CN-121985653-A - Needling type needle-setting displacement compensation method, device, equipment and storage medium

CN121985653ACN 121985653 ACN121985653 ACN 121985653ACN-121985653-A

Abstract

The application discloses a needling type needle discharging displacement compensation method, a needling type needle discharging displacement compensation device, needling type needle discharging displacement compensation equipment and a needling type needle discharging displacement compensation storage medium, and relates to the technical field of intelligent control; the capacitance sensor component is used for detecting real-time displacement data of the transfer needle point in real time by utilizing capacitance value change caused by electrode surface spacing change; the drive mechanism adopts a double closed loop architecture, adjusts the motion state according to the adjustment signal, realizes dynamic compensation, integrates environment factor compensation, multi-stage control and fault tolerance mechanisms, ensures that the real-time displacement is consistent with the target displacement, solves the displacement deviation problem caused by uneven substrates, environment interference and the like, improves the chip transfer precision and process stability, and adapts to the mass production requirement of high-end display devices.

Inventors

CHEN WANQUN
WANG ZHENGGEN

Assignees

迈为技术(珠海)有限公司

Dates

Publication Date: 20260505
Application Date: 20251225

Claims (10)

1. The needling type needle discharging displacement compensation method is applied to needling type transfer equipment, the needling type transfer equipment is integrated with a transfer device, and the transfer device comprises a driving mechanism, a transfer needle point and a sensor assembly, and is characterized in that the method comprises the following steps: Acquiring set target displacement data for controlling the transfer of the transfer needle tip, wherein the target displacement data is determined based on the requirement information of a chip transfer process; starting the driving mechanism to drive the transfer needle point to move towards the direction of the set target substrate; detecting real-time displacement data of the transfer needle tip in real time by the sensor assembly, the sensor assembly generating a sensing signal based on a change in position of the transfer needle tip; Comparing the real-time displacement data with the target displacement data to obtain a displacement error value; calculating the displacement error value based on a preset control algorithm to obtain an adjusting signal; and controlling the driving mechanism to correct the position of the transfer needle point according to the regulating signal so as to enable the position of the transfer needle point to be consistent with the position corresponding to the target displacement data.
2. The needling type lower needle displacement compensation method according to claim 1, wherein the sensor assembly comprises a capacitive sensor, the capacitive sensor comprises two electrode surfaces which are oppositely arranged, and the two electrode surfaces are respectively connected with a connecting rod of the driving mechanism and an elastic part of the transfer needle point; The real-time detection of the real-time displacement data of the transfer tip by the sensor assembly comprises: And under the condition that the movement of the transfer needle tip drives the elastic component to deform so that the distance between the two electrode surfaces is changed, conditioning the capacitance value change signal detected by the capacitive sensor, and converting the capacitance value change signal into corresponding real-time displacement data.
3. The method for compensating displacement of needle punching needle feeding amount according to claim 1, wherein the calculating the displacement error value based on a preset control algorithm to obtain the adjustment signal comprises: calculating the displacement error value by adopting a PID control algorithm, and dynamically adjusting a proportional parameter, an integral parameter and a differential parameter according to the magnitude and the change trend of the calculated displacement error value; And generating an adjusting signal for adjusting the motion amplitude and the speed of the driving mechanism through the dynamically adjusted proportional parameter, integral parameter and differential parameter according to the displacement error value convergence threshold value judgment operation result.
4. The needle stick lower needle displacement compensation method of claim 3, further comprising, prior to said comparing said real-time displacement data with said target displacement data: collecting environmental parameters in real time through an environmental sensing assembly; and correcting the operation parameters of the PID control algorithm according to the association relation between the environment parameters and the displacement error value.
5. The method of needle stick displacement compensation according to claim 4, further comprising, after said correcting the operational parameters of the PID control algorithm: Dividing a plurality of displacement intervals according to the movement travel of the transfer needle point, and setting a corresponding control parameter set for each displacement interval; And judging the displacement interval in which the transfer needle point is positioned in real time, and calling the corresponding displacement interval control parameter set to perform displacement error value processing and adjustment control.
6. The needling type lower needle amount displacement compensation method according to claim 5, further comprising, after the invoking the corresponding displacement interval control parameter set to perform the displacement error value processing and adjustment control: monitoring the signal state of the sensor assembly and the operation state of the driving mechanism in real time; when the signal state is detected to be abnormal or the running state is detected to be running fault, switching to an auxiliary detection mode to acquire displacement data or controlling the driving mechanism to enter a safe running state; The compensation control is continuously performed based on the auxiliary displacement data, or a fault warning signal is issued.
7. The needling type needle quantity displacement compensation method according to claim 3, wherein the driving mechanism adopts a double closed-loop control architecture, an outer ring in the double closed-loop control architecture is a position control ring, and an inner ring is a current control ring; the controlling the driving mechanism to correct the position of the transfer needle tip according to the adjusting signal comprises the following steps: After receiving the adjusting signal instruction, the driving mechanism adjusts the output force or the movement speed of the driving mechanism based on the adjusting signal instruction to drive the transfer needle point to carry out displacement adjustment, so that the position of the transfer needle point is consistent with the position corresponding to the target displacement data.
8. The utility model provides a compensation arrangement is shifted in acupuncture formula, is applied to acupuncture formula transfer equipment, acupuncture formula transfer equipment integrates transfer device, transfer device includes actuating mechanism, shifts needle point and sensor subassembly, its characterized in that includes: the acquisition module is used for acquiring set target displacement data for controlling the transfer of the transfer needle tip, and the target displacement data is determined based on the requirement information of the chip transfer process; the driving module is used for starting the driving mechanism to drive the transfer needle point to move towards the direction of the arranged target substrate; the detection module is used for detecting real-time displacement data of the transfer needle point in real time through the sensor assembly, and the sensor assembly generates a sensing signal based on the position change of the transfer needle point; The comparison module is used for comparing the real-time displacement data with the target displacement data to obtain a displacement error value; the calculation module is used for calculating the displacement error value based on a preset control algorithm to obtain an adjusting signal; and the correction module is used for controlling the driving mechanism to correct the position of the transfer needle point according to the adjusting signal so as to enable the position of the transfer needle point to be consistent with the position corresponding to the target displacement data.
9. An electronic device comprising a memory and one or more processors, the memory configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the needlepunch type lower needle amount displacement compensation method of any one of claims 1-7.
10. A storage medium storing computer executable instructions which, when executed by a computer processor, are for performing the needlestick needle delivery displacement compensation method of any one of claims 1 to 7.

Description

Needling type needle-setting displacement compensation method, device, equipment and storage medium Technical Field The application relates to the technical field of intelligent control, in particular to a needling type needle discharging displacement compensation method, a needling type needle discharging displacement compensation device, needling type needle discharging displacement compensation equipment and a storage medium. Background In MiniLED huge transfer field, needling transfer technology is a core scheme of high-speed transfer of small-size chips and large-size substrates by virtue of the advantages of compact equipment, high efficiency and strong adaptability, the transfer efficiency is far superior to that of the traditional Pick & Place mode, and the needling transfer technology is widely applied to mass production scenes of high-end display devices such as medical display and vehicle-mounted display, however, the technology faces the recessive technical problem of accumulation of dynamic displacement deviation in the actual mass production process, and the problem of out-of-control of needle feeding precision caused by multi-factor coupling is difficult to be solved by the existing scheme. The current needling type transfer system mainly adopts an open loop control or a simple closed loop architecture, only relies on a motor encoder to perform rough positioning, does not consider dynamic variables such as micro flatness difference of the surface of a PCB substrate, fatigue deformation of an elastic part, rebound of high-speed movement of a mechanism and the like, causes deviation of actual needle-down quantity of a needle point from a target value, has randomness and accumulation, cannot be subjected to real-time adaptation by traditional fixed parameter control, and meanwhile causes capacitance sensing coefficient drift, thermal expansion and contraction of a mechanical part and further amplifies displacement errors by environmental temperature change, jitter interference generated in the high-speed transfer process can cause sensor signal distortion to influence displacement detection precision, and in addition, the existing system lacks flexible fault tolerance mechanism and multi-scene adaptation capability, and when sensing signals are abnormal or the mechanism is in operation fault, the technological defects such as chip crush, leakage and poor contact are likely to occur, the yield and technological stability of mass production cannot meet the requirement of MiniLED on precision by chip transfer, so that a closed loop compensation mechanism based on dynamic sensing feedback is required to be constructed, and the real-time and automatic adjustment of needle-down quantity monitoring, the dynamic sensing, the dynamic interference deviation, the needle-down quantity, the dynamic interference, the displacement tolerance and the fault tolerance capability and the fault tolerance are not consistent are solved. Disclosure of Invention According to the needling type needle discharging displacement compensation method, device, equipment and storage medium provided by the embodiment of the application, the detection of the real-time displacement data of the transfer needle point is realized through the capacitance value change caused by the change of the distance between the two electrode surfaces of the capacitive sensor, and the chip transfer precision and the process stability are improved. In a first aspect, an embodiment of the present application provides a needled lower needle displacement compensation method applied to a needled transfer device, where the needled transfer device is integrated with a transfer device, the transfer device includes a driving mechanism, a transfer needle tip, and a sensor assembly, and the method includes: Acquiring set target displacement data for controlling the transfer of the transfer needle tip, wherein the target displacement data is determined based on the requirement information of a chip transfer process; starting the driving mechanism to drive the transfer needle point to move towards the direction of the set target substrate; detecting real-time displacement data of the transfer needle tip in real time by the sensor assembly, the sensor assembly generating a sensing signal based on a change in position of the transfer needle tip; Comparing the real-time displacement data with the target displacement data to obtain a displacement error value; calculating the displacement error value based on a preset control algorithm to obtain an adjusting signal; and controlling the driving mechanism to correct the position of the transfer needle point according to the regulating signal so as to enable the position of the transfer needle point to be consistent with the position corresponding to the target displacement data. Further, the sensor assembly comprises a capacitive sensor, wherein the capacitive sensor comprises two electrode surfaces which are oppositel