公开(公告)号：US12237298B1

公开(公告)日：2025-02-25

申请号：US18914153

申请日：2024-10-12

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guocong Chen ,  Lanyu Zhang ,  Haixiang Deng

IPC: H01L23/00 ,  G05B19/4155

Abstract: A cooperative bonding method for a bonding head of a wire bonding machine, including setting an initial height value of the vertical lifting mechanism to be a difference value; upon receiving a bonding instruction, controlling the bonding head to perform an positioning operation on the target processing chip, controlling the vertical lifting mechanism to descend a preset distance; during the positioning operation of the bonding head on the target processing chip, when the acceleration motion and the overshoot is completed, controlling the vertical lifting mechanism to rise back; and during the rise back process, the pad of the chip does not exceed a residual vibration curve of the bonding head. This achieves the technical effect of improving the bonding efficiency of the bonding head within a small searching area while avoiding impacts on the chip caused by the overshoot during high acceleration positioning of the bonding head.

公开(公告)号：US12138802B1

公开(公告)日：2024-11-12

申请号：US18769309

申请日：2024-07-10

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Disai Chen ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Guoqing Wu ,  Xin Chen

IPC: B25J9/16

Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.

公开(公告)号：US12109714B1

公开(公告)日：2024-10-08

申请号：US18483499

申请日：2023-10-09

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guoqing Wu ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Disai Chen ,  Xin Chen

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

公开(公告)号：US11823405B1

公开(公告)日：2023-11-21

申请号：US18154557

申请日：2023-01-13

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Zhuojun Zheng ,  Jian Gao ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: G06T7/521 ,  G01C3/02

CPC classification number: G06T7/521 ,  G01C3/02 ,  G06T2207/10028

Abstract: A three-dimensional measurement method comprises: converting a total number of levels of sawtooth fringes into a Gray code and acquiring a sawtooth slope coefficient; fusing the coefficient into a sawtooth fringe image to generate a target sawtooth fringe pattern; projecting each target sawtooth fringe pattern to a surface of a to-be-measured object through a projector, and collecting a deformed target sawtooth fringe pattern on the surface through a camera; solving a Gray code of each sawtooth fringe collection pattern at each pixel point according to a differential property of adjacent pixels in each sawtooth fringe collection pattern and solving a fringe level and a wrapped phase at each pixel point; calculating an absolute phase at each pixel point according to the fringe level and the wrapped phase at each pixel point, and reconstructing a three-dimensional point cloud through triangulation ranging to obtain a three-dimensional model of the to-be-measured object.

公开(公告)号：US11791178B1

公开(公告)日：2023-10-17

申请号：US18062026

申请日：2022-12-06

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Hui Tang ,  Zhishen Liao ,  Xin Chen ,  Zhihang Lin ,  Jian Gao ,  Qiang Liu ,  Xun Chen

IPC: H01L21/67

CPC classification number: H01L21/67144 ,  H01L21/67259

Abstract: A compliant mechanical system for Mini/Micro chip mass transfer and packaging comprises a flexure-based continuous ejector pin mechanism including a drive support plate, a mounting base, first thorn die attach drive devices, second thorn die attach drive devices, first flexible hinges, second flexible hinges, and a pricking pin. The first thorn die attach drive devices and the second thorn die attach drive devices are mounted on the drive support plate. A drive end of the first thorn die attach drive device horizontally passes rightward through the first flexible hinge at a corresponding position; a drive end of the second thorn die attach drive device horizontally passes leftward through the first flexible hinge at a corresponding position; and the mounting base is hinged to the drive ends of the two thorn die attach drive devices through the second flexible hinges.

公开(公告)号：US11740076B2

公开(公告)日：2023-08-29

申请号：US17986026

申请日：2022-11-14

Applicant: Guangdong University of Technology

Inventor： Jian Gao ,  Zhuojun Zheng ,  Lanyu Zhang ,  Haixiang Deng

IPC: G01B11/25

CPC classification number: G01B11/2527 ,  G01B11/254

Abstract: This disclosure relates to optical three-dimensional (3D) measurement, and more particularly to a large-depth-range 3D measurement method, system, and device based on phase fusion. Sinusoidal fringes corresponding to multiple high-frequency binary fringe patterns varying in stripe width, a middle-frequency binary fringe pattern, and a low-frequency binary fringe pattern are formed and then projected onto a to-be-measured object. After modulated by height of the object, the sinusoidal fringes are collected, and wrapped phases of the collected sinusoidal fringes are calculated to determine absolute phases of high-frequency sinusoidal fringes. Phase errors of a high-frequency sinusoidal fringe under different fringe widths are calculated according to the defocusing degree. An optimal absolute phase is selected based on the phase errors for the large-depth range 3D measurement.

公开(公告)号：US10784400B2

公开(公告)日：2020-09-22

申请号：US16706713

申请日：2019-12-07

Applicant: Guangdong University of Technology

Inventor： Yun Chen ,  Dachuang Shi ,  Xin Chen ,  Qiang Liu ,  Jian Gao ,  Ching-Ping Wong

IPC: H01L33/00 ,  H01L21/683 ,  H01L23/00 ,  H01L33/62

Abstract: A mass transfer method for Micro-LEDs with a temperature-controlled adhesive layer, including: configuring a self-assembling structure based on Micro-LED dies and a transfer substrate having a self-receiving structure coated on its surface with a temperature-controlled adhesive layer; distributing the Micro-LED dies in water, soaking the transfer substrate in water and heating water to perform self-assembling; carrying out transferring and removing the transfer substrate to separate Micro-LED dies from a transfer substrate then onto a target substrate.

公开(公告)号：US20170126112A1

公开(公告)日：2017-05-04

申请号：US15375178

申请日：2016-12-12

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Xin Chen ,  Zhijun Yang ,  Youdun Bai ,  Jian Gao ,  Hanxiong Li ,  Haidong Yang ,  Yisheng Guan ,  Xindu Chen

IPC: H02K41/02 ,  B23Q5/28 ,  B23Q1/44 ,  H02K11/22 ,  H01L41/09

CPC classification number: H02K41/02 ,  B23Q1/44 ,  B23Q5/28 ,  H01L41/09 ,  H02K11/22

Abstract: The present invention proposes a linear motor common stator dual-drive macro/micro integrated high-speed precision motion one-dimensional platform, including a base, linear guide rails, slide blocks, a U-shaped linear motor stator, a macro motion rotor, a micro motion rotor and a macro/micro integrated platform. A macro motion platform and a micro motion platform are connected to form an integrated platform by virtue of an elastic member, an outer frame of the macro/micro integrated platform is mounted on the linear guide rails and the slide blocks, the U-shaped linear motor stator is arranged on the base, rotors are respectively mounted on the macro motion platform and the micro motion platform, and large-scale overall high-speed motion can be realized when macro and micro rotors are simultaneously driven; and when a motion deviation occurs, the micro motion platform realizes precise displacement output by virtue of elastic deformation due to small inertia and zero friction, and high-frequency motion deviation compensation can be realized by virtue of individual drive. Due to composite motion control, one-dimensional high-speed precision motion can be realized, an installation and use manner is consistent with that of the traditional platform, and the one-dimensional platform is convenient to popularize and use.

公开(公告)号：US20160350462A1

公开(公告)日：2016-12-01

申请号：US15113844

申请日：2014-09-24

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Xin Chen ,  Youdun Bai ,  Zhijun Yang ,  Jian Gao ,  Haidong Yang ,  Meng Wang

IPC: G06F17/50 ,  G06T17/10

CPC classification number: G06F17/5018 ,  G06F17/50 ,  G06F17/5086 ,  G06T17/10

Abstract: Various embodiments relate to a method of planning asymmetric variable acceleration based on non-linear finite element dynamic response simulation. The planning method involves obtaining solution of a non-linear finite element model positioning process that has kinematic freedom and adopts a parameterized motion function as its boundary condition; determining whether post-driving amplitude of an execution end satisfies positioning precision, and if it does not, continuing getting solution, and if it is, adjusting an energy decay time; determining whether a target response time is minimum, and if it is, verifying the set motion parameter as optimal, and if it is not, calculating a gradient and a step size of the motion parameter, and resetting the motion parameter for solution. The present disclosure utilizes this method to plan high-speed high-acceleration motion for mechanisms that are affected by non-linear factors such as large flexible deformation and require precise positioning.

Abstract translation: 各种实施例涉及基于非线性有限元动态响应模拟来规划不对称可变加速度的方法。 规划方法包括获得具有运动自由度并采用参数化运动函数作为其边界条件的非线性有限元模型定位过程的解; 确定执行端的后驱动幅度是否满足定位精度，如果不是，则继续获得解，并且如果是，则调整能量衰减时间; 确定目标响应时间是否最小，并且如果是，则将所设置的运动参数验证为最佳，如果不是，则计算运动参数的梯度和步长，并且重新设置运动参数以进行解。 本发明利用这种方法为受非线性因素如大的挠性变形影响并需要精确定位的机构规划高速高速运动。

公开(公告)号：US11992959B1

公开(公告)日：2024-05-28

申请号：US18402139

申请日：2024-01-02

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guoqing Wu ,  Zhuojun Zheng ,  Lanyu Zhang ,  Yuheng Luo ,  Disai Chen ,  Xin Chen

IPC: B25J9/16 ,  G06T7/70

CPC classification number: B25J9/1692 ,  G06T7/70 ,  G06T2207/30244

Abstract: A kinematics-free hand-eye calibration method comprises: controlling translation axes of a five-axis motion platform to perform a single-axis point location motion, using a camera to obtain a first spatial coordinate of a calibration plate, fitting all first spatial coordinates into a spatial straight line to obtain a unit direction vectors of the spatial straight line, carrying out Schmidt orthogonalization on the unit direction vectors of the spatial straight lines of an X direction, a Y direction and a Z direction to obtain a pose relationship matrix combined by the orthogonalized direction vectors; obtaining a second spatial coordinate of the calibration plate in a mode of rotating an X-axis and a C-axis, fitting all second spatial coordinates into a spatial spherical surface, calculating a spherical center coordinate to obtain a position relationship matrix, and obtaining a hand-eye relationship matrix combined by the pose relationship matrix and the position relationship matrix.