A planar micro-vibration device based on shaft-type micro-cam

Abstract

The application discloses a kind of plane microvibration devices based on shaft type micro-cam, including support, support includes two cross bars, and two cross bars are fixedly connected with connecting plate between;Clamping assembly includes two mounting brackets, one mounting bracket is fixedly connected between two cross bars, another mounting bracket is slidably connected on two cross bars by sliding mechanism, and elastic connection has claw on mounting bracket, and sleeve kit is clamped between two claws;Micro-cam assembly includes two micro-cam shafts, connecting hole is formed in claw, and micro-cam shaft is arranged in connecting hole, and drive motor is drivingly connected with micro-cam shaft;Push-pull assembly includes push-pull motor and push-pull nut frame, and push-pull nut frame is fixedly connected with the mounting bracket slidably connected on two cross bars, and push-pull motor is fixedly connected on connecting plate, and push-pull motor output end is provided with push-pull screw rod.The application can make sleeve kit in the floating state in the small range in dynamic mode, improve the smoothness of shaft and sleeve kit in assembly process.

Description

Technical Field

[0001] This invention relates to the field of shaft assembly auxiliary devices, and in particular to a planar micro-vibration device based on a shaft-type micro-cam. Background Technology

[0002] In intelligent assembly (docking), automated manufacturing, or automated production lines, there are often automated assembly control processes between shafts or outer cylindrical parts (hereinafter, we will use shafts as an example) and kits. The kits referred to here can be parts or components such as bearings, gears, sleeves, and rotors that have a central hole and an axisymmetric shape relative to that hole. The assembly process is usually carried out with the outer diameter of the shaft slightly smaller than the inner diameter of the kit, i.e., clearance fit assembly. This clearance (referred to as fit gap) is generally required to be on the order of micrometers or tens of micrometers, for example, a single-sided fit gap of 3. ～ 50μm, this type of assembly can maintain a certain gap state, or a temporary gap state can be formed by cooling the shaft before assembly, or a temporary gap state can be formed by heating the kit before assembly.

[0003] In intelligent, automated manufacturing or automated production lines, the assembly process typically involves fixing one component or shaft to a frame while the other is propelled by a robot or motion mechanism for assembly or docking. This assembly (docking) process generally requires precise alignment of the shaft and axis of the component and component before implementation, ensuring their axes are essentially coincident. During implementation, adjustments and controls are necessary to ensure smooth assembly (docking). However, in practical applications, errors in fixing, clamping, and motion control can cause deviations between the two axes. If this deviation exceeds the clearance, it can lead to excessive resistance during assembly (docking), exceeding the force capacity of the motion mechanism or even causing jamming. Furthermore, if alignment and adjustment take too long, temperature changes in pre-cooled shafts or heated components can cause direct jamming, especially for micrometer-level clearance assemblies. Therefore, a planar micro-vibration device based on a shaft-type micro-cam is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a planar micro-vibration device based on a shaft-type micro-cam to solve the problems existing in the prior art and make the assembly of shafts and components more convenient.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a planar micro-vibration device based on a shaft-type micro-cam, comprising:

[0006] A bracket, comprising two crossbars, with a connecting plate fixedly connected between the two crossbars;

[0007] A clamping assembly includes two mounting brackets, one of which is fixedly connected between the two crossbars, and the other mounting bracket is slidably connected to the two crossbars via a sliding mechanism. Each mounting bracket is elastically connected to a claw, the two claws are arranged opposite to each other, and a kit is clamped between the two claws.

[0008] A micro cam assembly includes two micro cam shafts. Two bearing mounting seats are fixedly connected to the mounting bracket. The two ends of the micro cam shafts are rotatably connected to the bearing mounting seats. A connecting hole is provided on the pawl, and the micro cam shaft passes through the connecting hole. The micro cam shaft and the connecting hole are in a micro-clear clearance sliding fit. A drive motor is fixedly connected to the mounting bracket, and the drive motor is drivenly connected to the micro cam shafts.

[0009] A push-pull assembly includes a push-pull motor and a push-pull nut frame. The push-pull nut frame is fixedly connected to the mounting bracket that is slidably connected to the two crossbars. A push-pull nut is fixedly connected to the push-pull nut frame. The push-pull motor is fixedly connected to the connecting plate. A push-pull screw is provided at the output end of the push-pull motor. The push-pull screw is threadedly connected to the push-pull nut.

[0010] Preferably, the claw has two through holes located at both ends of the claw. A sliding column is fixedly connected to the mounting bracket. The sliding column passes through the through holes and slides within the through holes. A spring is sleeved on the sliding column. One end of the spring abuts against the claw, and the other end of the spring abuts against the mounting bracket. The sliding column and the through holes are in clearance fit.

[0011] Preferably, a reducer is mounted on the output shaft of the drive motor, a first synchronous pulley is fixedly connected to the output shaft of the reducer, a ball bearing is fixedly connected inside the bearing mounting seat, a micro camshaft is fixedly connected to the inner ring of the ball bearing, the micro camshaft extends out of the inner ring of the ball bearing, a second synchronous pulley is fixedly connected to the micro camshaft, and the first synchronous pulley and the second synchronous pulley are connected by a synchronous belt drive.

[0012] Preferably, a sensor base is fixedly connected to the bearing mounting base, a force sensor is fixedly connected to the sensor base, a force measuring head is fixedly connected to the measuring end of the force sensor, and the force measuring head abuts against the kit.

[0013] Preferably, a push-pull motor support and a thrust bearing housing are fixedly connected to the connecting plate. The push-pull motor is fixedly connected to the push-pull motor support, and a thrust bearing is fixedly connected inside the thrust bearing housing. The push-pull screw passes through the thrust bearing and is fixedly connected inside the thrust bearing. The push-pull motor and the push-pull screw are fixedly connected by a coupling, and a thrust bearing cover is fixedly connected to the thrust bearing housing.

[0014] Preferably, the sliding mechanism includes two linear guide rails, which are fixedly connected to the crossbars. The mounting bracket, which is slidably connected between the two crossbars, has sliders fixedly connected to both ends. The sliders are slidably connected to the linear guide rails, and U-shaped back clips are fixedly connected to the sliders and the mounting bracket.

[0015] Preferably, the micro camshaft includes an off-axis section, with a coaxial section one and a coaxial section two fixedly connected to both ends of the off-axis section. The off-axis section is located inside the connecting hole. The coaxial section two has a cylindrical section a and a cylindrical section b. Both the coaxial section one and the cylindrical section b are fixedly connected to the ball bearing. The cylindrical section a is fixedly connected to the synchronous pulley two.

[0016] Preferably, the crossbar has several mounting holes, a limit stop is fixedly connected to the crossbar, and the crossbar is fixedly connected to the base frame by a set of connecting bolts.

[0017] Preferably, the sliding column includes an insertion section, a flange section, and a connecting section. The connecting section and the insertion section are fixedly connected to both ends of the flange section. The mounting bracket has insertion holes, the insertion section is inserted into the insertion holes, and the connecting section is inserted into the through holes. Both the flange section and the mounting bracket have a plurality of fixing screw holes, and screws are inserted into the fixing screw holes. The flange section and the mounting bracket are fixedly connected by the screws. The flange section has a positioning groove, and the spring is located in the positioning groove.

[0018] Preferably, the connecting bolt group includes a bolt rod, the bolt rod includes a support section, and both ends of the support section are fixedly connected to threaded sections. The two threaded sections are respectively used to connect the crossbar and the base frame, and a fastening nut is threaded onto the threaded section.

[0019] This invention discloses the following technical effects: Both mounting brackets in this device are elastically equipped with jaws for clamping the kit. One mounting bracket is slidably connected to a crossbar, while the other is fixedly connected between the two crossbars. When clamping the kit is required, one mounting bracket can be moved. When the mounting bracket is moved, a push-pull motor drives a push-pull screw to rotate. As the push-pull screw rotates within the push-pull nut, it moves the push-pull nut bracket and the mounting bracket. When assembling the kit and shaft, after clamping the kit between the two jaws, the drive motor is activated. The drive motor drives a micro-camshaft to rotate, causing a slight wobbling of the jaws. Because the jaws are elastically connected to the mounting base, this slight wobbling is achieved, making assembly with the shaft more convenient. This invention allows the kit to float dynamically within a small range, thus possessing a certain degree of self-alignment function. This reduces dynamic alignment errors and friction during assembly, thereby improving the smoothness of the assembly process between the shaft and the kit. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the planar micro-vibration device based on a shaft-type micro-cam according to the present invention.

[0022] Figure 2 This is a bottom view of the present invention;

[0023] Figure 3 This is a side view of the present invention;

[0024] Figure 4 This is a schematic diagram of the micro camshaft structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the claw structure of the present invention;

[0026] Figure 6 This is a schematic diagram showing the connection between the crossbar, bolt, and base frame of the present invention;

[0027] Figure 7 This is a schematic diagram of the bolt rod structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the sliding column structure of the present invention;

[0029] Figure 9 This is a side view of the sliding column of the present invention;

[0030] Figure 10 This is a cross-sectional view of the sliding column of the present invention;

[0031] Figure 11 This is a schematic diagram of the claw movement principle of the present invention;

[0032] Figure 12 This is a schematic diagram of the motion principle of the kit of the present invention;

[0033] The components are as follows: 1. Bracket; 2. Crossbar; 3. Connecting plate; 4. Mounting bracket; 5. Micro camshaft; 6. Bearing mounting seat; 7. Claw; 8. Connecting hole; 9. Drive motor; 10. Kit; 11. Push-pull motor; 12. Push-pull nut bracket; 13. Push-pull nut; 14. Push-pull screw; 15. Sliding column; 16. Spring; 17. Reducer; 18. Synchronous pulley one; 19. Synchronous pulley two; 20. Sensor seat; 21. Force sensor; 22. Force measuring head; 23. Thrust bearing seat; 24. Push-pull motor support. 25. Thrust bearing cover; 26. Linear guide rail; 27. Slider; 28. U-shaped back clamp; 29. ​​Offset shaft section; 30. Coaxial section one; 31. Coaxial section two; 32. Cylindrical section a; 33. Cylindrical section b; 34. Mounting hole; 35. Limiting block; 36. Base frame; 37. Insertion section; 38. Flange section; 39. Connecting section; 40. Positioning groove; 41. Bolt rod; 42. Support section; 43. Threaded section; 44. Fastening nut; 45. Synchronous belt; 46. Coupling; 47. Eccentric position mark. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figure 1-12 This invention provides a planar micro-vibration device based on a shaft-type micro-cam, comprising:

[0037] The bracket 1 includes two crossbars 2, a connecting plate 3 is fixedly connected between the two crossbars 2, and a claw 7 is elastically connected to the mounting bracket 4. The two claws 7 are arranged opposite each other and clamp the assembly 10 between the two claws 7.

[0038] The clamping assembly includes two mounting brackets 4, one mounting bracket 4 being fixedly connected between the two crossbars 2, and the other mounting bracket 4 being slidably connected to the two crossbars 2 via a sliding mechanism;

[0039] The micro cam assembly includes two micro cam shafts 5. Two bearing mounting seats 6 are fixedly connected to the mounting bracket 4. The two ends of the micro cam shafts 5 are rotatably connected in the bearing mounting seats 6. The pawl 7 has a connecting hole 8. The micro cam shafts 5 pass through the connecting hole 8. The micro cam shafts 5 and the connecting hole 8 are in a micro-clear sliding fit. A drive motor 9 is fixedly connected to the mounting bracket 4. The drive motor 9 is connected to the micro cam shafts 5 in a transmission connection.

[0040] The push-pull assembly includes a push-pull motor 11 and a push-pull nut bracket 12. The push-pull nut bracket 12 is fixedly connected to the mounting bracket 4 which is slidably connected to the two crossbars 2. A push-pull nut 13 is fixedly connected to the push-pull nut bracket 12. The push-pull motor 11 is fixedly connected to the connecting plate 3. A push-pull screw 14 is provided at the output end of the push-pull motor 11. The push-pull screw 14 is threadedly connected to the push-pull nut 13.

[0041] Both mounting brackets 4 are elastically equipped with claws 7 for clamping the kit 10. One mounting bracket 4 is slidably connected to the crossbar 2, and the other mounting bracket 4 is fixedly connected between the two crossbars 2. When it is necessary to clamp the kit 10, it can be achieved by moving one of the mounting brackets 4. When the mounting bracket 4 is moved, the push-pull motor 11 drives the push-pull screw 14 to rotate. When the push-pull screw 14 rotates inside the push-pull nut 13, it will drive the push-pull nut bracket and the mounting bracket 4 to move. When the kit 10 and the shaft are assembled, after clamping the kit 10 between the two claws 7, the drive motor 9 is started. The drive motor 9 drives the micro camshaft 5 to rotate. The micro camshaft 5 causes the claws 7 to wobble slightly. Since the claws 7 are elastically connected to the mounting bracket 4, the slight wobble of the claws 7 can be achieved, which makes it more convenient to install with the shaft.

[0042] The design is further optimized by providing two through holes on the claw 7 at both ends. A sliding post 15 is fixedly connected to the mounting bracket 4, and the sliding post 15 passes through the through holes and slides within them. A spring 16 is fitted over the sliding post 15, with one end of the spring 16 abutting against the claw 7 and the other end abutting against the mounting bracket 4. The sliding post 15 and the through holes are in clearance fit.

[0043] When the slide column 15 is inserted into the through hole, the spring 16 is in a compressed state. Since the slide column 15 and the through hole are in clearance fit, the pawl 7 can make slight wobbling under the action of the micro camshaft 5 and the spring 16.

[0044] The scheme is further optimized. A reducer 17 is installed on the output shaft of the drive motor 9. A timing pulley 18 is fixedly connected to the output shaft of the reducer 17. A ball bearing is fixedly connected inside the bearing mounting seat 6. A micro camshaft 5 is fixedly connected to the inner ring of the ball bearing. The micro camshaft 5 extends out of the inner ring of the ball bearing. A timing pulley 2 19 is fixedly connected to the micro camshaft 5. The timing pulley 18 and the timing pulley 2 19 are connected by a timing belt 45.

[0045] The drive motor 9 drives the reducer 17 to rotate, the reducer 17 drives the synchronous pulley 18 to rotate, the synchronous pulley 18 drives the synchronous pulley 19 to rotate via the synchronous belt 45, and the synchronous pulley 19 drives the micro camshaft 5 to rotate.

[0046] In a further optimized design, a sensor base 20 is fixedly connected to the bearing mounting base 6, a force sensor 21 is fixedly connected to the sensor base 20, and a force measuring head 22 is fixedly connected to the measuring end of the force sensor 21, with the force measuring head 22 abutting against the kit 10.

[0047] Force sensor 21 is mounted on sensor base 20, and force head 22 abuts against kit 10. At this time, kit 10 is held horizontally by two jaws 7 with a certain elastic force. Since the weight of kit 10 in the vertical direction is supported by the two force heads 22 located below it, there is basically no bending moment applied to the two micro camshafts 5 through the two jaws 7. Since the two force heads 22 are in contact with the flat and smooth end face of kit 10 and are lubricated, the friction between them can be controlled at an extremely low level. At this time, we call the state of this device and kit 10 the initial working state.

[0048] The scheme is further optimized. A push-pull motor support 24 and a thrust bearing seat 23 are fixedly connected to the connecting plate 3. The push-pull motor 11 is fixedly connected to the push-pull motor support 24. A thrust bearing is fixedly connected inside the thrust bearing seat 23. The push-pull screw 14 passes through the thrust bearing and is fixedly connected inside the thrust bearing. The push-pull motor 11 and the push-pull screw 14 are fixedly connected by a coupling 46. A thrust bearing cover 25 is fixedly connected to the thrust bearing seat 23.

[0049] The push-pull motor 11 drives the push-pull screw 14 to rotate via the coupling 46. The push-pull screw 14 is rotatably connected to the thrust bearing seat 23 via a thrust bearing. The smooth shaft end of the push-pull screw 14 is connected to the thrust bearing, and the threaded part of the push-pull screw 14 mates with the push-pull nut 13. In this embodiment, the push-pull motor 11 drives the push-pull screw 14 to rotate. When the mounting bracket 4 moves to the required position, the push-pull motor 11 stops working, and the mounting bracket 4 can be locked.

[0050] The scheme is further optimized. The sliding mechanism includes two linear guide rails 26, which are fixedly connected to the crossbar 2. The mounting bracket 4, which is slidably connected between the two crossbars 2, has sliders 27 fixedly connected to both ends. The sliders 27 are slidably connected to the linear guide rails 26. U-shaped back clips 28 are fixedly connected to the sliders 27 and the mounting bracket 4.

[0051] Mounting bracket 4 is fixedly connected to slider 27, and slider 27 is slidably connected to linear guide rail 26. Through the cooperation of slider 27 and linear guide rail 26, one of the mounting brackets 4 and crossbar 2 are slidably connected.

[0052] Further optimization of the scheme: the micro camshaft 5 includes an off-axis section 29, with coaxial section one 30 and coaxial section two 31 fixedly connected to both ends of the off-axis section 29. The off-axis section 29 is located inside the connecting hole 8. The coaxial section two 31 has a cylindrical section a32 and a cylindrical section b33. Both coaxial section one 30 and cylindrical section b33 are fixedly connected to ball bearings. The cylindrical section a32 is fixedly connected to the synchronous pulley two 19.

[0053] The axes of coaxial segment 1 (30) and coaxial segment 2 (31) are on the same straight line. The axis of off-axis segment 29 is parallel to the axes of coaxial segment 1 (30) and coaxial segment 2 (31) and is designed with a suitable small eccentricity, for example, 0.05 in practical applications. ～ The error is 0.1mm, which allows it to meet certain self-correction error correction range requirements. An eccentric position mark 47 is engraved on the cylindrical section between cylindrical section a32 and cylindrical section b33 to indicate the orientation of the off-axis section 29. The eccentric position mark 47 can be used to set the initial state of the micro cam shaft 5 in conjunction with the micro cam assembly before the device is put into operation.

[0054] The material and structure of the micro camshaft 5 should ensure good rigidity. At the same time, its off-axis section 29 should have a certain diameter and be made of a material with good wear resistance or coated with a wear-resistant material. The surface should also have a high degree of smoothness and be lubricated. Similarly, the inner surface of the connecting hole 8 that mates with the pawl 7 should also meet the same requirements. In addition, there are certain requirements for the fit clearance between the shaft diameter of the off-axis section 29 and the connecting hole 8, for example, not less than 5μm and not more than 10μm.

[0055] The design is further optimized by providing several mounting holes 34 on the crossbar 2, fixing limit blocks 35 to the crossbar 2, and fixing the crossbar 2 to the base frame 36 by connecting bolts.

[0056] The two crossbars 2 are fixedly connected to the base frame 36 by a set of connecting bolts, and the limit block 35 is used to limit the movement range of the mounting frame 4.

[0057] The scheme is further optimized. The sliding column 15 includes an insertion section 37, a flange section 38, and a connecting section 39. The connecting section 39 and the insertion section 37 are fixedly connected to both ends of the flange section 38. The mounting bracket 4 has insertion holes. The insertion section 37 is inserted into the insertion holes, and the connecting section 39 is inserted into the through holes. Both the flange section 38 and the mounting bracket 4 have several fixing screw holes. Screws are inserted into the fixing screw holes. The flange section 38 and the mounting bracket 4 are fixedly connected by screws. The flange section 38 has a positioning groove 40. The spring 16 is located in the positioning groove 40 and is sleeved on the connecting section 39.

[0058] The connecting section 39 is connected to the pawl 7, the insertion section 37 is connected to the mounting bracket 4, the flange section 38 is connected to the mounting bracket 4 by screws, and the positioning groove 40 is used to place the spring 16. When the connecting section 39 is connected to the through hole on the pawl 7, it is a clearance fit, and there are certain requirements for its fit clearance, such as a minimum clearance of 1mm and a maximum clearance of 1.2mm. In addition to providing vertical floating space for the assembly kit 10, this clearance can also play a vertical limiting role to protect the support bearing of the micro camshaft 5 and the bearing mounting seat 6 from axial force, and also serve as a limit protection for the force sensor 21. The insertion hole of the insertion section 37 and the mounting bracket 4 is an overfit. The spring 16 adapted to the connecting section 39 can be a compression spring or a disc spring. The spring 16 should have a high elastic coefficient and be appropriately compressed after the pawl 7 is installed, so that it maintains a certain elastic force on the pawl 7.

[0059] The scheme is further optimized. The connecting bolt group includes a bolt rod 41, the bolt rod 41 includes a support section 42, and both ends of the support section 42 are fixedly connected with threaded sections 43. The two threaded sections 43 are used to connect the crossbar 2 and the base frame 36 respectively. The threaded sections 43 are threadedly connected with fastening nuts 44.

[0060] Bolt rod 41 is used to connect crossbar 2 and base frame 36 and is fixed by fastening nut 44. Support section 42 is designed with specific materials and structural dimensions to meet certain strength and rigidity requirements.

[0061] The method of using this device is as follows: First, clamp the kit 10 between the two jaws 7. Start the push-pull motor 11. The push-pull motor 11 drives the push-pull screw 14 to rotate. When the push-pull screw 14 rotates inside the push-pull nut 13, it will drive the push-pull nut bracket and one of the mounting brackets 4 to move. One of the mounting brackets 4 achieves a sliding connection with the crossbar 2 through the cooperation of the slider 27 and the linear guide rail 26. The sliding mounting bracket 4 drives the jaws 7 to move, and the two jaws 7 clamp the kit 10. Adjust the initial position of the micro camshaft 5 by the eccentric position mark 47 on the micro camshaft 5. Then start the drive motor 9. The drive motor 9 drives the reducer 17 to rotate. The reducer 17 drives the synchronous pulley 18 to rotate. The synchronous pulley 18 drives the synchronous pulley 19 to rotate through the synchronous belt 45. The synchronous pulley 19 drives the micro camshaft 5 to rotate. The micro camshaft 5 causes the jaws 7 to wobble slightly.

[0062] Supported by the micro camshaft 5 and the spring 16, the chuck 7 can achieve a relatively stable position. The micro camshaft 5 can rotate periodically under the drive of the drive motor 9. Under the combined action of the periodically rotating micro camshaft 5 and the spring 16, the chuck 7 moves periodically along a fixed trajectory, as shown in the attached figure. Figure 11 As shown, if the pawl 7 is regarded as a point mass r1, then r2 is called the virtual center of the circle around which the point mass moves, and r3 is its virtual radius. Since the eccentricity of the off-axis segment 29 of the micro camshaft 5 is much smaller than the outer contour size of the pawl 7, the pawl 7 is undergoing periodic micro-vibration when the micro camshaft 5 is rotating periodically.

[0063] When the two jaws 7 are continuously driven by the drive motor 9, the kit 10, which is elastically clamped by the two jaws 7, will move periodically along a fixed motion trajectory. When the drive motor 9 and the micro camshaft 5 have sufficiently large driving capabilities, the running trajectory of the kit 10 is exactly the same as that of the two jaws 7. Therefore, the axis r4 of the kit 10 can be regarded as a point mass moving periodically around a virtual circle r5, as shown in the attached figure. Figure 12 As shown, its motion radius r6 is also approximately the eccentricity of the eccentric shaft segment 29 of the micro camshaft 5, and its motion period is equal to the synchronous rotation period of the micro camshaft 5. If the eccentricity of the eccentric shaft segment 29 of the micro camshaft 5 is designed to an appropriate value (according to the assembly process parameter requirements), the kit 10 can be made to vibrate with a small amplitude around a certain axis on the plane at a certain frequency. In addition, the combination mode of the two micro camshafts 5 and the two pawls 7 and the support method of the force sensor 21 at the lower end of the kit 10 achieve the effect of the kit 10 being in a floating state in a dynamic mode.

[0064] The reducer 17 has a large reduction ratio to ensure that the drive motor rotor and the driven load (mainly the chuck 7 and the kit 10) have a suitable inertia ratio and output torque. The drive motor 9 needs to be a servo motor with an absolute encoder for three main reasons: First, the speed can be adjusted according to the load (i.e., the drive frequency or cycle of the kit 10 can be adjusted) so that it is consistent with or close to the natural frequency of the load to produce a periodic "micro-vibration" effect. Second, it is convenient to achieve synchronization of the two drive motors 9. Third, when establishing the initial working state mentioned above, it is also necessary to use the position loop positioning function of the servo device in the drive assembly and the eccentric position mark 47 on the micro camshaft 5 to make the micro camshaft 5 in a back-to-back mirror state. Then, the center position of the kit 10 is detected and the position of the shaft is adjusted accordingly. Finally, the servo device adjusts the position of the micro camshaft 5 to the same direction state, which establishes the necessary initial conditions for the subsequent continuous periodic drive and docking assembly of the kit 10.

[0065] The force sensor 21 serves two purposes: firstly, the use of a cantilever beam force sensor allows the measuring end of the assembly 10 to have a large range of elastic displacement (approximately 0.5 mm) within its measuring range, which is beneficial for the up-and-down floating of the assembly; secondly, the output signal of the force sensor 21 can monitor the vertical resistance experienced by the device during assembly, so that the automatic control system can process the situation in a timely manner. Therefore, a cantilever beam force sensor should be selected, and its measuring range should be selected with reference to the total weight of the shaft and the assembly 10, for example, 5 to 6 times its total weight. The design of the force measuring head 22 needs to consider the support part and the contact area of ​​the assembly 10, and should be supported as close as possible to the horizontal end face of the assembly 10's center, and the contact area should be maximized to avoid or reduce wear on the assembly 10, for example, by supporting it on the inner ring of the bearing and using an arc-shaped support surface.

[0066] The transmission structure consisting of push-pull nut 13 and push-pull screw 14 needs to have a certain self-locking capability and axial load capacity; the thrust bearing located in the thrust bearing housing 23 should be a double-direction thrust bearing with strong axial force bearing capacity, such as a needle roller or roller type thrust bearing; the push-pull motor 11 should be a servo motor with a brake, which can generate a suitable thrust value to the mounting bracket 4 in torque control mode when the initial working state is established as described above, and can maintain it for a long time, so as to eliminate the mechanical gap between the mounting brackets 4 in the horizontal direction and reduce the range of elastic change, thus establishing the necessary initial conditions for the subsequent continuous periodic drive and docking assembly of the kit 10.

[0067] The support bolt assembly used to connect the crossbar 2 has a specially designed shape and size parameters that allow the crossbar 2 to have sufficiently high rigidity and strength in the vertical direction relative to the base frame 36, and a certain rigidity and strength in the horizontal direction. When the assembly 10 is in periodic vibration, if the interaction force between it and the assembled shaft in the horizontal direction is not greater than a certain specified value, the support bolt assembly can provide the necessary fixed support for the movement of the load (mechanical moving parts and assembly 10) relative to the shaft. When the interaction force between the assembly 10 and the assembled shaft in the horizontal direction is greater than a certain limit value, the support bolt assembly will generate a certain elastic deformation in the horizontal direction, so that the assembly 10 will generate a certain adaptive displacement relative to the base frame 36. Its main functions are twofold: first, to ensure the safety of the assembled product under stress; and second, to prevent the drive device from stopping continuous drive of the load or reducing the drive frequency due to overload.

[0068] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0069] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A planar micro-vibration device based on a shaft-type micro-cam, characterized in that, include: A bracket (1) is provided, comprising two crossbars (2), and a connecting plate (3) is fixedly connected between the two crossbars (2). The clamping assembly includes two mounting brackets (4), one of which is fixedly connected between the two crossbars (2), and the other mounting bracket (4) is slidably connected to the two crossbars (2) through a sliding mechanism. The mounting bracket (4) is elastically connected with claws (7), the two claws (7) are arranged opposite to each other, and the clamping assembly (10) is clamped between the two claws (7). The micro cam assembly includes two micro cam shafts (5), two bearing mounting seats (6) are fixedly connected to the mounting bracket (4), the two ends of the micro cam shafts (5) are rotatably connected in the bearing mounting seats (6), the pawl (7) is provided with a connecting hole (8), the micro cam shafts (5) pass through the connecting hole (8), the micro cam shafts (5) and the connecting hole (8) are in a micro-clear clearance sliding fit, the mounting bracket (4) is fixedly connected with a drive motor (9), and the drive motor (9) is connected to the micro cam shafts (5) in a transmission connection; The push-pull assembly includes a push-pull motor (11) and a push-pull nut bracket (12). The push-pull nut bracket (12) is fixedly connected to the mounting bracket (4) which is slidably connected to the two crossbars (2). A push-pull nut (13) is fixedly connected to the push-pull nut bracket (12). The push-pull motor (11) is fixedly connected to the connecting plate (3). A push-pull screw (14) is provided at the output end of the push-pull motor (11). The push-pull screw (14) is threadedly connected to the push-pull nut (13).

2. The planar micro-vibration device based on a shaft-type micro-cam according to claim 1, characterized in that: The claw (7) has two through holes located at both ends of the claw (7). A sliding column (15) is fixedly connected to the mounting bracket (4). The sliding column (15) passes through the through hole and slides within the through hole. A spring (16) is fitted over the sliding column (15). One end of the spring (16) abuts against the claw (7), and the other end of the spring (16) abuts against the mounting bracket (4). The sliding column (15) and the through hole are in clearance fit.

3. The planar micro-vibration device based on a shaft-type micro-cam according to claim 1, characterized in that: A reducer (17) is mounted on the output shaft of the drive motor (9). A synchronous pulley (18) is fixedly connected to the output shaft of the reducer (17). A ball bearing is fixedly connected inside the bearing mounting seat (6). The micro camshaft (5) is fixedly connected to the inner ring of the ball bearing. The micro camshaft (5) extends out of the inner ring of the ball bearing. A synchronous pulley (19) is fixedly connected to the micro camshaft (5). The synchronous pulley (18) and the synchronous pulley (19) are connected by a synchronous belt (45).

4. The planar micro-vibration device based on a shaft-type micro-cam according to claim 1, characterized in that: A sensor base (20) is fixedly connected to the bearing mounting base (6), and a force sensor (21) is fixedly connected to the sensor base (20). A force measuring head (22) is fixedly connected to the measuring end of the force sensor (21), and the force measuring head (22) abuts against the kit (10).

5. The planar micro-vibration device based on a shaft-type micro-cam according to claim 3, characterized in that: A push-pull motor support (24) and a thrust bearing seat (23) are fixedly connected to the connecting plate (3). The push-pull motor (11) is fixedly connected to the push-pull motor support (24). A thrust bearing is fixedly connected inside the thrust bearing seat (23). The push-pull screw (14) passes through the thrust bearing and is fixedly connected inside the thrust bearing. The push-pull motor (11) and the push-pull screw (14) are fixedly connected by a coupling (46). A thrust bearing cover (25) is fixedly connected to the thrust bearing seat (23).

6. The planar micro-vibration device based on a shaft-type micro-cam according to claim 1, characterized in that: The sliding mechanism includes two linear guide rails (26), which are fixedly connected to the crossbar (2). The mounting bracket (4) slidably connected between the two crossbars (2) has sliders (27) fixedly connected at both ends. The sliders (27) are slidably connected to the linear guide rails (26). U-shaped back clips (28) are fixedly connected to the sliders (27) and the mounting bracket (4).

7. The planar micro-vibration device based on a shaft-type micro-cam according to claim 3, characterized in that: The micro camshaft (5) includes an off-axis section (29), with a coaxial section one (30) and a coaxial section two (31) fixedly connected at both ends of the off-axis section (29). The off-axis section (29) is located inside the connecting hole (8). The coaxial section two (31) has a cylindrical section a (32) and a cylindrical section b (33). The coaxial section one (30) and the cylindrical section b (33) are both fixedly connected to the ball bearing. The cylindrical section a (32) is fixedly connected to the synchronous pulley two (19).

8. The planar micro-vibration device based on a shaft-type micro-cam according to claim 1, characterized in that: The crossbar (2) has several mounting holes (34), and a limit stop (35) is fixedly connected to the crossbar (2). The crossbar (2) is fixedly connected to the base frame (36) by a set of connecting bolts.

9. A planar micro-vibration device based on a shaft-type micro-cam according to claim 2, characterized in that: The sliding column (15) includes an insertion section (37), a flange section (38), and a connecting section (39). The connecting section (39) and the insertion section (37) are fixedly connected to both ends of the flange section (38). The mounting bracket (4) has an insertion hole. The insertion section (37) is inserted into the insertion hole, and the connecting section (39) is inserted into the through hole. The flange section (38) and the mounting bracket (4) both have several fixing screw holes. Screws are inserted into the fixing screw holes. The flange section (38) and the mounting bracket (4) are fixedly connected by the screws. The flange section (38) has a positioning groove (40), and the spring (16) is located in the positioning groove (40).

10. A planar micro-vibration device based on a shaft-type micro-cam according to claim 8, characterized in that: The connecting bolt group includes a bolt rod (41), the bolt rod (41) includes a support section (42), both ends of the support section (42) are fixedly connected with threaded sections (43), the two threaded sections (43) are respectively used to connect the crossbar (2) and the base frame (36), and a fastening nut (44) is threaded on the threaded section (43).

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