High-precision force control ZR axis module

Abstract

The invention relates to the technical field of glass grinding processing, and provides a high-precision force control ZR axis module which comprises a Z axis motor, an R axis motor, a hollow ball spline shaft, a jig, a spring and a pressure sensing assembly. A supporting frame is arranged at the output end of the Z-axis motor and comprises a first bottom plate and a top plate which are oppositely distributed, and the R-axis motor is arranged on the first bottom plate and located between the first bottom plate and the top plate. The output end of the R-axis motor is connected with a spline nut of the hollow ball spline shaft, the top end of a shaft body of the hollow ball spline shaft penetrates through the top plate and is connected with the jig, and the bottom end of the shaft body of the hollow ball spline shaft penetrates through the first bottom plate. The spring is arranged on a shaft body of the hollow ball spline shaft in a sleeving mode and abuts against the position between the jig and a ball shaft sleeve of the hollow ball spline shaft. The pressure sensing assembly is arranged on the top plate and clamped between the top plate and a ball shaft sleeve of the hollow ball spline shaft in a limiting mode. And precise force control grinding can be achieved easily, the pressure detection and flexible feeding functions are achieved, and the high requirement of the grinding technology is met.

Description

Technical Field

[0001] This application relates to the field of glass polishing and processing technology, and more specifically, to a high-precision force-controlled ZR axis module. Background Technology

[0002] With the continuous development of the 3C industry, higher and more demanding requirements have been placed on the processability of materials. The 3C industry is a collective term for the three major fields of Computer, Communication, and Consumer Electronics. For the tiny glass components that are widely used in 3C products, the grinding process requires high precision. Grinding equipment typically needs to have precise force control and flexible feed functions. However, most traditional glass processing or grinding equipment uses soft materials to polish the surface, which only serves to polish the appearance and does not meet the requirements of advanced grinding processes. It also lacks precise force control and pressure detection functions. Moreover, traditional glass processing or grinding equipment generally uses a quantitative cutting method with an upper spindle to achieve grinding, without flexible feed control, making it difficult to control the grinding quality. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide a high-precision force-controlled ZR axis module to address the above-mentioned deficiencies of the prior art.

[0004] The technical solution adopted by this application to solve its technical problem is: a high-precision force-controlled ZR axis module, including a Z-axis motor, an R-axis motor, a hollow ball spline shaft, a fixture, a spring, and a pressure sensing component; the output end of the Z-axis motor is provided with a support frame, the support frame includes a first base plate and a top plate distributed opposite to each other, the R-axis motor is disposed on the first base plate and located between the first base plate and the top plate; the output end of the R-axis motor is connected to the spline nut of the hollow ball spline shaft, the top end of the shaft of the hollow ball spline shaft passes through the top plate and is connected to the fixture, and the bottom end of the shaft of the hollow ball spline shaft passes through the first base plate; the spring is sleeved on the shaft of the hollow ball spline shaft, and the spring is pressed against the fixture and the ball sleeve of the hollow ball spline shaft; the pressure sensing component is disposed on the top plate and is limited and locked between the top plate and the ball sleeve of the hollow ball spline shaft.

[0005] In some embodiments, the ball bushing of the hollow ball spline shaft includes a bushing, a ball assembly, and an outer ring; the bushing is sleeved on the shaft body of the hollow ball spline shaft, the ball assembly is limited and sleeved on the bushing and located between the bushing and the outer ring; the pressure sensing assembly is limited and locked between the top plate and the outer ring.

[0006] In some embodiments, the pressure sensing assembly includes a mounting base and a plurality of first miniature pressure sensors; the mounting base is disposed on a top plate and located around the shaft of the hollow ball spline shaft, and the plurality of first miniature pressure sensors are arranged in a circumferential array on the upper surface of the mounting base; the outer ring is disposed on the mounting base, and the lower surface of the outer ring is in contact with the upper surface of the mounting base.

[0007] In some embodiments, the ball assembly includes an upper ring, a lower ring, and a plurality of balls; the upper ring and the lower ring are distributed opposite to each other, and a gap is formed between the upper ring and the lower ring; each of the upper ring and the lower ring has an annular groove on its opposite surface, and a receiving space is formed between the two annular grooves and the gap, and the plurality of balls are movably disposed within the receiving space.

[0008] In some embodiments, a plurality of second micro pressure sensors are embedded in the concave surfaces of both annular grooves, and the plurality of second micro pressure sensors in any one of the annular grooves are spaced apart.

[0009] In some embodiments, the lower surface of the fixture is provided with a limiting groove, the upper end of the spring is inserted into the limiting groove, and the lower end of the spring abuts against the upper surface of the bushing.

[0010] In some embodiments, the Z-axis motor is mounted on a U-shaped bracket, and the support frame is located inside the U-shaped bracket; a clearance through hole corresponding to the shaft body of the hollow ball spline shaft is provided at the center of the inner bottom surface of the U-shaped bracket.

[0011] In some embodiments, the U-shaped bracket includes a second base plate and two first side plates, the two first side plates being disposed on opposite sides of the second base plate; the clearance through hole is disposed at the center of the second base plate; wherein one of the first side plates is provided with a hollow groove, and the Z-axis motor is disposed on the second base plate and located within the hollow groove.

[0012] In some embodiments, the support frame further includes a second side plate disposed between the first bottom plate and the top plate, and the second side plate is slidably connected to another of the first side plates.

[0013] In some embodiments, a guide block is provided on one surface of another first side plate facing the second side plate, and the guide block is provided with a vertical guide groove; a slide rail is correspondingly provided on the second side plate to cooperate with the guide groove and slide within the guide groove.

[0014] The beneficial effects of this application are as follows: Unlike the prior art, in the high-precision force control ZR axis module of this application, the fixture is used to load the workpiece. The rotation and lifting of the hollow ball spline shaft are controlled by the drive of the Z-axis motor and the R-axis motor. This allows the fixture to slowly lift and lower the workpiece towards the grinding head. After the workpiece contacts the grinding head, the force is transmitted to the pressure sensing component through the spring. The pressure sensing component, based on real-time pressure detection, works in real-time with the Z-axis motor and the R-axis motor to maintain constant force control during the grinding process. This achieves precise force control operation and pressure detection, meets the process requirements of flexible feed, and effectively controls the grinding quality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a high-precision force-controlled ZR axis module in an embodiment of this application; Figure 2 This is another schematic diagram of the high-precision force-controlled ZR axis module in the embodiments of this application; Figure 3 This is a cross-sectional schematic diagram of the high-precision force-controlled ZR axis module in an embodiment of this application; Figure 4 This is a schematic diagram of a ball bushing in an embodiment of this application; Figure 5 This is a schematic diagram of a pressure sensing component in an embodiment of this application; The labels and numbers in the diagram are as follows: Z-axis motor-1; R-axis motor-2; hollow ball spline shaft-3; jig-4; spring-5; pressure sensor assembly-6; support frame-7; first base plate-71; top plate-72; bushing-31; ball assembly-32; outer ring-33; mounting base-61; first miniature pressure sensor-62; upper ring-321; lower ring-322; ball-323; limiting groove-401; U-shaped bracket-8; second base plate-81; clearance through hole-801; first side plate-82; hollow groove-820; second side plate-73; guide block-83; slide rail-730. Detailed Implementation

[0016] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0017] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0018] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0019] Furthermore, the terms indicating orientation, such as "up," "down," "front," "back," "left," "right," "upper end," and "lower end," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this application. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0021] This application provides a high-precision force-controlled ZR axis module, such as... Figures 1 to 5 As shown, the high-precision force-controlled ZR axis module includes a Z-axis motor 1, an R-axis motor 2, a hollow ball spline shaft 3, a fixture 4, a spring 5, and a pressure sensing component 6. The output end of the Z-axis motor 1 is provided with a support frame 7, which includes a first base plate 71 and a top plate 72 that are distributed opposite to each other. The R-axis motor 2 is mounted on the first base plate 71 and located between the first base plate 71 and the top plate 72. The output end of the R-axis motor 2 is connected to the spline nut of the hollow ball spline shaft 3. The top end of the shaft of the hollow ball spline shaft 3 passes through the top plate 72 and is connected to the fixture 4. The bottom end of the shaft of the hollow ball spline shaft 3 passes through the first base plate 71. The spring 5 is sleeved on the shaft of the hollow ball spline shaft 3 and is pressed against the fixture 4 and the ball sleeve of the hollow ball spline shaft 3. The pressure sensing component 6 is mounted on the top plate 72 and is limited and locked between the top plate 72 and the ball sleeve of the hollow ball spline shaft 3.

[0022] The working principle of the high-precision force control ZR axis module in this application embodiment is as follows: manual / automatic feeding to fixture 4, R-axis motor 2 starts, the workpiece rotates at the speed set by R-axis motor 2, Z-axis motor 1 starts, the workpiece slowly moves up and down to approach the grinding head, after the workpiece contacts the grinding head, the force is transmitted to pressure sensing component 6 through spring 5. The pressure sensing component 6, based on real-time pressure detection, works in real-time linkage with Z-axis motor 1 and R-axis motor 2 to maintain constant force control during the grinding process, thereby achieving precise force control operation and pressure detection, and meeting the process requirements of flexible feed.

[0023] Among them, the hollow ball spline shaft 3 has a hollow design, which can significantly reduce the weight of the shaft itself, while providing an internal path for wiring, which helps to simplify wiring and optimize space layout, making it suitable for weight-sensitive processing scenarios such as micro glass.

[0024] Specifically, in this embodiment, the ball bushing of the hollow ball spline shaft 3 includes a bushing 31, a ball assembly 32, and an outer ring 33. The bushing 31 is sleeved on the shaft body of the hollow ball spline shaft 3, and the ball assembly 32 is limited and sleeved on the bushing 31 and located between the bushing 31 and the outer ring 33. The pressure sensing component 6 is limited and locked between the top plate 72 and the outer ring 33. The ball assembly 32 is used to realize the rolling friction mechanism, which helps to improve transmission efficiency and reduce energy loss and wear.

[0025] The pressure sensing component 6 includes a mounting base 61 and several first miniature pressure sensors 62. The mounting base 61 is located on the top plate 72 and around the shaft of the hollow ball spline shaft 3. A protrusion is located at the center of the mounting base 61, through which the shaft of the hollow ball spline shaft 3 passes. The bottom end of the bushing 31 rests on the protrusion. The several first miniature pressure sensors 62 are arranged in a circumferential array on the upper surface of the mounting base 61, for example, by embedding. An outer ring 33 is located on the mounting base 61, and the lower surface of the outer ring 33 is in contact with the upper surface of the mounting base 61. The ball assembly 32 is located between the bushing 31 and the outer ring 33, and the bottom end of the ball assembly 32 is in contact with the protrusion, and the ball assembly 32 is supported by the protrusion. The inner side of the outer ring 33 has a stepped opening. When the outer ring 33 is mounted on the mounting base 61, the lower part of the opening protrudes, and the bottom end of the ball assembly 32 contacts the stepped part of the opening. The ball assembly 32 is also supported by the stepped part of the opening, thus forming a tight fit. The array-type pressure sensor layout helps to detect pressure changes in real time. Moreover, when detecting pressure changes in real time, it can also be used to compensate for pressure deviations that may occur when the spring 5 transmits force, effectively improving detection accuracy.

[0026] The ball assembly 32 includes an upper ring 321, a lower ring 322, and a plurality of balls 323. The upper ring 321 and the lower ring 322 are of the same size, and the plurality of balls 323 are also of the same size. The bushing 31 has a flange extending radially outward therefrom, which is used to engage with the protrusions on the outer ring 33 and the mounting base 61 to limit the upper ring 321 and the lower ring 322. For details, please refer to the aforementioned engagement method of the ball assembly 32, which will not be repeated here. The upper ring 321 and the lower ring 322 are distributed opposite to each other, and a gap is formed between the upper ring 321 and the lower ring 322. The opposing surfaces of the upper ring 321 and the lower ring 322 are each provided with an annular groove, i.e., a ball groove, for the plurality of balls 323 to roll in. An accommodating space is formed between the two annular grooves and the gap, and the plurality of balls 323 are movably disposed in the accommodating space. Furthermore, several second micro pressure sensors are embedded in the concave surfaces of both annular grooves. The several second micro pressure sensors in any annular groove are spaced apart to detect the contact pressure between several balls 323 and the annular groove. When the grinding contact pressure changes, the force state of the hollow ball spline shaft 3 changes, and the contact pressure between several balls 323 and the annular groove also changes accordingly, so as to more accurately grasp the change of grinding pressure.

[0027] Specifically, in this embodiment, the lower surface of the fixture 4 is provided with a limiting groove 401, the upper end of the spring 5 is inserted into the limiting groove 401, and the lower end of the spring 5 abuts against the upper surface of the bushing 31, so as to effectively avoid radial off-center loading of the spring 5 and ensure the coaxiality of the axial force transmission.

[0028] Specifically, in this embodiment, the Z-axis motor 1 is mounted on a U-shaped bracket 8, and the support frame 7 is located inside the U-shaped bracket 8; a clearance through hole 801 corresponding to the shaft of the hollow ball spline shaft 3 is provided at the center of the inner bottom surface of the U-shaped bracket 8, so that the shaft of the hollow ball spline shaft 3 can move smoothly up and down without causing obstruction.

[0029] The U-shaped bracket 8 includes a second base plate 81 and two first side plates 82, which are respectively disposed on the two opposite sides of the second base plate 81. The clearance through hole 801 is disposed at the center of the second base plate 81. One of the first side plates 82 is provided with a hollow groove 820. The Z-axis motor 1 is disposed on the second base plate 81 and located in the hollow groove 820, which provides suitable space for the Z-axis motor 1, simplifies the spatial layout, does not require too much space, and can ensure the smooth lifting and lowering movement of the hollow ball spline shaft 3.

[0030] Furthermore, the support frame 7 also includes a second side plate 73, which is disposed between the first bottom plate 71 and the top plate 72, and is slidably connected to another first side plate 82. For example, a guide block 83 is provided on one surface of the other first side plate 82 facing the second side plate 73, and the guide block 83 is provided with a vertical guide groove; the second side plate 73 is correspondingly provided with a slide rail 730 that cooperates with the guide groove and slides within the guide groove, ensuring that the support frame 7 can move along a predetermined direction, avoiding lifting deviation, and ensuring feeding accuracy.

[0031] The high-precision force-controlled ZR axis module of this application embodiment, through the cooperation of Z-axis motor 1, R-axis motor 2, hollow ball spline shaft 3, fixture 4, spring 5 and pressure sensing component 6, helps to achieve precise force-controlled grinding operation, and also has a flexible feed function to meet the high standard grinding process requirements.

[0032] It should be understood that ordinary skilled workers in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A high-precision force-controlled ZR shaft module, characterized in that, The utility model provides a kind of Z-axis motor, R-axis motor, hollow ball spline shaft, jig, spring and pressure sensing component;The output end of the Z-axis motor is equipped with support frame, the support frame includes oppositely distributed first bottom plate and top plate, the R-axis motor is located between first bottom plate and top plate and is equipped on first bottom plate;The output end of the R-axis motor is connected with the spline female of hollow ball spline shaft, the top end of the shaft body of hollow ball spline shaft passes through top plate and is connected with jig, the bottom end of the shaft body of hollow ball spline shaft passes through first bottom plate;The spring is sleeved on the shaft body of hollow ball spline shaft, and the spring is abutted between jig and the ball bushing of hollow ball spline shaft;The pressure sensing component is located on top plate and is positioned and clamped between top plate and the ball bushing of hollow ball spline shaft.

2. The high-precision force-controlled ZR shaft module according to claim 1, characterized in that, The ball bushing of the hollow ball spline shaft includes a bushing, a ball assembly, and an outer ring. The bushing is sleeved on the shaft body of the hollow ball spline shaft. The ball assembly is positioned and sleeved on the bushing and located between the bushing and the outer ring. The pressure sensing component is positioned and clamped between the top plate and the outer ring.

3. The high-precision force-controlled ZR shaft module according to claim 2, characterized in that The pressure sensing component includes a mounting seat and a plurality of first micro pressure sensors. The mounting seat is located on the top plate and surrounds the shaft body of the hollow ball spline shaft. The plurality of first micro pressure sensors are arranged in a circumferential array on the upper surface of the mounting seat. The outer ring is located on the mounting seat, and the lower surface of the outer ring is in contact with the upper surface of the mounting seat.

4. The high-precision force-controlled ZR shaft module according to claim 2, characterized in that, The ball assembly includes an upper sleeve ring, a lower sleeve ring, and a plurality of balls. The upper sleeve ring and the lower sleeve ring are oppositely distributed, and a gap is formed between the upper sleeve ring and the lower sleeve ring. The opposite surfaces of the upper sleeve ring and the lower sleeve ring are each provided with an annular groove. An accommodation space is formed between the two annular grooves and the gap. The plurality of balls are movably arranged in the accommodation space.

5. The high-precision force-controlled ZR shaft module according to claim 4, characterized in that The inner concave surfaces of the two annular grooves are each embedded with a plurality of second micro pressure sensors. The plurality of second micro pressure sensors in any one of the annular grooves are spaced apart.

6. The high-precision force-controlled ZR shaft module according to any one of claims 2-5, characterized in that, The lower surface of the jig is provided with a limiting groove. The upper end of the spring is clamped into the limiting groove. The lower end of the spring abuts against the upper surface of the bushing.

7. The high-precision force-controlled ZR shaft module according to claim 1, characterized in that, The Z-axis motor is arranged on a U-shaped bracket, and the support frame is located in the U-shaped bracket. The central position of the inner bottom surface of the U-shaped bracket is provided with an avoiding through hole corresponding to the shaft body of the hollow ball spline shaft.

8. The high-precision force-controlled ZR shaft module according to claim 7, characterized in that The U-shaped bracket includes a second bottom plate and two first side plates. The two first side plates are correspondingly arranged on the two opposite side edges of the second bottom plate. The avoiding through hole is arranged at the central position of the second bottom plate. One of the first side plates is provided with a hollow groove. The Z-axis motor is arranged on the second bottom plate and located in the hollow groove.

9. The high-precision force-controlled ZR shaft module according to claim 8, characterized in that The support frame further includes a second side plate. The second side plate is arranged between the first bottom plate and the top plate. The second side plate is slidably connected with the other first side plate.

10. The high-precision force-controlled ZR shaft module according to claim 9, characterized in that, The surface of the other first side plate facing the second side plate is provided with a guide block. The guide block is provided with a vertical guide groove. The second side plate is correspondingly provided with a sliding rail which cooperates with the guide groove and slides in the guide groove.

Images