WO2018177211A1 - 微滴喷射机器人及机器人微滴喷射控制方法 - Google Patents

微滴喷射机器人及机器人微滴喷射控制方法 Download PDF

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Publication number
WO2018177211A1
WO2018177211A1 PCT/CN2018/080228 CN2018080228W WO2018177211A1 WO 2018177211 A1 WO2018177211 A1 WO 2018177211A1 CN 2018080228 W CN2018080228 W CN 2018080228W WO 2018177211 A1 WO2018177211 A1 WO 2018177211A1
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WO
WIPO (PCT)
Prior art keywords
nozzle
swing arm
droplet ejection
motion
working
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PCT/CN2018/080228
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English (en)
French (fr)
Other versions
WO2018177211A9 (zh
Inventor
石毅
杨馥涛
黄鑫
朱晨辉
Original Assignee
陕西华拓科技有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 陕西华拓科技有限责任公司 filed Critical 陕西华拓科技有限责任公司
Priority to EP18777032.6A priority Critical patent/EP3603819A4/en
Priority to US16/496,899 priority patent/US20200078812A1/en
Publication of WO2018177211A1 publication Critical patent/WO2018177211A1/zh
Publication of WO2018177211A9 publication Critical patent/WO2018177211A9/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0278—Arrangement or mounting of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/14—Arrangements for preventing or controlling structural damage to spraying apparatus or its outlets, e.g. for breaking at desired places; Arrangements for handling or replacing damaged parts
    • B05B15/16—Arrangements for preventing or controlling structural damage to spraying apparatus or its outlets, e.g. for breaking at desired places; Arrangements for handling or replacing damaged parts for preventing non-intended contact between spray heads or nozzles and foreign bodies, e.g. nozzle guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/70—Arrangements for moving spray heads automatically to or from the working position
    • B05B15/72—Arrangements for moving spray heads automatically to or from the working position using hydraulic or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the invention belongs to the field of droplet ejection, and in particular relates to a droplet ejection robot, which realizes a droplet ejection function for an arbitrary three-dimensional solid body by feeding on demand.
  • the droplet ejection is an external force to force the forming material to be sprayed from the small hole (nozzle) of the nozzle cavity to the substrate in the form of fine droplets (or liquid flow) to form a two-dimensional image (word), dot matrix Or a 3D solid.
  • fine droplets is meant that the droplet size of the jet can be precisely controlled to droplets on the order of micrometers, and its volume can be controlled at microliters, nanoliters, picoliters, and even ascending orders of magnitude.
  • 3D printing has become a more mature technology, such as droplet ejection freedom on flat paper, leather, plastic and other materials. Forming has been widely used.
  • the present invention provides a droplet ejection robot capable of free-forming a droplet of a planar and a three-dimensional product, and having a small volume, but having a wide working range.
  • the droplet ejection robot of the present invention comprises a control system, a mechanical motion structure and a droplet ejection system and a pneumatic balance system; the control system synchronously implements motion control and droplet ejection control; the mechanical motion structure is a multi-degree-of-freedom mechanical structure a plurality of degrees of freedom of motion function in the space; the droplet ejection system is mounted on the mechanical motion structure, and the droplet ejection function is implemented by using at least two nozzles having independent telescopic functions and capable of feeding functions as needed;
  • the pneumatic balance control system controls the air pressure inside and outside the nozzle to balance according to the change of the air pressure of the working nozzle, ensuring that the injection state is stable, and there is no multi-spray or less spray.
  • the mechanical motion structure of the present invention includes a base, a swivel seat, a first swing arm, a second swing arm, a swing arm and a third swing arm, the swing seat is disposed on the base, and the first swing The arm is disposed on the swing seat, the second swing arm is disposed at the other end of the first swing arm, the swing arm is disposed on the second swing arm, and the third swing arm is disposed on the swing arm.
  • the droplet ejection head system of the present invention is disposed at a front end of a third swing arm;
  • the droplet ejection head system includes the droplet ejection system including a rotating shaft, a rotating body and a pushing mechanism on the rotating body Providing at least two nozzle mounting holes, the rotating body is rotated about the rotating shaft, and any nozzle mounting hole can be moved to the pushing mechanism by the rotation of the rotating body, and the pushing mechanism is used for the nozzle in the mounting hole of any nozzle Push the nozzle mounting hole or retract the nozzle in any nozzle mounting hole into the nozzle mounting hole;
  • the pneumatic balance system of the present invention comprises a sensing element, a pneumatic control element, a gas liquid bottle, a gas pipe and a liquid guiding tube, and the sensing element is disposed in a gas liquid bottle, the gas pipe and the gas liquid bottle Connecting; the catheter is connected to a ventilating fluid bottle and a droplet ejection system.
  • the mechanical motion structure of the present invention includes a base, a swivel seat, a first swing arm, a second swing arm, a swing arm and a third swing arm, the swing seat is disposed on the base, and the first swing The arm is disposed on the swing seat, the second swing arm is disposed at the other end of the first swing arm, the swing arm is disposed on the second swing arm, and the third swing arm is disposed on the swing arm;
  • the balance system comprises a sensing element, a pneumatic control element, a gas-liquid bottle, a gas pipe and a liquid guiding tube, the sensing element is disposed in the gas-liquid bottle, the gas pipe is connected with the gas-liquid bottle; a bottle and a droplet ejection system; the third swing arm and the swing arm are provided with a catheter placement through hole.
  • the invention also provides a robot droplet ejection control method, and the provided method comprises:
  • Step one generate a processing file:
  • modeling file includes modeling information, and the modeling information is color information or material information;
  • the processing file includes: a working nozzle motion interpolation trajectory, and a shape information corresponding to each position point in the motion head motion interpolation trajectory;
  • Step 2 setting the feed speed of the working nozzle and the initial air pressure level of the working nozzle according to the motion interpolation interpolation path of the working nozzle;
  • Step 3 controlling the movement of the droplet ejection robot according to the trajectory information of the target point in the interpolation trajectory of the working nozzle movement and the feed speed of the working nozzle, so that the working nozzle reaches the target point;
  • Step 4 judging whether the target point is reached, if the execution step 5 is reached, if the step 3 is not reached;
  • Step 5 According to the modeling information of the target point in the working nozzle and the working voltage information of the nozzle, the position is sprayed; and the air pressure inside and outside the nozzle is controlled according to the pressure change of the working nozzle to ensure the injection state is stable, There will be multiple sprays or less sprays;
  • Step 6 Determine whether the target point is the end point. If yes, end the work. If not, repeat steps three-six.
  • the present invention can realize free-form forming of a droplet-jet free of all angles based on flat and curved surfaces.
  • the multi-free arm synergistically provides more freedom for the micro-droplet nozzle, and the working form is more flexible, which can directly make the graphic stereoscopic shape more convenient on the article, and realize the micro-drop ejection without dead angle work.
  • the pneumatic balance system of the present invention can make the nozzle change the posture between the high and low pitches more freely, and does not cause the material to break due to the height change.
  • the invention adopts a droplet ejection nozzle system to realize precision spraying of microliter (ul), nanoliter (nl), skin lift (pl) and even fly-up (fl) grade, and at the same time, liquid of various materials can be realized.
  • the droplets are overprinted by different nozzles to obtain more complicated jetting effects, which are convenient for many applications such as complex electronic circuit manufacturing, special medical reagent spotting, special chemical reagent spotting, fine chemical synthesis, etc., especially with robots.
  • the complex and precise motion function is more suitable for effectively improving the application effect in these fields.
  • 1-2 is a schematic structural view of a device of the present invention.
  • FIG. 3 is a flow chart of a control method of the present invention.
  • Figure 4 is an image to be painted of Embodiment 2;
  • Figure 5 is an image to be painted of Example 3.
  • the method for extracting color information or material information of a corresponding position point in a modeling file, and acquiring color information or material information corresponding to each position point in the motion interpolation interpolation track of the working head is adopted by the method disclosed in ZL 2010 1 0614184.2 .
  • the invention can increase the degree of freedom of the rotating arm of the robot according to the work requirement, and can also increase the adaptability of the workpiece by increasing the turning head and the sliding rail.
  • the modeling information of the present invention includes color information, material information, and the like.
  • the droplet ejection system of the present invention can be implemented with reference to the technique disclosed in CN 201610349645.5 to realize the droplet ejection function using at least two nozzles having independent telescopic functions and capable of feeding functions as needed.
  • the CAM software can be used to program the image to be sprayed to obtain the motion track file of the working nozzle, and the motion track file of the working nozzle is interpolated to obtain the motion interpolation track of the working nozzle.
  • the modeling software may be used to generate a modeling file of the image to be painted, wherein the modeling file includes modeling information, and the modeling information is color information or material information.
  • the droplet ejection robot of this embodiment includes a control system, a mechanical motion structure, and a droplet ejection system and a pneumatic balance system; wherein the control system synchronously controls motion control and droplet ejection control;
  • the mechanical movement structure includes a base 1, a rotary seat 2, a swing arm 3, a swing arm 4, a swing arm 5, and a swing arm 6.
  • the rotary table or the movable slide rail can be selected according to the need of the base;
  • the seat 2 is disposed on the base 1 and is rotatable about the longitudinal axis;
  • the swing arm 3 is disposed on the swing seat 1 and is free to swing around the connection point;
  • the swing arm 4 is disposed at the other end of the swing arm 3 and can be connected around the joint Freely swinging;
  • the swing arm 5 is disposed on the swing arm 4, and is freely rotatable about the normal axis of the contact surface;
  • the swing arm 6 is disposed on the swing arm 5, and is free to swing around the connection point;
  • the droplet ejection head system 12 is disposed in a cavity of a built-in turntable at the front end of the swing arm 6; the built-in turntable is axially open with at least two nozzle chambers which are parallel to each other and uniformly distributed along the circumference;
  • the nozzle 16 can be in the form of electric field deflection type, valve control type, thermal bubble type, piezoelectric type, electrostatic type, etc.; during the working process, the rotary table 13 rotates to bring the working nozzle to the same axial direction of the cylinder 14, and the cylinder passes the push The rod 15 drives the spray head 16 to move;
  • the pneumatic balance system sets the sensing element in the gas-liquid bottle 11, the air pressure control element 8 is placed on the rotary seat 2, and is connected to the gas-liquid bottle 11 through the air pipe 9; the liquid-guiding pipe 10 is arranged in the swing arm 4 and the swing arm 5.
  • the through hole is placed, and the liquid guiding tube is in communication with each nozzle; the outer leakage guiding tube 10 is provided with a sleeve 7 outside.
  • the startup balance control workflow is as follows: because the pressure P in the bottle changes, the sensor output voltage V changes. The voltage V fed back by the 24-bit AD acquisition sensor calculates the pressure P in the bottle and compares it with the set value Ps. ⁇ P-Ps ⁇ 2mb is not adjusted, if not, the pressure is adjusted by the electronic pressure controller.
  • the swing arm 4 needs to have a liquid tube passage for the rounded transition, and the motor/reducer can be installed coaxially with the rotary shaft inside or outside the swing arm, or through the gear.
  • the transmission method such as a pulley achieves this purpose; the rounded corner is designed to protect the liquid pipe from being injured by the edges and corners, and is stuck, resulting in failure to properly infuse.
  • the working range or direction of the slewing seat 2 is plus or minus 360°
  • the working range or direction of the oscillating arm 3 is plus or minus 360°
  • the working range or working direction of the oscillating arm 4 is plus or minus 360°
  • the slewing The working range or working direction of the arm 5 is plus or minus 360°
  • the gas liquid bottle 11 is used for storing the liquid material to be sprayed, the liquid material is stored in the gas liquid bottle, and the gas is filled into the gas liquid bottle to be the gas liquid bottle. The inner liquid is pressed to the nozzle.
  • the color shown in Fig. 4 is sprayed, and four nozzles are respectively provided with four colors of CMYK.
  • the control method is as follows:
  • the entire control process is a point-by-point injection, such as any of the points A shown in Figure 4:
  • Step one generate a processing file:
  • the processing file includes color information corresponding to each point in the moving head motion interpolation trajectory and the working head motion interpolation trajectory:
  • Step 2 according to the movement interception trajectory of the working nozzle, the feed speed of the working nozzle is set (the feed speed of the plane spraying in FIG. 4 is 2 m/min, and the feed speed of the complex curved surface is 0.5-2 m/min, depending on the surface complexity)
  • the degree of artificial setting is equal to the initial air pressure of the working nozzle (1.2KPa ⁇ 2, the control air pressure is set according to the relative height of the nozzle and the ink bottle) and the working voltage value of the nozzle (70V) and the voltage action time (20 ⁇ s) (through Perform a jet test under a high speed camera to determine the voltage value and the action time and manually enter the system);
  • Step 3 according to the trajectory information (4, 5, 7) of the target point A in the motion trajectory of the working nozzle movement and the feed speed of the working nozzle (2m/min), the movement of each arm of the robot is controlled, so that the working nozzle reaches the target point A;
  • Step 4 judging whether the target point A is reached, if the next step is reached, if the step 3 is not reached;
  • Step 5 According to the color information (C: cyan) corresponding to the midpoint A of the working nozzle, and the working voltage information of the nozzle (70V), the point is sprayed; and according to the pressure change of the working nozzle (1.2KPa ⁇ 2) The air pressure inside and outside the nozzle reaches equilibrium, ensuring that the injection state is stable, and there is no problem of multiple spray or less spray;
  • Step 6 Determine whether the target point A is the end point, if it is the end of the work, if not, repeat steps three-six.
  • a conductive solution is sprayed onto the circuit board, and two nozzles are respectively provided with a conductive material (CNT suspension) and an insulating material (impregnated paint).
  • Step one generate a processing file:
  • the processing file includes material interpolation information of the working nozzle motion interpolation trajectory and the working nozzle transportation interpolation trajectory (the material information is conductive material or insulating material):
  • Step 2 setting the feed speed of the working nozzle according to the motion interpolation interpolation path of the working nozzle (the feeding speed of the plane spraying in FIG. 5 is 1.5 m/min, and the feeding speed of the complex curved surface is 0.5-1.5 m/min, according to The degree of surface complexity is artificially set) and the initial air pressure of the working nozzle is leveled (5KPa ⁇ 2, the control air pressure is set according to the relative height of the nozzle and the ink bottle) and the working voltage value of the nozzle (100V) and the voltage action time (20 ⁇ s). Perform a jet test under a high speed camera to determine the voltage value and the action time and manually enter the system);
  • Step 3 According to the trajectory information (5, 9, 10) of the target point A in the interpolation trajectory of the working nozzle movement and the feed speed of the working nozzle (1.5 m/min), the movement of each arm of the robot is controlled, so that the working nozzle reaches the target point B. ;
  • Step 4 judging whether the target point B is reached, if the next step is reached, if the step 3 is not reached,
  • Step 5 According to the material information (CNT suspension) corresponding to the midpoint B of the working nozzle, and the working voltage information of the nozzle (100V), the point is sprayed; and the nozzle is controlled according to the pressure change of the working nozzle (5KPa ⁇ 2).
  • the external air pressure is balanced to ensure that the injection state is stable and there is no problem of multiple spray or less spray;
  • Step 6 Determine whether the target point B is the end point, if it is the end of the work, if not, repeat steps three-six.

Abstract

微滴喷射机器人及机器人微滴喷射控制方法。微滴喷射机器人包括控制系统、机械运动结构和微滴喷射系统及气动平衡系统。控制系统实施运动控制和微滴喷射控制；机械运动结构为多自由度的机械结构，实施空间内多个自由度的运动功能；微滴喷射系统，安装在机械运动结构上；气动平衡控制系统，根据喷头的气压变化控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷。该微滴喷射机器人可实现对基于平面和曲面的产品进行全方位无死角的微滴喷射自由成形。

Description

微滴喷射机器人及机器人微滴喷射控制方法 技术领域
本发明属于微滴喷射领域，具体涉及一种微滴喷射机器人，通过按需供料的方式实现对任意三维立体实体的微滴喷射功能。
背景技术
微滴喷射是用外力迫使成形材料以微细液滴(或液流)的形式从喷头容腔的小孔(喷嘴)射至底材上，形成二维图(形)文(字)、点阵或三维实体。所谓“微细液滴”是指喷射的液滴尺寸可精确控制至微米数量级水平的液滴，其体积可控制在微升、纳升、皮升，甚至飞升数量级水平。对于现有的微滴喷射技术来说，对于基于平面的微滴喷射如喷墨打印，3D打印，已成为较为成熟的技术，例如在平整的纸张，皮革，塑料等材料上进行微滴喷射自由成形已被广泛应用。而对于针对已有产品表面进行微滴喷射自由成形的设备目前还未见到有产品上市，即便有一些设备也仅能进行垂直喷射，仅可以在X,Y平面内进行联动，对于一些立面，曲面，则多采用的是手工上色、点样、粘接等方式。这种方式影响了产品批量生产的效率和质量，因为对于任意曲面微滴喷射自由成形的需求，近年来已经非常紧迫。
发明内容
为了解决背景技术黄总存在的上述技术问题，本发明提供了一种能够对平面及立体产品进行微滴喷射自由成形、且体积小，但工作范围大适应性广的微滴喷射机器人。
为了实现上述目的，本发明采用如下技术方案：
本发明的微滴喷射机器人包括控制系统、机械运动结构和微滴喷射系统及气动平衡系统；所述控制系统同步实施运动控制和微滴喷射控制；所述机械运动结构为多自由度的机械结构，实施空间内多个自由度的运动功能；所述微滴喷射系统，安装在机械运动结构上，采用至少两个具有独立伸缩且可以按需供料功能的喷头实现微滴喷射功能；所述气动平衡控制系统，根据工作喷头的气压变化控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷。
一种实施方式中，本发明的机械运动结构包括底座、回转座、第一摆动臂、第二摆动臂、回转臂和第三摆动臂，所述回转座设置在底座上，所述第一摆动臂设置在回转座上，所述第二摆动臂设置于第一摆动臂的另一端，所述回转臂设置在第二摆动臂上，所述第三摆动臂设置在回转臂上。
一种实施方式中，本发明的微滴喷射喷头系统设置在第三摆动臂前端；所述微滴喷射喷头系统包括所述微滴喷射系统包括转轴、转动体和推送机构，所述转动体上设有至少两个喷头安装孔，所述转动体绕转轴转动，通过转动体的转动任一喷头安装孔可运动至推送机构处，所述推送机构用于将该任一喷头安装孔中的喷头推送喷头安装孔或将该任一喷头安装孔中的喷头收回至喷头安装孔中；
一种实施方式中，本发明的气动平衡系统包括传感元件、气压控制元件、气液瓶、气管和导液管，所述传感元件设置在气液瓶内，所述气管与气液瓶连接；所述导液管联通气液瓶与微滴喷射系统。
一种实施方式中，本发明的机械运动结构包括底座、回转座、第一摆动臂、第二摆动臂、回转臂和第三摆动臂，所述回转座设置在底座上，所述第一摆动臂设置在回转座上，所述第二摆动臂设置于第一摆动臂的另一端，所述回转臂设置在第二摆动臂上，所述第三摆动臂设置在回转臂上；所述气动平衡系统包括传感元件、气压控制元件、气液瓶、气管和导液管，所述传感元件设置在气液瓶内，所述气管与气液瓶连接；所述导液管联通气液瓶与微滴喷射系统；所述第三摆动臂和回转臂中设有导液管放置通孔。
本发明同时还提供了机器人微滴喷射控制方法，所提供的方法包括：
步骤一，生成加工文件：
(1)根据待喷涂图像获取工作喷头运动轨迹文件，将工作喷头运动轨迹文件进行插补，获得工作喷头运动插补轨迹；
(2)生成待喷涂图像的造型文件，所述造型文件中包含造型信息，所述造型信息为颜色信息或材质信息；
(3)提取造型文件中各位置点的造型信息，获取工作喷头运动插补轨迹中各位置点对应的造型信息；
所述加工文件包括：工作喷头运动插补轨迹、工作喷头运动插补轨迹中各位置点对应的造型信息；
步骤二，根据工作喷头运动插补轨迹设定工作喷头的进给速度和工作喷头的初始气压调平；
步骤三，根据工作喷头运动插补轨迹中目标点的轨迹信息和工作喷头的进给速度控制微滴喷射机器人运动，使得工作喷头到达目标点；
步骤四，判断是否到达目标点，如到达执行步骤五，如未到达执行步骤三；
步骤五，根据工作喷头运插补轨迹中目标点的造型信息、喷头工作电压信息对该位置 点进行喷涂；同时根据工作喷头的气压变化控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷；
步骤六，判断目标点是否为终点，如果是，结束工作，如不是，重复执行步骤三-六。
本发明优点如下：
(1)本发明可实现对基于平面和曲面的产品进行全方位无死角的微滴喷射自由成形。多自由臂协同作用，为微滴喷头提供了更多自由度，工作形式更加灵活，可直接让图文立体造型更便捷的作用于物品上，实现微滴喷射全方位无死角的工作。
(2)本发明气动平衡系统可以让喷头在高低俯仰之间的姿态变化更加自由，不会因为高度改变而发生断料的现象。
(3)本发明采用了微滴喷射喷头系统来实现微升(ul)、纳升(nl)、皮升(pl)，甚至飞升(fl)级的精密喷涂，同时可以实现多种材质的液滴通过不同的喷头采用叠印的方式以获得更为复杂的喷射效果，方便用于复杂电子电路制造、特殊医药试剂点样、特殊化学试剂点样、精细化学合成等众多应用场合，尤其配上机器人的复杂且精密运动功能，更适合有效提升在这些领域的应用效果。
附图说明
图1-2为本发明装置的结构参考示意图；
图3为本发明的控制方法流程图；
图4为实施例2的待喷涂图像；
图5为实施例3的待喷涂图像。
具体实施方式
本发明所述“提取造型文件中相应位置点的颜色信息或材质信息，获取工作喷头运动插补轨迹中各位置点对应的颜色信息或材质信息的方法”采用ZL 2010 1 0614184.2中所公开的方法。
本发明可以根据工作需要增加机器人的转动臂增加自由度，也可以通过增加转头，滑轨，增加工件加工适应性。
本发明的造型信息包括颜色信息、材质信息等。
本发明的微滴喷射系统具体实施方式可参考CN 201610349645.5公开的技术实现采用至少两个具有独立伸缩且可以按需供料功能的喷头实现微滴喷射功能。
本发明的控制方法实施过程中可采用CAM软件对待喷涂的图像编程获取工作喷头运动轨迹文件，将工作喷头运动轨迹文件进行插补，获得工作喷头运动插补轨迹。
本发明的控制方法实施过程中可采用造型软件生成待喷涂的图像的造型文件，所述造 型文件中包含造型信息，所述造型信息为颜色信息或材质信息。
以下是发明人提供的具体实施例，以对本发明的技术方案做进一步解释说明。
实施例1：
该实施例的微滴喷射机器人包括控制系统、机械运动结构和微滴喷射系统及气动平衡系统；其中的控制系统同步控制运动控制和微滴喷射控制；
如图1-2所示，机械运动结构包括底座1、回转座2、摆动臂3、摆动臂4、回转臂5、摆动臂6，可以根据需要底座选配回转工作台或移动滑轨；回转座2设置在底座1上，可以绕纵向轴自由转动；摆动臂3设置在回转座1上，并可以围绕连接点自由摆动；摆动臂4设置于摆动臂3的另一端，且可以绕连接点自由摆动；回转臂5设置在摆动臂4上，且可绕接触面的法向轴自由转动；摆动臂6设置在回转臂5上，可绕连接点自由摆动；
如图2所示，微滴喷射喷头系统12设置在摆动臂6前端内置转盘的容腔内；所述内置转盘轴向开设有至少2个相互并行的且沿圆周均布的喷头容腔；根据工作需要，喷头16可为电场偏转式、阀控式、热泡式、压电式、静电式等形式；工作过程中，转盘13转动将工作喷头带到气缸14同一轴向上，气缸通过推杆15驱动喷头16运动；
气动平衡系统则将传感元件设置在气液瓶11内，气压控制元件8安置在回转座2上，通过气管9与气液瓶11连接；摆动臂4和回转臂5中有导液管10放置通孔，导液管与各喷头联通；外漏的导液管10外设有套管7。启动平衡控制工作流程如下：因为瓶内压力P变化会引起传感器输出电压V发生改变，通过24位AD采集传感器反馈的电压V，系统算出瓶内压力P，并与设定值Ps进行比对若∣P-Ps∣≤2mb则不进行调节，若不是则通过电子压力控制器进行增/减压力调节。
另外一种实施方案中，在上述方案的基础上，摆动臂4内需有为圆角过渡的液管通道，电机/减速机可与回转轴同轴安装在摆动臂内部或外部，也可通过齿轮带轮等传动方式达到这一目的；圆角的设计是为了保护液管不被棱角碰伤，卡死，导致无法正常输液。
该实施例中的，回转座2的工作范围或方向是正负360°，摆动臂3的工作范围或方向是正负360°，摆动臂4的工作范围或工作方向是正负360°，回转臂5的工作范围或工作方向是正负360°，气液瓶11的作用是用来储存液体状待喷材料，液体材料储存在气液瓶内，气体充入气液瓶内将气液瓶内液体压至喷嘴。
实施例2：
该实施例是给图4所示图喷涂颜色，四个喷头中分别装有CMYK四种颜色。控制方法如下：
参考图3，整个控制过程是逐点喷射，例如图4中所示的任意点A:
步骤一，生成加工文件：
所述加工文件包括工作喷头运动插补轨迹、工作喷头运动插补轨迹中的各点对应的颜色信息：
(1)采用CAM软件(如UG)对所要喷涂的图4编程获取工作喷头运动轨迹文件，将工作喷头运动轨迹文件进行插补，获得工作喷头运动插补轨迹，；
(2)采用造型软件(如3D MAX)生成图4的包含颜色信息的造型文件(此造型文件与编程所用文件的坐标系一致)。
(3)通过工作喷头运动插补轨迹提取包含有颜色信息的造型文件中相应位置点的颜色信息，使得工作喷头运插补轨迹中的各点与造型文件中的颜色信息一一对应(也就是每一个点对于CMYK中的其中一种颜色)；
步骤二，根据工作喷头运动插补轨迹设定工作喷头的进给速度(图4中平面喷涂的进给速度为2m/min，复杂曲面的进给速度为0.5-2m/min，具体根据曲面复杂程度人为设定)和工作喷头的初始气压调平(1.2KPa±2，根据喷头与墨瓶的相对高度设定控制气压)和喷头工作电压值(70V)及电压动作时间(20μs)(通过在高速相机下进行喷射试验确定电压值及动作时间并手动输入系统中)；
步骤三，根据工作喷头运动插补轨迹中目标点A的轨迹信息(4,5,7)和工作喷头的进给速度(2m/min)控制机器人各臂运动，使得工作喷头到达目标点A；
步骤四，判断是否到达目标点A，如到达执行下一步，如未到达执行步骤三；
步骤五，根据工作喷头运插补轨迹中点A对应的颜色信息(C：青色)、喷头工作电压信息(70V)对该点进行喷涂；同时根据工作喷头的气压变化(1.2KPa±2)控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷的问题；
步骤六，判断目标点A是否为终点，如是结束工作，如不是，重复执行步骤三-六。
实施例3：
该实施例是给电路板喷射导电溶液，2个喷头中分别装有导电材料(CNT suspension)和绝缘材料(浸渍漆)。
步骤一，生成加工文件：
所述加工文件包括工作喷头运动插补轨迹、工作喷头运插补轨迹中的各点对应的材质信息(所述材质信息为导电材料或绝缘材料)：
(1)采用CAM软件(如UG)对所要喷涂的图5编程获取工作喷头运动轨迹文件，将工 作喷头运动轨迹文件进行插补，获得工作喷头运动插补轨迹，；
(2)采用造型软件(如3D MAX)生成图5的包含材质信息的造型文件(此造型文件与编程所用文件的坐标系一致)。
(3)通过工作喷头运动插补轨迹提取包含有材质信息的造型文件中相应位置点的材质信息，使得工作喷头运插补轨迹中的各点包含有材质信息的造型文件中的材质相互对应；
步骤二，根据工作喷头运动插补轨迹设定工作喷头的进给速度(图5中平面喷涂的进给速度为1.5m/min，复杂曲面的进给速度为0.5-1.5m/min，具体根据曲面复杂程度人为设定)和工作喷头的初始气压调平(5KPa±2，根据喷头与墨瓶的相对高度设定控制气压)和喷头工作电压值(100V)及电压动作时间(20μs)(通过在高速相机下进行喷射试验确定电压值及动作时间并手动输入系统中)；
步骤三，根据工作喷头运动插补轨迹中目标点A的轨迹信息(5，9,10)和工作喷头的进给速度(1.5m/min)控制机器人各臂运动，使得工作喷头到达目标点B；
步骤四，判断是否到达目标点B，如到达执行下一步，如未到达执行步骤三；
步骤五，根据工作喷头运插补轨迹中点B对应的材质信息(CNT suspension)、喷头工作电压信息(100V)对该点进行喷涂；同时根据工作喷头的气压变化(5KPa±2)控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷的问题；
步骤六，判断目标点B是否为终点，如是结束工作，如不是，重复执行步骤三-六。

Claims (6)

  1. 一种微滴喷射机器人，其特征在于：包括控制系统、机械运动结构、微滴喷射系统和气动平衡系统；
    所述控制系统实施运动控制和微滴喷射控制；
    所述机械运动结构为多自由度的机械结构，实施空间内多个自由度的运动功能；
    所述微滴喷射系统，安装在机械运动结构上，采用至少两个具有独立伸缩且可以按需供料功能的喷头实现微滴喷射功能；
    所述气动平衡控制系统，根据喷头的气压变化控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷。
  2. 如权利要求1所述的微滴喷射机器人，其特征在于：所述机械运动结构包括底座、回转座、第一摆动臂、第二摆动臂、回转臂和第三摆动臂，所述回转座设置在底座上，所述第一摆动臂设置在回转座上，所述第二摆动臂设置于第一摆动臂的另一端，所述回转臂设置在第二摆动臂上，所述第三摆动臂设置在回转臂上。
  3. 如权利要求2所述的微滴喷射机器人，其特征在于：所述微滴喷射喷头系统设置在第三摆动臂前端；所述微滴喷射喷头系统包括所述微滴喷射系统包括转轴、转动体和推送机构，所述转动体上设有至少两个喷头安装孔，所述转动体绕转轴转动，通过转动体的转动任一喷头安装孔可运动至推送机构处，所述推送机构用于将该任一喷头安装孔中的喷头推送喷头安装孔或将该任一喷头安装孔中的喷头收回至喷头安装孔中；
  4. 如权利要求1所述的微滴喷射机器人，其特征在于：所述气动平衡系统包括传感元件、气压控制元件、气液瓶、气管和导液管，所述传感元件设置在气液瓶内，所述气管与气液瓶连接；所述导液管联通气液瓶与微滴喷射系统。
  5. 如权利要求1所述的微滴喷射机器人，其特征在于：所述机械运动结构包括底座、回转座、第一摆动臂、第二摆动臂、回转臂和第三摆动臂，所述回转座设置在底座上，所述第一摆动臂设置在回转座上，所述第二摆动臂设置于第一摆动臂的另一端，所述回转臂设置在第二摆动臂上，所述第三摆动臂设置在回转臂上；所述气动平衡系统包括传感元件、气压控制元件、气液瓶、气管和导液管，所述传感元件设置在气液瓶内，所述气管与气液瓶连接；所述导液管联通气液瓶与微滴喷射系统；所述第三摆动臂和回转臂中设有导液管放置通孔。
  6. 机器人微滴喷射控制方法，其特征在于，方法包括：
    步骤一，生成加工文件：
    (1)根据待喷涂图像获取工作喷头运动轨迹文件，将工作喷头运动轨迹文件进行插补，获得工作喷头运动插补轨迹；
    (2)生成待喷涂图像的造型文件，所述造型文件中包含造型信息，所述造型信息为颜色信息或材质信息；
    (3)提取造型文件中各位置点的造型信息，获取工作喷头运动插补轨迹中各位置点对应的造型信息；
    所述加工文件包括：工作喷头运动插补轨迹、工作喷头运动插补轨迹中各位置点对应的造型信息；
    步骤二，根据工作喷头运动插补轨迹设定工作喷头的进给速度和工作喷头的初始气压调平；
    步骤三，根据工作喷头运动插补轨迹中目标点的轨迹信息和工作喷头的进给速度控制微滴喷射机器人运动，使得工作喷头到达目标点；
    步骤四，判断是否到达目标点，如到达执行步骤五，如未到达执行步骤三；
    步骤五，根据工作喷头运插补轨迹中目标点的造型信息、喷头工作电压信息对该位置点进行喷涂；同时根据工作喷头的气压变化控制喷头内外部的气压达到平衡，确保喷射状态稳定，不会出现多喷或少喷；
    步骤六，判断目标点是否为终点，如果是，结束工作，如不是，重复执行步骤三-六。
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