at the start time of the positioning step and end at the end time of the positioning step. In the present embodiment, the curve locus of the cosine function of the speed v and the time t of the working end is substantially similar to the curve locus of the function v (t) of the working end in the first embodiment. Wherein,

is the movement time of the positioning period. Amplitude of cosine function

But angular velocity

EXAMPLE six

In the time, the working end also has a uniform speed change motion process in the positioning period due to the longer motion path of the working end. For example: in the first positioning period, the magnitude of the acceleration a is increased to a maximum value a_mThen at the maximum acceleration a_mCarrying out uniform variable speed movement for a period of time, and then gradually reducing the acceleration; similarly, in the second positioning period, the magnitude of the acceleration a is increased to the maximum value a_mThen at the maximum acceleration a_mA time period of uniform movement is performed and then the magnitude of the acceleration is gradually reduced. It should be noted that during the variable-speed movement, the movement speed of the working end may be zero at a certain moment, i.e. during this, the direction of the movement speed changes, and therefore, the variable-speed movement includes both the uniform acceleration movement process and the uniform deceleration movement process.

wherein the movement time of the working end in the positioning period

The time t in this embodiment is the starting point at the start time of the positioning step at the working end, and the ending point at the end time of the positioning step.

With the contents of the fourth to sixth embodiments, when the binding apparatus is in the positioning period, the magnitude of the real-time movement speed v (t) of the working end in the extending direction of the first linear guide rail and relative to the first linear guide rail can be intuitively obtained. The main motion platform performs periodic motion in the processes of the positioning period and the second binding period, the displacement of the working tail end relative to the second linear guide rail in one periodic motion is zero, namely the displacement of the main motion platform in one motion period is d, which is equal to the motion distance of the working tail end relative to the first linear guide rail in the process, the motion time in each motion period (the positioning period and the second binding period) is T, and the first preset speed of the main motion platform relative to the first linear guide rail is v_mAnd by taking the starting time of the positioning period as a starting point, the following conditions are met:

∫₀ ^Tv_m(t)dt＝∫₀ ^Tv(t)＝dt＝d

setting a second velocity v of the working end relative to the second linear guide_sThen the displacement of the working end relative to the second linear guide during one execution movement cycle is zero, i.e.:

∫₀ ^Tv_s(t)dt＝0

a second velocity v relative to the second linear guide during positioning of the working end_sSatisfies the following conditions:

v_s(t)＝v(t)-v_m(t)

further, the main motion platform is controlled to move at a constant speed v in the positioning period and the second binding period_cAnd then:

therefore, the speed v of the uniform motion of the main motion platform in the positioning period and the second binding period can be calculated more conveniently_cIn this way, the second velocity v of the working end relative to the second linear guide during positioning_sSatisfies the following conditions:

v_s(t)＝v(t)-v_c

in addition, since the overall mass ratio of the working end to the main motion platform is b, when v is_cWhen the uniform motion speed of the main motion platform in the first binding period and the second binding period is represented, the speed of the main motion platform performing variable speed motion in the positioning period is as follows:

v_c-bv(t)

in the above arrangement, the speed of the working end at the first and second binding periods may be expressed as-v_cThen, the speed of the working end relative to the second linear guide during the positioning period is:

-v_c+(1+b)v(t)

the displacement sum of the working end relative to the second linear guide rail in the positioning period is zero, and the second speeds of the working end at the beginning and the end of the positioning period are further set to be the same, namely the speeds of the working end in the first binding step and the second binding step are the same, and the magnitudes are v_c。

Planning the movement of the lead-in period, namely a lead-in step; accelerating the main motion platform and the working end of the binding equipment from rest, and accelerating the main motion platform and the working end to v_cWhen the binding equipment enters a first binding period, executing a first binding action (at the moment, the speed directions of the main motion platform and the working tail end are opposite), wherein the motion speeds of the main motion platform and the working tail end are v_cBut in the opposite direction, so that the working end is stationary relative to the second linear guide.

Planning the movement of the ending period, i.e. the ending step, controlling the speeds of the main movement platform and the working end to be both of the magnitude v_cGradually decreasing to a static state.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A binding device, comprising:

a base;

the first linear guide rail is arranged on the base;

the main motion platform is arranged on the first linear guide rail;

the first driving device is used for driving the main motion platform to move on the first linear guide rail;

the second linear guide rail is arranged on the main motion platform and is arranged in the same direction as the first linear guide rail;

the working tail end is arranged on the second linear guide rail, and the overall mass of the working tail end is smaller than that of the main motion platform;

the second driving device is used for driving the working tail end to move on the second linear guide rail;

the control device is respectively connected with the first driving device and the second driving device and is used for controlling the main motion platform to move on the first linear guide rail and controlling the working tail end to reciprocate on the second linear guide rail;

the working end is used for executing binding action when being static relative to the first linear guide rail; and when the movement directions of the working tail end and the main movement platform relative to the first linear guide rail are the same, the working tail end moves to the next preset position for executing the binding action.

2. The binding apparatus of claim 1, further comprising:

the reciprocating end is arranged on the second linear guide rail;

the third driving device is used for driving the reciprocating end to move on the second linear guide rail; and the control device is connected with the third driving device and used for controlling the reciprocating motion end to reciprocate on the second linear guide rail, and the directions of the accelerations of the reciprocating motion end and the working tail end are always opposite.

3. The binding apparatus according to claim 2, wherein the second driving device and the third driving device are both linear motors, the motor stators of the second driving device and the third driving device are the same and are disposed on the main motion platform, and the motor movers of the second driving device and the third driving device are disposed on the working end and the reciprocating end, respectively; or,

the second driving device and the third driving device are the same cam driving device and comprise a rotating motor arranged on the main motion platform, a disc-shaped cam parallel to the main motion platform is arranged on a driving shaft of the rotating motor, guide grooves symmetrical to each other in center are formed in the disc-shaped cam, the working end and the reciprocating end are respectively in sliding connection with the guide grooves through a first connecting structure and a second connecting structure, the centers of the guide grooves coincide with the central shaft of the driving shaft, and the working end and the reciprocating end and two contact points of the guide grooves are always collinear with the centers of the guide grooves.

4. The binding apparatus according to any one of claims 1 to 3, wherein the first driving device is a linear motor, a motor stator of the first driving device is disposed on the base, and a motor mover of the first driving device is disposed on the main motion platform.

5. A control method of a binding apparatus for controlling the binding apparatus according to any one of claims 1 to 4, comprising:

a first binding step comprising: the working tail end is positioned at the preset position, the speed of the main motion platform is controlled to be equal to the speed of the working tail end relative to the second linear guide rail, but the directions of the speeds are opposite, and the working tail end is controlled to be bound with a preset device;

a positioning step, comprising: controlling the main motion platform to move to the next preset position, controlling the working tail end to do reciprocating motion on the second linear guide rail, and controlling the working tail end to move to the next preset position relative to the first linear guide rail;

a second binding step comprising: the working tail end is positioned at the preset position, the speed of the main motion platform is controlled to be equal to the speed of the working tail end relative to the second linear guide rail, but the directions of the speeds are opposite, and the working tail end is controlled to be bound with a preset device;

the judging step comprises the following steps:

judging whether the binding equipment completes the binding action for a preset number of times;

if yes, controlling the binding equipment to execute an ending action; otherwise, controlling the binding device to repeatedly execute the positioning step and the second binding step.

6. The control method according to claim 5, characterized in that said positioning step comprises, in sequence:

7. The control method according to claim 5 or 6, wherein the first binding step, the positioning step, and the second binding step further comprise:

and controlling the main motion platform to do uniform motion on the first linear guide rail.

8. The control method according to claim 5 or 6, wherein the positioning step further comprises:

and controlling the main motion platform to perform variable speed motion at a first acceleration relative to the first linear guide rail, and simultaneously controlling the working tail end to perform reciprocating motion at a second acceleration relative to the second linear guide rail, wherein the direction of the first acceleration is always opposite to that of the second acceleration.

9. The control method of claim 8, wherein the ratio of the overall mass of the working tip to the overall mass of the primary motion platform is b, and wherein the positioning step further comprises:

10. The control method according to claim 7, wherein the binding device further comprises:

the reciprocating end is arranged on the second linear guide rail;

the positioning step further comprises:

controlling the reciprocating end to reciprocate relative to the second linear guide rail at a third acceleration, wherein the direction of the third acceleration is opposite to the direction of the second acceleration all the time;

wherein the second acceleration is an acceleration of the working tip relative to the second linear guide.

11. The control method of claim 10, wherein the ratio of the overall mass of the working tip to the overall mass of the reciprocating tip is c, and wherein the positioning step further comprises:

and controlling the magnitude ratio of the third acceleration to the second acceleration to be always equal to c.

12. Control method according to claim 5 or 6, characterized in that the sum of the displacements of said working end with respect to said second linear guide is controlled to be zero starting from said positioning step to the end of said second binding step.

13. The control method according to claim 5 or 6, characterized by further comprising:

an importing step, located before the first binding step, comprising: controlling the main motion platform to gradually accelerate to a first preset speed relative to the first linear guide rail, and controlling the working tail end to gradually accelerate to a second preset speed relative to the second linear guide rail; wherein the first preset speed and the second preset speed are equal in magnitude but opposite in direction;

an ending step, located after the judging step, of controlling the binding device to execute an ending action, including: and controlling the main motion platform and the working tail end to gradually decelerate to a static state.

14. The control method according to claim 13, wherein the introducing step and the terminating step further include:

at any time, the speed of the primary motion platform relative to the first linear guide and the speed of the working end relative to the second linear guide are controlled to be equal in magnitude but opposite in direction.