Linear rotary module and driving method of linear rotary module

Abstract

The present invention relates to the technical field of electromechanical equipment, and specifically discloses a linear rotary module and a driving method of the linear rotary module, in which: the rotary drive assembly of the rotary mechanism is movably constrained in a housing along a first direction, and the rotary member of the rotary mechanism can rotate relative to the rotary drive assembly; the output end of the linear driver of the first drive system is drivingly connected to the rotary drive assembly; the second drive system includes a linear drive assembly, the linear drive assembly has a first drive member, a screw rod drivingly connected to the output end of the first drive member, and a transmission member threadedly matched with the screw rod and movably constrained to the housing, the transmission member has a pressure-applying portion, the pressure-applying portion can push against the pressure-receiving portion along the first direction to push the rotary drive assembly, and move the rotary mechanism relative to the housing, or separate from the pressure-receiving portion. The above-mentioned setting can provide three driving modes to expand the pressure range of the linear rotary module and improve the pressure control accuracy of the end of the linear rotary module.

Description

Technical Field

[0001] The present invention relates to the technical field of electromechanical equipment, and in particular to a linear rotary module and a driving method of the linear rotary module. Background Art

[0002] As linear rotary modules are used in more and more scenarios in the semiconductor and 3C industries, there is an increasing demand for linear rotary modules that provide high-pressure and low-pressure application scenarios. Currently, for high-pressure scenarios, screw rods and servo motors are usually used, but this solution cannot take into account low-pressure occasions; for low-pressure scenarios, linear motor drive solutions are mostly used, but linear motors are small in size and generally cannot achieve high-pressure scenarios.

[0003] Therefore, it is urgent to study a linear rotary module and a driving method of the linear rotary module to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a linear rotary module and a driving method for the linear rotary module, so as to simultaneously meet the application scenarios of high pressure and low pressure, and to realize multiple working modes and improve the working effect.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] Linear rotary module, including:

[0007] case;

[0008] A rotating mechanism, comprising a rotating member and a rotating drive assembly, wherein the rotating drive assembly is movably constrained in the housing along a first direction, and the rotating member can rotate relative to the rotating drive assembly about its own axis;

[0009] It also includes two independently controlled first drive systems and second drive systems, wherein the first drive system and / or the second drive system drives the rotating mechanism to move in a first direction;

[0010] The first driving system comprises:

[0011] A linear drive, the output end of which is drivingly connected to the rotary drive assembly;

[0012] The second driving system comprises:

[0013] A linear drive assembly comprises a first drive member, a lead screw which is transmission-connected to the output end of the first drive member and whose axis extends along the first direction, and a transmission member which is threadably matched with the lead screw and movably constrained to the housing, wherein the transmission member comprises a pressure-applying portion, and the pressure-receiving portion of the rotary drive assembly is located on the moving path of the pressure-applying portion. When driven by the first drive member, the pressure-applying portion can push the pressure-receiving portion along the first direction to push the rotary drive assembly, and cause the rotary mechanism to move relative to the housing, or to separate from the pressure-receiving portion.

[0014] As an optional technical solution of the linear rotary module, the linear rotary module further includes a pressure sensor installed on the pressure receiving part, and the pressure applying part, driven by the first driving member, can push the pressure sensor along the first direction to push the rotary drive assembly and make the rotary mechanism move relative to the housing, or separate from the pressure sensor;

[0015] The pressure sensor and the first driving member are respectively connected to the controller for communication. The pressure sensor is configured to detect the pressure value between the pressure-applying part and the pressure-receiving part. The controller is configured to receive the pressure value and control the first driving member based on the pressure value.

[0016] As an optional technical solution of the linear rotation module, the rotation drive assembly includes a moving member and a second driving member, the rotating member passes through the moving member and is rotatably connected to the second driving member, the side wall of the moving member or the second driving member protrudes toward the direction of the rotation axis of the screw rod and forms a pressure block, and the end surface of the pressure block facing the pressure-applying portion forms the pressure portion;

[0017] Part of the side wall of the transmission member protrudes outward along a second direction forming an angle with the first direction to form a pressure block, and the pressure block forms the pressure portion along the first direction and toward the end surface of the pressure receiving portion.

[0018] A driving method of a linear rotary module, applied to the linear rotary module described in any of the above technical solutions, comprises the following steps:

[0019] S1. Obtain target pressure value;

[0020] S2, determining whether the target pressure value is less than the rated pressure value of the first drive system, if so, executing step S31, if not, executing step S32;

[0021] S31, driving the rotating mechanism to move along the first direction through the first driving system so that the output end of the rotating mechanism abuts against the workpiece, and maintaining the target pressure value until the end;

[0022] S32, including the optional steps of:

[0023] a) driving the rotating mechanism to move along the first direction through the second driving system so that the output end of the rotating mechanism abuts against the workpiece, and maintaining the target pressure value until the end; or,

[0024] b) After the first driving system drives the output end of the rotating mechanism to move along the first direction and abut the workpiece, the pressure-applying part of the second driving system abuts the pressure-receiving part to drive the output end of the rotating mechanism to continuously abut the workpiece until a target pressure value is reached, and maintain the target pressure value until the end.

[0025] As an optional technical solution for the driving method of a linear rotary module,

[0026] In step b), the following steps are included:

[0027] The first driving system is started first, so that the output end of the rotating mechanism abuts against the workpiece, and a holding pressure is applied to the workpiece for holding pressure, wherein the holding pressure is less than a target pressure value;

[0028] The second driving system is restarted to make the pressure applying part contact the pressure receiving part to drive the output end of the rotating mechanism to contact the workpiece until the target pressure value is reached, and the target pressure value is maintained until the end.

[0029] As an optional technical solution for the driving method of a linear rotary module,

[0030] In step b), after the first driving system drives the rotating mechanism to move for a preset time and before the output end of the rotating mechanism abuts against the workpiece, the second driving system is started.

[0031] As an optional technical solution for the driving method of a linear rotary module,

[0032] In step b), the first driving system and the second driving system are started synchronously, and before the output end of the rotating mechanism abuts against the workpiece, a gap is left between the pressure-applying part and the pressure-receiving part of the second driving system.

[0033] As an optional technical solution for the driving method of a linear rotary module,

[0034] The linear rotation module also includes a pressure sensor installed on the pressure receiving part, and the pressure applying part can push against the pressure sensor or be separated from the pressure sensor;

[0035] In step a), the second drive system drives the output end of the rotating mechanism to move from a first initial position to a first intermediate position, and from the first intermediate position to a position abutting the workpiece; at least in the process of the output end of the rotating mechanism moving from the first intermediate position to the position abutting the workpiece, the pressure value detected by the pressure sensor is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the second drive system is controlled to stop driving the rotating mechanism, and the target pressure value is maintained until the end; otherwise, the rotating mechanism continues to be driven by the second drive system; and / or,

[0036] In step b), under the driving action of the second driving system, the pressure-applying part moves from the second initial position to the second intermediate position, and moves from the second intermediate position to the position abutting the pressure sensor; at least in the process of the pressure-applying part moving from the second intermediate position to the position abutting the pressure sensor, the pressure value detected by the pressure sensor is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the pressure-applying part is controlled to stop moving, and the target pressure value is maintained until the end; otherwise, the pressure-applying part is controlled to continue moving.

[0037] As an optional technical solution for the driving method of a linear rotary module,

[0038] In step a), the second drive system drives the output end of the rotating mechanism to move from a first initial position to a first intermediate position at a first speed, and from the first intermediate position to a position abutting the workpiece at a second speed, the second speed being less than the first speed; and / or,

[0039] In step b), under the driving action of the second driving system, the pressure applying part moves from the second initial position to the second intermediate position at a third speed, and moves from the second intermediate position to a position abutting against the pressure sensor at a fourth speed, and the fourth speed is lower than the third speed.

[0040] As an optional technical solution for the driving method of a linear rotary module,

[0041] In step b), the following steps are also included:

[0042] During the process of the pressure-applying part moving from the second intermediate position to the position abutting the pressure sensor, the pressure value detected by the pressure sensor is acquired in real time. When the pressure value is greater than the set threshold, the first drive system is powered off to stop driving the rotating mechanism, and the second drive system continues to drive so that the output end of the rotating mechanism continues to contact the workpiece until the target pressure value is reached, and the target pressure value is maintained until the end.

[0043] As an optional technical solution for the driving method of a linear rotary module,

[0044] In S31,

[0045] The first driving system drives the output end of the rotating mechanism to move from the third initial position to the third intermediate position at a fifth speed, and to move from the third intermediate position to a position abutting against the workpiece at a sixth speed, and applies a target pressure to the workpiece, the sixth speed being less than the fifth speed;

[0046] In step b) in S32,

[0047] The first driving system drives the output end of the rotating mechanism to move from the third initial position to the third intermediate position at the fifth speed, and from the third intermediate position to the position abutting the workpiece at the sixth speed, and applies a holding pressure to the workpiece, and the sixth speed is less than the fifth speed.

[0048] The beneficial effects of the present invention are:

[0049] The present invention provides a linear rotary module, which includes two independently controlled first drive systems and second drive systems, wherein the first drive system includes a linear driver connected to a rotary drive component, which can directly drive the rotary drive component to meet the application scenario of low pressure; the second drive system includes a linear drive component, wherein the linear drive component can adapt to the application scenario of high pressure through the cooperation of a screw rod and a transmission member, so that the linear rotary module can meet the application scenarios of high pressure and low pressure at the same time, thereby expanding the pressure range of the linear rotary module; in addition, when in use, in the application scenario of low pressure, the first drive system can act alone; in the application scenario of high pressure, the second drive system can act alone, or the first drive system and the second drive system can cooperate to drive the rotary drive component in stages, thereby improving the pressure control accuracy of the end of the linear rotary module.

[0050] The present invention provides a driving method for a linear rotary module, wherein the driving method for the linear rotary module has three driving modes for a rotary mechanism, and different driving modes are rotated according to target pressure values, wherein in the first driving mode, when the target pressure is less than the rated pressure of the first driving system, the rotary mechanism can be directly driven by the first driving system so that the force applied by the output end of the rotary mechanism to the workpiece reaches the target pressure value, and the target pressure value is maintained until the end. This mode has a fast action speed, which helps to improve the driving efficiency and the pressure control accuracy of the end of the linear rotary module. In the second driving mode, when the target pressure is greater than the rated pressure of the first driving system, the rotary mechanism can be directly driven by the second driving system so that the force applied by the output end of the rotary mechanism to the workpiece reaches the target pressure value, and the target pressure value is maintained until the end. This mode has a fast action speed, which helps to improve the driving efficiency, thereby improving production efficiency. In the third driving mode, when the target pressure is greater than the rated pressure of the first driving system, the first driving system and the second driving system cooperate to drive the rotating mechanism, that is, the first driving system first drives the output end of the rotating mechanism to abut the workpiece, and then the pressure-applying part of the second driving system abuts the pressure-receiving part of the rotating mechanism, and continues to drive so that the force applied by the output end of the rotating mechanism to the workpiece reaches the target pressure value, and maintains the target pressure value until the end. In this mode, the workpiece has been positioned when the second driving system applies a large pressure, which helps to improve the position accuracy of the end of the linear rotating module. The three driving modes can adapt to application scenarios of high pressure and low pressure, especially in high-pressure application scenarios, there are two driving modes to choose from to meet different usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a structural schematic diagram of a linear rotation module from a first viewing angle in an embodiment of the present invention;

[0052] Figure 2 It is a structural schematic diagram of the linear rotation module in the second viewing angle in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the structure of the linear rotation module in an embodiment of the present invention, where the linear drive assembly and the linear driver are arranged on the same side of the rotation mechanism;

[0054] Figure 4 Flow chart of the driving method of the linear rotary module in the embodiment of the present invention.

[0055] In the figure:

[0056] Z, first direction; X, second direction; Y, third direction;

[0057] 100. Shell;

[0058] 200, rotating mechanism; 210, moving member; 211, pressure block; 2111, pressure part; 212, connecting block; 220, rotating member; 230, second driving member; 240, first coupling;

[0059] 300, linear drive; 310, motor stator; 320, motor mover; 321, mounting hole;

[0060] 400, linear drive assembly; 410, first drive member; 420, screw rod; 430, transmission member; 431, pressure block; 4311, pressure portion; 440, drive nut; 450, second coupling;

[0061] 510, slide rail assembly; 511, slide rail; 512, slide block; 520, pressure sensor; 530, PCB. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0066] like Figures 1 to 3 As shown, this embodiment provides a linear rotary module, and provides three driving modes, so that the linear rotary module can adapt to application scenarios with different stress requirements, expand the pressure range of the linear rotary module, and improve the pressure control accuracy of the end of the linear rotary module. The linear rotary module includes a housing 100, a rotating mechanism 200, and two independently controlled first drive systems and a second drive system; the rotating mechanism 200 has a rotating part 220 and a rotating drive assembly, the rotating drive assembly is movably constrained in the housing 100 along a first direction Z, and the rotating part 220 can rotate relative to the rotating drive assembly with its own axis as the axis; the first drive system and / or the second drive system drives the rotating mechanism 200 to move along the first direction Z; the first drive system includes a linear drive 300, and the output end of the linear drive 300 is drivingly connected to the rotating drive assembly; the second drive system includes a linear drive assembly 400, the linear drive assembly 400 has a first driving member 410, a screw rod 420 which is transmission-connected to the output end of the first driving member 410 via a second coupling 450 and whose axis extends along a first direction Z, and a transmission member 430 which is threadedly matched with the screw rod 420 and movably constrained to the shell 100, the transmission member 430 has a pressure-applying portion 4311, and the pressure-receiving portion 2111 of the rotational driving assembly is located on the moving path of the pressure-applying portion 4311. When driven by the first driving member 410, the pressure-applying portion 4311 can push the pressure-receiving portion 2111 along the first direction Z to push the rotational driving assembly, and make the rotating mechanism 200 move relative to the shell 100, or separate from the pressure-receiving portion 2111.

[0067] When in use, in the application scenario of small pressure, the first drive system can act alone; in the application scenario of large pressure, the second drive system can act alone, or the first drive system and the second drive system can cooperate to drive the rotary drive component in stages. The linear drive 300 in the first drive system can be used to move the rotary mechanism 200 to the position where the rotating member 220 and the workpiece are in contact, and then the transmission member 430 moves, and after the pressure-applying part 4311 presses the pressure-receiving part 2111, the pressure is gradually increased to the target pressure to improve the pressure control accuracy of the end of the linear rotary module. The workpiece can be a chip, and different pressures need to be applied when the chip is crimped to other mating parts. Of course, the workpiece can also be other products that require pressure.

[0068] Regarding the specific ranges of large pressure and small pressure, it should be noted that the pressure range of small pressure can be set between 0.02N-0.5N, and the range of large pressure can be set between 50N-500N. Of course, the small pressure range can be set between 0.02N-50N.

[0069] The linear rotation module also includes a pressure sensor 520 installed on the pressure-bearing part 2111. The pressure-applying part 4311, driven by the first driving member 410, can push the pressure sensor 520 along the first direction Z to push the rotary drive assembly and move the rotating mechanism 200 relative to the housing 100, or separate from the pressure sensor 520; the pressure sensor 520 and the first driving member 410 are respectively connected to the controller for communication, and the pressure sensor 520 is configured to detect the pressure value between the pressure-applying part 4311 and the pressure-bearing part 2111. The controller is configured to receive the pressure value and control the first driving member 410 based on the pressure value. The above closed-loop control method enables the controller to control the number of rotations of the screw rod 420 according to the pressure value measured by the pressure sensor 520 at all times, so as to accurately control the pressure value at the end of the rotating member 220. Among them, the PCB530 is arranged on the linear driver 300, and the controller is arranged on the PCB530. The first driving member 410 can be a servo motor.

[0070] The pressure sensor 520 in this embodiment is located between the output end (pressure-applying part 4311) of the linear drive component 400 and the movable part 210 having no transmission gap with the rotating part 220 in the first direction Z, so that the pressure value applied by the linear drive component 400 to the rotating part 220 can be accurately detected, and the pressure sensor 520 is arranged inside the shell 100, which effectively reduces the influence of other external factors on the pressure value.

[0071] The driving nut 440 and the screw rod 420 are threadedly matched and fixedly connected to the transmission member 430 . The screw rod 420 rotates to drive the driving nut 440 to reciprocate along the first direction Z, thereby driving the transmission member 430 to move synchronously.

[0072] Due to the friction between the screw 420 and the drive nut 440 and other transmission parts, even in closed-loop control, when the target pressure value is small, it is impossible to achieve precise control of the pressure applied to the workpiece. When the target pressure value is small, this problem can be solved by the first drive system in the present application, so that both high-pressure and low-pressure application scenarios can be controlled relatively accurately.

[0073] The rotary drive assembly includes a moving member 210 and a second driving member 230. The rotating member 220 passes through the moving member 210 and is rotatably connected to the second driving member 230 through the first coupling 240. The side wall of the moving member 210 or the second driving member 230 protrudes in the direction of the rotation axis of the screw rod 420 and forms a pressure block 211. The pressure block 211 forms a pressure portion 2111 toward the end face of the pressure-applying portion 4311; a part of the side wall of the transmission member 430 protrudes outward along the second direction X that is angled with the first direction Z to form a pressure block 431. The pressure block 431 forms a pressure portion 4311 along the first direction Z and toward the end face of the pressure-applying portion 2111. The second driving member 230 can be a servo motor. This arrangement allows the shell of the pressure block 211 and the moving member 210 or the second driving member 230 to be an integrally formed structure, improves processing efficiency, and helps to improve the connection strength between the two to withstand greater pressure; at the same time, the pressure block 211 is small in size and simple in structure, which is conducive to saving materials.

[0074] The linear drive 300 is a linear motor, which includes a motor stator 310 and a motor mover 320 that can reciprocate along a first direction Z relative to the motor stator 310. The motor mover 320 is driven and connected to the moving member 210 or the second driving member 230 of the rotating drive assembly, and the moving stroke of the transmission member 430 is greater than or equal to the moving stroke of the motor mover 320.

[0075] Part of the side wall of the movable part 210 protrudes in the direction away from the axis of the rotating part 220 and forms a connecting block 212, and the connecting block 212 is provided with a connecting hole. The linear drive 300 includes a linear motor, and the motor mover 320 of the linear motor has a mounting hole 321. The fastener is passed through the mounting hole 321 and passed through the connecting hole.

[0076] It should be noted that the linear drive 300 has high precision and can more accurately abut the rotating part 220 against the workpiece, and can apply precise pressure to the workpiece, so that after the position of the workpiece is relatively stable, greater pressure can be applied through the linear drive component 400, which is beneficial to ensure the position accuracy of the workpiece.

[0077] Combination Figure 2 and Figure 3As shown, in order to reduce the size of the linear rotary module in the third direction Y, the linear driver 300 and the linear drive assembly 400 are arranged on both sides or the same side of the rotary mechanism 200 along the second direction X. Further, in order to further reasonably utilize the gaps between the mechanisms and improve the structural compactness of the linear rotary module, the linear driver 300 and the linear drive assembly 400 are arranged on the same side of the rotary mechanism 200 along the second direction X, and the linear driver 300 is located in a U-shaped space surrounded by three adjacent boundaries of the rotary drive assembly, the transmission member 430 and the first drive member 410. Among them, the first direction Z, the second direction X and the third direction Y are perpendicular to each other.

[0078] To ensure the stability of the transmission member 430 moving relative to the housing 100 , the linear rotation module further includes a slide rail assembly 510 . The slide rail assembly 510 has a sliding guide rail 511 disposed on the housing 100 and a sliding block 512 slidably matched with the sliding guide rail 511 . The transmission member 430 is connected to the sliding block 512 .

[0079] Combination Figure 4 As shown, this embodiment also provides a driving method of a linear rotation module, which is applied to the linear rotation module in any of the above embodiments. The driving method of the linear rotation module includes the following steps:

[0080] S1. Obtain target pressure value.

[0081] S2. Determine whether the target pressure value is less than the rated pressure value of the first drive system. If so, execute step S31; if not, execute step S32.

[0082] S31 , driving the rotating mechanism 200 to move along the first direction Z through the first driving system so that the output end of the rotating mechanism 200 abuts against the workpiece, and maintaining the target pressure value until the end.

[0083] S32, including optional step a) or step b), wherein, in step a), the second driving system drives the rotating mechanism 200 to move along the first direction Z so that the output end of the rotating mechanism 200 abuts against the workpiece, and maintains the target pressure value until the end.

[0084] In step b), after the first driving system drives the output end of the rotating mechanism 200 to move along the first direction Z and abut the workpiece, the pressure-applying portion 4311 of the second driving system abuts the pressure-receiving portion 2111 to drive the output end of the rotating mechanism 200 to continuously abut the workpiece until the target pressure value is reached, and maintain the target pressure value until the end.

[0085] The design of the above method enables the linear rotary module to have three driving modes, which can adapt to the application scenarios of high pressure and low pressure, especially in the application scenario of high pressure, there are two driving modes to choose from to meet different usage requirements. In S31, the action speed is fast and the driving position is accurate, which helps to improve the driving efficiency; in step a) of S32, the operation is simple, which helps to improve the production efficiency; in step b) of S32, the workpiece has been positioned when the second driving system applies pressure, and the position can be maintained unchanged, which helps to improve the position accuracy of the end of the linear rotary module.

[0086] It is worth noting that in the production process of the same product, the target pressure value generated by the linear rotating module on the workpiece is a fixed value. When the product is replaced, the target pressure value needs to be adjusted accordingly. Therefore, in the process of changing the product, step a) or b) can be manually selected so that step a) or b) can be automatically executed after the target pressure value is input, so as to improve the operation efficiency. Of course, in some embodiments, the driving method can automatically execute step a) or b) after the target parameter is input according to the limitation of other parameters.

[0087] In some embodiments, in step b), the following steps are included: the first drive system is started first to make the output end of the rotating mechanism 200 abut against the workpiece, and a holding pressure is applied to the workpiece for holding pressure. The holding pressure is less than the target pressure value. The second drive system is started again to make the pressure-applying part 4311 abut against the pressure-receiving part 2111 to drive the output end of the rotating mechanism 200 to abut against the workpiece until the target pressure value is reached, and the target pressure value is maintained until the end. Among them, the time for holding pressure on the workpiece is t1, and the time from the start of the second drive system to the time when the pressure-applying part 4311 abuts against the pressure-receiving part 2111 is t2, and t1 is greater than or equal to t2.

[0088] The above method can ensure that the workpiece is in a pressure-maintaining state when the second drive system is started. On the one hand, it can ensure the accuracy of the workpiece position; on the other hand, it can effectively avoid interference between the two drive systems during the driving process, improve the smoothness of the movement of the rotating mechanism 200, and the ease of control.

[0089] In an environment with high production efficiency requirements, it is necessary to shorten the interval time between each two steps as much as possible, so as to shorten the processing time as a whole. To achieve this purpose, in step b), after the first drive system drives the rotating mechanism 200 to move for a preset time, and before the output end of the rotating mechanism 200 abuts the workpiece, the second drive system is started. The above method can ensure that when the second drive system is started, there is a gap between the pressure-applying part 4311 and the pressure-receiving part 2111 to avoid interference. This setting can shorten the time from the start of the first drive system to the output end of the rotating mechanism 200 abutting the workpiece and reaching the target pressure value, thereby improving production efficiency. After the second drive system is started, the driving speed of the first drive system can be greater than or equal to the driving speed of the second drive system, so that after the output end of the rotating mechanism 200 abuts the workpiece, the pressure-applying part 4311 abuts the pressure-receiving part 2111 again. In some embodiments, after the second drive system is started, the driving speed of the first drive system can even be less than the driving speed of the second drive system, as long as it is ensured that after the output end of the rotating mechanism 200 abuts the workpiece, the pressure-applying part 4311 abuts the pressure-receiving part 2111 again.

[0090] In order to improve production efficiency, other methods can also be used. In some embodiments, in step b), the first drive system and the second drive system are started synchronously, and before the output end of the rotating mechanism 200 abuts the workpiece, a gap is left between the pressure-applying part 4311 and the pressure-receiving part 2111 of the second drive system. After the first drive system and the second drive system are started synchronously, there is always a gap between the pressure-applying part 4311 and the pressure-receiving part 2111 until the output end of the rotating mechanism 200 abuts the workpiece. The above method can ensure high production efficiency while making the control method easier to implement, and the control logic is simpler, which is convenient for program design. After the first drive system and the second drive system are started synchronously, the driving speed of the first drive system can be greater than or equal to the driving speed of the second drive system, so that after the output end of the rotating mechanism 200 abuts the workpiece, the pressure-applying part 4311 abuts the pressure-receiving part 2111.

[0091] In the embodiment where the linear rotary module has a pressure sensor 520, the pressure sensor 520 is installed on the pressure receiving part 2111, and the pressure applying part 4311 can push the pressure sensor 520, or be separated from the pressure sensor 520; in step a), the pressure sensor 520 can participate in the precise control of the moving position of the rotating mechanism 200. Exemplarily, the second drive system drives the output end of the rotating mechanism 200 to move from the first initial position to the first intermediate position, and from the first intermediate position to the position abutting the workpiece; in the process of the output end of the rotating mechanism 200 moving from the first initial position to the position abutting the workpiece, the pressure value detected by the pressure sensor 520 is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If yes, the second drive system is controlled to stop driving the rotating mechanism 200, and the target pressure value is maintained until the end; otherwise, the rotating mechanism 200 is continued to be driven by the second drive system.

[0092] In order to reduce the frequency of use of the pressure sensor 520 and improve operating efficiency, as another example, the second drive system drives the output end of the rotating mechanism 200 to move from a first initial position to a first intermediate position, and from the first intermediate position to a position abutting the workpiece; in the process of the output end of the rotating mechanism 200 moving from the first intermediate position to the position abutting the workpiece, the pressure value detected by the pressure sensor 520 is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the second drive system is controlled to stop driving the rotating mechanism 200, and the target pressure value is maintained until the end; otherwise, the rotating mechanism 200 continues to be driven by the second drive system.

[0093] In order to shorten the time that the output end of the rotating mechanism 200 abuts the workpiece and improve the accuracy of the position of the output end of the rotating mechanism 200, in step a), the second drive system drives the output end of the rotating mechanism 200 to move from a first initial position to a first intermediate position at a first speed, and from the first intermediate position to a position abutting the workpiece at a second speed, and the second speed is less than the first speed.

[0094] In step b), the pressure sensor 520 can be used to participate in the control of the first driving member 410 to achieve precise control of the displacement of the pressure-applying portion 4311 in the movable member 210. Exemplarily, under the driving action of the second driving system, the pressure-applying portion 4311 moves from the second initial position to the second intermediate position, and moves from the second intermediate position to the position abutting against the pressure sensor 520; in the process of the pressure-applying portion 4311 moving from the second initial position to the position abutting against the pressure sensor 520, the pressure value detected by the pressure sensor 520 is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the pressure-applying portion 4311 is controlled to stop moving, and the target pressure value is maintained until the end; otherwise, the pressure-applying portion 4311 is controlled to continue moving.

[0095] In order to reduce the frequency of use of the pressure sensor 520 and improve the operating efficiency, as another example, under the driving action of the second driving system, the pressure-applying part 4311 moves from the second initial position to the second intermediate position, and moves from the second intermediate position to the position abutting against the pressure sensor 520; in the process of the pressure-applying part 4311 moving from the second intermediate position to the position abutting against the pressure sensor 520, the pressure value detected by the pressure sensor 520 is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the pressure-applying part 4311 is controlled to stop moving, and the target pressure value is maintained until the end; otherwise, the pressure-applying part 4311 is controlled to continue moving, thereby realizing two control methods combining open loop and closed loop for the first driving member 410, and closed loop control is adopted in the terminal process of the pressure-applying part 4311 abutting against the pressure sensor 520, which can reduce the frequency of use of the pressure sensor 520 as much as possible and improve the operating efficiency while ensuring the force control accuracy.

[0096] In order to shorten the time that the output end of the rotating mechanism 200 abuts the workpiece and improve the accuracy of the position of the output end of the rotating mechanism 200, in step b), under the driving action of the second driving system, the pressure-applying part 4311 moves from the second initial position to the second intermediate position at a third speed, and moves from the second intermediate position to the position abutting against the pressure sensor 520 at a fourth speed, and the fourth speed is less than the third speed.

[0097] In step b), the following steps are also included: in the process of the pressure applying part 4311 moving from the second intermediate position to the position abutting the pressure sensor 520, the pressure value detected by the pressure sensor 520 is obtained in real time. When the pressure value is greater than the set threshold value (the size of the threshold value is determined by the fluctuation amount of the pressure sensor 520), the first drive system is powered off to stop driving the rotating mechanism 200, and the second drive system continues to drive so that the output end of the rotating mechanism 200 continues to contact the workpiece until the target pressure value is reached, and the target pressure value is maintained until the end. The design of this method, on the one hand, applies a large pressure to the workpiece under the driving action of the second drive system to meet the production requirements; on the other hand, when the pressure value is greater than zero, it means that the pressure applying part 4311 and the pressure sensor 520 are abutted. Under the action of the second drive system, after the pressure applying part 4311 and the pressure sensor 520 are abutted, the first drive system is powered off, which can ensure that the pressure applying part 4311 and the pressure sensor 520 continue to abut, and the position of the workpiece remains unchanged; and it can reduce the energy consumption of the first drive system and save the pressure application cost.

[0098] In S31, the first drive system drives the output end of the rotating mechanism 200 to move from the third initial position to the third intermediate position at the fifth speed, and to move from the third intermediate position to the position of abutting the workpiece at the sixth speed, and applies the target pressure to the workpiece, and the sixth speed is less than the fifth speed. The above method shortens the time when the output end of the rotating mechanism 200 moves from the third initial position to the third intermediate position at the fifth speed, thereby improving the efficiency of the output end of the rotating mechanism 200 abutting the workpiece; at the same time, moving from the third intermediate position to the position of abutting the workpiece at the slower sixth speed helps to improve the control accuracy. Among them, the fifth speed can be set to the maximum speed of the linear drive 300 to shorten the driving time of the rotating mechanism 200 as much as possible; in the process of the output end of the rotating mechanism 200 moving from the third intermediate position to the position of abutting the workpiece at the sixth speed, the current calibrated corresponding to the target pressure value can be limited, that is, by controlling the current, the linear drive 300 moves at a corresponding speed, and the output end of the rotating mechanism 200 applies the target pressure to the workpiece when abutting the workpiece.

[0099] In step b) of S32, the first drive system drives the output end of the rotating mechanism 200 to move from the third initial position to the third intermediate position at the fifth speed, and to move from the third intermediate position to the position abutting the workpiece at the sixth speed, and applies a holding pressure to the workpiece, and the sixth speed is less than the fifth speed. The fifth speed can be set to the maximum speed of the linear drive 300 to shorten the driving time of the rotating mechanism 200 as much as possible; in the process of the output end of the rotating mechanism 200 moving from the third intermediate position to the position abutting the workpiece at the sixth speed, the current calibrated corresponding to the holding pressure can be limited, that is, by controlling the current, the linear drive 300 moves at the corresponding speed, and the output end of the rotating mechanism 200 and the workpiece are abutted to apply a holding pressure to the workpiece. The holding pressure can be greater than zero and less than or equal to the rated pressure value of the first drive system.

[0100] Regarding the first initial position, the second initial position and the third initial position, it should be noted that the first initial position and the third initial position of the rotating mechanism 200 may be the same. The pressing portion 4311 at the second initial position may abut against the rotating mechanism 200 at the first initial position, or there may be a gap.

[0101] Regarding the first intermediate position, the second intermediate position and the third intermediate position, it should be noted that when the output end of the rotating mechanism 200 moves to the first intermediate position, it needs to move 0.5mm-1mm away from the contact with the workpiece. Under the premise that the output end of the rotating mechanism 200 abuts the workpiece, the pressure applying part 4311 located at the second intermediate position needs to move 0.5mm-1mm away from the abutting pressure receiving part 2111. When the output end of the rotating mechanism 200 moves to the third intermediate position, it needs to move 0.5mm-1mm away from the contact with the workpiece.

[0102] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Linear rotary module, including: Housing (100); A rotating mechanism (200) comprising a rotating member (220) and a rotating drive assembly, wherein the rotating drive assembly is movably constrained in the housing (100) along a first direction (Z), and the rotating member (220) is capable of rotating relative to the rotating drive assembly about its own axis; It is characterized in that it also includes two independently controlled first drive systems and second drive systems, wherein the first drive system and / or the second drive system drives the rotating mechanism (200) to move along a first direction (Z); The first driving system comprises: A linear drive (300), wherein an output end of the linear drive (300) is drivingly connected to the rotary drive assembly; The second driving system comprises: A linear drive assembly (400) comprises a first drive member (410), a screw rod (420) which is drivingly connected to an output end of the first drive member (410) and has an axis extending along the first direction (Z), and a transmission member (430) which is threadedly engaged with the screw rod (420) and is movably constrained to the housing (100), wherein the transmission member (430) has a pressure-applying portion (4311), and the pressure-receiving portion (2111) of the rotary drive assembly is located on a moving path of the pressure-applying portion (4311). The linear rotation module further comprises a pressure sensor (520) mounted on the pressure receiving portion (2111); the pressure applying portion (4311), when driven by the first driving member (410), can push the pressure sensor (520) along the first direction (Z) to push the rotation driving component and enable the rotation mechanism (200) to move relative to the housing (100), or to separate from the pressure sensor (520); The pressure sensor (520) and the first driving member (410) are respectively connected to the controller for communication, the pressure sensor (520) is configured to detect the pressure value between the pressure-applying part (4311) and the pressure-receiving part (2111), and the controller is configured to receive the pressure value and control the first driving member (410) based on the pressure value.

2. The linear rotary module according to claim 1, characterized in that: The rotary drive assembly comprises a moving member (210) and a second driving member (230); the rotating member (220) passes through the moving member (210) and is rotationally connected to the second driving member (230); a side wall of the moving member (210) or the second driving member (230) protrudes in the direction of the rotation axis of the screw rod (420) to form a pressure block (211); an end surface of the pressure block (211) facing the pressure-applying portion (4311) forms the pressure portion (2111); Part of the side wall of the transmission member (430) protrudes outward along a second direction (X) that is at an angle to the first direction (Z) to form a pressure block (431), and the pressure block (431) forms the pressure portion (4311) along the first direction (Z) and on the end surface facing the pressure receiving portion (2111).

3. A driving method of a linear rotary module, applied to the linear rotary module according to any one of claims 1 to 2, characterized in that: The following steps are involved: S1. Obtain target pressure value; S2, determining whether the target pressure value is less than the rated pressure value of the first drive system, if so, executing step S31, if not, executing step S32; S31, driving the rotating mechanism (200) to move along the first direction (Z) through the first driving system so that the output end of the rotating mechanism (200) abuts against the workpiece, and maintaining the target pressure value until the end; S32, including the optional steps of: a) driving the rotating mechanism (200) to move along the first direction (Z) through a second driving system so that the output end of the rotating mechanism (200) abuts against the workpiece, and maintaining the target pressure value until the end; or, b) After the first driving system drives the output end of the rotating mechanism (200) to move along the first direction (Z) and abut against the workpiece, the pressure-applying portion (4311) of the second driving system abuts against the pressure-receiving portion (2111) to drive the output end of the rotating mechanism (200) to continuously abut against the workpiece until a target pressure value is reached, and the target pressure value is maintained until the end.

4. The driving method of the linear rotary module according to claim 3, characterized in that: In step b), the following steps are included: The first drive system is started first, so that the output end of the rotating mechanism (200) abuts against the workpiece, and a holding pressure is applied to the workpiece to maintain pressure, wherein the holding pressure is less than a target pressure value; The second driving system is restarted, so that the pressure-applying portion (4311) abuts against the pressure-receiving portion (2111) to drive the output end of the rotating mechanism (200) to abut against the workpiece until a target pressure value is reached, and the target pressure value is maintained until the end.

5. The driving method of the linear rotary module according to claim 3, characterized in that: In step b), after the first drive system drives the rotating mechanism (200) to move for a preset time, and before the output end of the rotating mechanism (200) abuts against the workpiece, the second drive system is started.

6. The driving method of the linear rotary module according to claim 3, characterized in that: In step b), the first drive system and the second drive system are started synchronously, and before the output end of the rotating mechanism (200) abuts against the workpiece, a gap is left between the pressure-applying part (4311) of the second drive system and the pressure-receiving part (2111).

7. The driving method of the linear rotary module according to claim 3, characterized in that: The linear rotation module further comprises a pressure sensor (520) mounted on the pressure receiving portion (2111), and the pressure applying portion (4311) can push against the pressure sensor (520) or be separated from the pressure sensor (520); In step a), the second drive system drives the output end of the rotating mechanism (200) to move from a first initial position to a first intermediate position, and from the first intermediate position to a position abutting against the workpiece; at least in the process of the output end of the rotating mechanism (200) moving from the first intermediate position to the position abutting against the workpiece, the pressure value detected by the pressure sensor (520) is acquired in real time, and it is determined whether the pressure value is equal to a target pressure value, and if so, the second drive system is controlled to stop driving the rotating mechanism (200), and the target pressure value is maintained until the end; otherwise, continuing to drive the rotating mechanism (200) via the second driving system; and / or, In step b), under the driving action of the second driving system, the pressure-applying portion (4311) moves from the second initial position to the second intermediate position, and moves from the second intermediate position to a position abutting against the pressure sensor (520); at least in the process of the pressure-applying portion (4311) moving from the second intermediate position to the position abutting against the pressure sensor (520), the pressure value detected by the pressure sensor (520) is obtained in real time, and it is determined whether the pressure value is equal to the target pressure value. If so, the pressure-applying portion (4311) is controlled to stop moving, and the target pressure value is maintained until the end; otherwise, the pressure-applying portion (4311) is controlled to continue moving.

8. The driving method of the linear rotary module according to claim 7, characterized in that: In step a), the second drive system drives the output end of the rotating mechanism (200) to move from a first initial position to a first intermediate position at a first speed, and from the first intermediate position to a position abutting against the workpiece at a second speed, the second speed being lower than the first speed; and / or, In step b), under the driving action of the second driving system, the pressure applying portion (4311) moves from the second initial position to the second intermediate position at a third speed, and moves from the second intermediate position to a position abutting against the pressure sensor (520) at a fourth speed, and the fourth speed is less than the third speed.

9. The driving method of the linear rotary module according to claim 7, characterized in that: In step b), the following steps are also included: During the process of the pressure-applying portion (4311) moving from the second intermediate position to the position abutting the pressure sensor (520), the pressure value detected by the pressure sensor (520) is acquired in real time. When the pressure value is greater than a set threshold value, the first drive system is powered off to stop driving the rotating mechanism (200), and the second drive system continues to drive so that the output end of the rotating mechanism (200) continues to contact the workpiece until the target pressure value is reached, and the target pressure value is maintained until the end.

10. The driving method of the linear rotary module according to claim 3, characterized in that: In S31, The first drive system drives the output end of the rotating mechanism (200) to move from a third initial position to a third intermediate position at a fifth speed, and to move from the third intermediate position to a position abutting against the workpiece at a sixth speed, and applies a target pressure to the workpiece, the sixth speed being lower than the fifth speed; In step b) in S32, The first drive system drives the output end of the rotating mechanism (200) to move from a third initial position to a third intermediate position at a fifth speed, and to move from the third intermediate position to a position abutting against the workpiece at a sixth speed, and applies a holding pressure to the workpiece, the sixth speed being lower than the fifth speed.

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