Multi-station three-dimensional force control compensation mechanism

Abstract

The utility model discloses a multi-station three-dimensional force control compensation mechanism which comprises at least two machining stations, each machining station comprises a Y-axis module, an X-axis module installed on the Y-axis module, a Z-axis module installed on the X-axis module, a force control sensor installed on the Z-axis module and a C-axis module installed on the force control sensor, a connecting plate used for installing a jig is arranged at the upper end of the C-axis module, the force control sensor is located in the middle of the C-axis module, and a driving device of the C-axis module is located below the force control sensor. The C-axis module is installed on the force control sensor, the force control sensor is installed on the Y-axis module, the X-axis module and the Z-axis module, the force control sensor is responsible for detecting stress changes of products on the jig in the machining process, compensation adjustment is conducted by controlling the Y-axis module, the X-axis module and the Z-axis module, and therefore it is guaranteed that the machining precision of each machining station is consistent; therefore, the yield of products is guaranteed, and the requirement for high-precision machining is met.

Description

Technical field:

[0001] The utility model relates to the technical field of automated processing, in particular to a multi-station three-dimensional force control compensation mechanism. Background technology:

[0002] As the manufacturing industry transitions toward automation and intelligent manufacturing, multi-station machining systems have become a crucial tool for improving production efficiency. Existing automated machining equipment often utilizes multiple machining stations simultaneously to enhance overall efficiency. However, while each station typically performs the same action, variations in clamping and tool wear due to varying stock materials inevitably lead to errors between stations, particularly along the Y-axis, after extended machining. This can significantly impact product quality if not individually adjusted.

[0003] Currently, adjusting for these errors primarily relies on the experience of skilled workers. This approach is not only inefficient but also lacks timely dynamic adjustments. For example, multi-station grinding and polishing equipment on the market suffers from varying precision and uneven force distribution across each station, further impacting final product yield. Ensuring consistency across multiple stations is particularly challenging for products requiring ultra-high precision. Furthermore, in actual operation, errors in the workpiece, assembly, and other processes, combined with cumulative design errors, often cannot be effectively controlled.

[0004] In view of this, the inventors propose the following technical solutions. Utility model content:

[0005] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a multi-station three-dimensional force control compensation mechanism.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: a multi-station three-dimensional force control compensation mechanism, comprising at least two processing stations, each processing station comprising: a Y-axis module, an X-axis module installed on the Y-axis module, a Z-axis module installed on the X-axis module, a force control sensor installed on the Z-axis module, and a C-axis module installed on the force control sensor, wherein a connecting plate for installing a fixture is provided at the upper end of the C-axis module, the force control sensor is located in the middle of the C-axis module, and the drive device of the C-axis module is located below the force control sensor.

[0007] Furthermore, in the above technical solution, the C-axis module includes a central rotating shaft passing through the force control sensor, an outer sleeve sleeve mounted on the central rotating shaft and fixed to the force control sensor, a support base installed below the force control sensor and mounted on the periphery of the central rotating shaft, and a driving device arranged on the support base and used to drive the central rotating shaft to rotate.

[0008] Furthermore, in the above technical solution, the driving device includes a reducer installed on a support seat and connected to a central rotating shaft, a cantilever support plate arranged on the reducer housing and extending outwardly as a cantilever, a first motor installed on the cantilever support plate, and a transmission belt arranged between the first motor and the reducer, wherein the pulleys at both ends of the transmission belt are respectively installed on the output shaft of the first motor and the output shaft of the reducer.

[0009] Furthermore, in the above technical solution, an upper air distribution block is provided at the upper end of the central rotating shaft, a first air duct is provided at the center of the central rotating shaft, the upper end of the first air duct extends all the way through the connecting plate, and at least one first connector for connecting to the first air duct is provided on the upper air distribution block, and a second air duct connecting the first connector and the first air duct is provided on the upper part of the central rotating shaft.

[0010] Furthermore, in the above technical solution, at least two third air ducts and fourth air ducts that are vertically distributed and independent of the first air duct and the second air duct are also provided in the central rotating shaft. The third air duct and the fourth air duct extend into the connecting plate, and the outer shell sleeve is provided with a third connector and a fourth connector that respectively connect the third air duct and the fourth air duct.

[0011] Furthermore, in the above technical solution, the connecting plate is provided with a first airway hole and a second airway hole respectively connected to the third airway and the fourth airway and extending to both sides, and a first blocking screw and a second blocking screw are respectively installed in the first airway hole and the second airway hole.

[0012] Furthermore, in the above technical solution, the Y-axis module includes a Y-axis guide rail arranged on a substrate, a Y-axis movable base installed on the Y-axis guide rail, and a Y-axis screw motor module installed on the substrate and used to drive the Y-axis movable base to move; the X-axis module includes an X-axis guide rail installed on the Y-axis movable base and perpendicular to the Y-axis guide rail, an X-axis movable base installed on the X-axis guide rail, and an X-axis screw motor module installed on the Y-axis movable base and used to drive the X-axis movable base to move; the Z-axis module includes a Z-axis guide rail vertically installed on the X-axis movable base, a Z-axis movable base installed on the Z-axis guide rail and used to install the C-axis module, and a Z-axis screw motor module installed on the X-axis movable base and used to drive the Z-axis movable base to rise and fall.

[0013] After adopting the above technical solution, the present invention has the following beneficial effects compared with the existing technology: In the present invention, the C-axis module is installed on the force control sensor, and the force control sensor is installed on the Y-axis module, X-axis module and Z-axis module. The force control sensor is responsible for detecting the force changes of the product on the fixture during the processing. By controlling the Y-axis module, X-axis module and Z-axis module, compensation adjustments are made to ensure that the processing accuracy of each processing station is consistent, thereby ensuring the product yield rate and meeting the requirements of high-precision processing. Secondly, the force control sensor is set in the middle of the C-axis module, and the C-axis module is installed through the force control sensor, so that the force control sensor can be closer to the product on the fixture. This layout can reduce the force arm acting on the force control sensor and is not easy to damage. Description of the drawings:

[0014] Figure 1 It is a structural layout diagram of the utility model;

[0015] Figure 2 This is a schematic structural diagram of the C-axis module in the present invention;

[0016] Figure 3 This is a cross-sectional view of the C-axis module in the utility model. Figure 1 ;

[0017] Figure 4 This is a cross-sectional view of the C-axis module in the utility model. Figure 2 . Specific implementation method:

[0018] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0019] See Figures 1 to 4The figure shows a multi-station three-dimensional force control compensation mechanism, comprising at least two processing stations. Each processing station includes a Y-axis module 1, an X-axis module 2 mounted on the Y-axis module 1, a Z-axis module 3 mounted on the X-axis module 2, a force control sensor 4 mounted on the Z-axis module 3, and a C-axis module 5 mounted on the force control sensor 4. A connecting plate 6 for mounting a fixture is provided at the top end of the C-axis module 5. The force control sensor 4 is located in the middle of the C-axis module 5, and the drive device 55 of the C-axis module 5 is located below the force control sensor 4. The C-axis module 5 is mounted on the force control sensor 4, which is in turn mounted on the Y-axis module 1, X-axis module 2, and Z-axis module 3. The force control sensor 4 detects changes in force applied to the product on the fixture during processing. Compensation adjustments are made by controlling the Y-axis module 1, X-axis module 2, and Z-axis module 3 to ensure consistent processing accuracy at each processing station, thereby guaranteeing product yield and achieving high-precision processing requirements. Secondly, force control sensor 4 is positioned in the middle of C-axis module 5. The C-axis module 5 is then installed through force control sensor 4, allowing it to be closer to the product on the fixture. This layout also reduces the force arm acting on force control sensor 4, making it less susceptible to damage. Force control sensor 4 is a load cell model LFC-130Y-H20-YZ from Lizhun Sensing.

[0020] The C-axis module 5 includes a central rotating shaft 51 that passes through the force control sensor 4, a housing sleeve 52 that is sleeved on the central rotating shaft 51 and fixed to the force control sensor 4, a support base 53 that is mounted below the force control sensor 4 and sleeved around the periphery of the central rotating shaft 51, and a drive device 55 that is mounted on the support base 53 and is used to drive the central rotating shaft 51 to rotate. The drive device 55 includes a reducer 54 mounted on the support base 53 and connected to the central rotating shaft 51, a cantilever support plate 553 that is mounted on the housing of the reducer 54 and cantilevers outward, a first motor 551 mounted on the cantilever support plate 553, and a transmission belt 552 that is disposed between the first motor 551 and the reducer 54. The pulleys at both ends of the transmission belt 552 are respectively mounted on the output shaft of the first motor 551 and the output shaft of the reducer 54. The reducer 54, the first motor 551 and the transmission belt 552 are installed below the force control sensor 4 through the support base 53, so that the force control sensor 4 can not only be closer to the product above, but also the force on the force control sensor 4 is more balanced, reducing the force arm and not easily damaged.

[0021] The upper end of the central rotating shaft 51 is provided with an upper air distribution block 56, and the center of the central rotating shaft 51 is provided with a first air channel 511. The upper end of the first air channel 511 extends all the way through the connecting plate 6, and at least one first connector 561 for connecting the first air channel 511 is provided on the upper air distribution block 56. The upper part of the central rotating shaft 51 is provided with a second air channel 512 connecting the first connector 561 and the first air channel 511. The lower end of the first air channel 511 is blocked by a plug 510. By providing the upper air distribution block 56 at the upper end of the central rotating shaft 51 and introducing gas into the first air channel 511 to generate a vacuum, the first connector 561 can be located at the upper end of the C-axis module 5. At this time, since the first connector 561 is outside the outer cover, it is not necessary to remove the outer cover and main components during replacement, which will not damage the protection and main precision, and is convenient and time-saving.

[0022] At least two third air ducts 513 and fourth air ducts 514 that are vertically distributed and independent of the first air duct 511 and the second air duct 512 are also provided in the central rotating shaft 51. The third air duct 513 and the fourth air duct 514 extend into the connecting plate 6, and the outer shell sleeve 52 is provided with a third connector 521 and a fourth connector 522 that respectively connect the third air duct 513 and the fourth air duct 514.

[0023] The connecting plate 6 is provided with a first airway hole 61 and a second airway hole 62 respectively connected to the third airway 513 and the fourth airway 514 and extending to both sides. A first blocking screw 63 and a second blocking screw 64 are respectively installed in the first airway hole 61 and the second airway hole 62.

[0024] The Y-axis module 1 includes a Y-axis guide rail 11 arranged on the substrate 7, a Y-axis movable base 12 installed on the Y-axis guide rail 11, and a Y-axis screw motor module 13 installed on the substrate 7 and used to drive the Y-axis movable base 12 to move. The X-axis module 2 includes an X-axis guide rail 21 installed on the Y-axis movable base 12 and perpendicular to the Y-axis guide rail 11, an X-axis movable base 22 installed on the X-axis guide rail 21, and an X-axis screw motor module 23 installed on the Y-axis movable base 12 and used to drive the X-axis movable base 22 to move. The Z-axis module 3 includes a Z-axis guide rail 31 vertically installed on the X-axis movable base 22, a Z-axis movable base 32 installed on the Z-axis guide rail 31 and used to install the C-axis module 5, and a Z-axis screw motor module 33 installed on the X-axis movable base 22 and used to drive the Z-axis movable base 32 to rise and fall. The Y-axis lead screw motor module 13 includes a second motor, a lead screw, and a coupling connecting the second motor and the lead screw.

[0025] To sum up, in the present invention, a Y-axis module 1, an X-axis module 2 and a Z-axis module 3 that can be finely adjusted are arranged below the C-axis module 5, and a force control sensor 4 is arranged in the middle of the C-axis module 5 to monitor the force applied to the product during processing. Since the C-axis module 5 is installed on the Z-axis module 3 through the force control sensor 4, the force changes of the C-axis module 5 can be monitored by the force control sensor 4. Moreover, the force control sensor 4 is arranged in the middle of the C-axis module 5, which not only makes the force control sensor 4 closer to the product and the monitoring more accurate, but also the force arm applied when the product is closer to the force control sensor 4 is shorter, and it is not easy to damage the force control sensor 4.

[0026] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. Any equivalent changes or modifications made based on the structure, features and principles described in the scope of the patent application of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A multi-station three-dimensional force control compensation mechanism, comprising at least two processing stations, characterized in that: Each processing station comprises: a Y-axis module (1), an X-axis module (2) mounted on the Y-axis module (1), a Z-axis module (3) mounted on the X-axis module (2), a force control sensor (4) mounted on the Z-axis module (3), and a C-axis module (5) mounted on the force control sensor (4), wherein a connecting plate (6) for mounting a fixture is provided at the upper end of the C-axis module (5), the force control sensor (4) is located in the middle of the C-axis module (5), and a driving device (55) of the C-axis module (5) is located below the force control sensor (4).

2. The multi-station three-dimensional force control compensation mechanism according to claim 1, characterized in that: The C-axis module (5) comprises a central rotating shaft (51) penetrating the force control sensor (4), a housing sleeve (52) sleeved on the central rotating shaft (51) and fixed to the force control sensor (4), a support base (53) mounted below the force control sensor (4) and sleeved on the periphery of the central rotating shaft (51), and a driving device (55) arranged on the support base (53) and used for driving the central rotating shaft (51) to rotate.

3. The multi-station three-dimensional force control compensation mechanism according to claim 2, characterized in that: The driving device (55) comprises a reducer (54) mounted on a support base (53) and connected to a central rotating shaft (51), a cantilever support plate (553) arranged on a housing of the reducer (54) and extending outward in a cantilevered manner, a first motor (551) mounted on the cantilever support plate (553), and a transmission belt (552) arranged between the first motor (551) and the reducer (54), wherein pulleys at both ends of the transmission belt (552) are respectively mounted on the output shaft of the first motor (551) and the output shaft of the reducer (54).

4. The multi-station three-dimensional force control compensation mechanism according to claim 2, characterized in that: An upper air distribution block (56) is provided at the upper end of the central rotating shaft (51), a first air channel (511) is provided at the center of the central rotating shaft (51), the upper end of the first air channel (511) extends straight through the connecting plate (6), and at least one first connector (561) for connecting with the first air channel (511) is provided on the upper air distribution block (56), and a second air channel (512) connecting the first connector (561) and the first air channel (511) is provided on the upper part of the central rotating shaft (51).

5. The multi-station three-dimensional force control compensation mechanism according to claim 2, characterized in that: At least two third air channels (513) and fourth air channels (514) are vertically distributed and independent of the first air channel (511) and the second air channel (512) and are provided in the central rotating shaft (51). The third air channel (513) and the fourth air channel (514) extend into the connecting plate (6), and a third connector (521) and a fourth connector (522) are provided on the outer shell sleeve (52) for connecting the third air channel (513) and the fourth air channel (514) respectively.

6. The multi-station three-dimensional force control compensation mechanism according to claim 5, characterized in that: The connecting plate (6) is provided with a first airway hole (61) and a second airway hole (62) which are connected to the third airway (513) and the fourth airway (514) and extend to both sides. A first blocking screw (63) and a second blocking screw (64) are respectively installed in the first airway hole (61) and the second airway hole (62).

7. A multi-station three-dimensional force control compensation mechanism according to any one of claims 1 to 6, characterized in that: The Y-axis module (1) comprises a Y-axis guide rail (11) arranged on a base plate (7), a Y-axis movable seat (12) mounted on the Y-axis guide rail (11), and a Y-axis screw motor module (13) mounted on the base plate (7) and used to drive the Y-axis movable seat (12) to move. The X-axis module (2) comprises an X-axis guide rail (21) mounted on the Y-axis movable seat (12) and perpendicular to the Y-axis guide rail (11), an X-axis movable seat (21) mounted on the X-axis guide rail (21), and a Y-axis screw motor module (13) mounted on the base plate (7) and used to drive the Y-axis movable seat (12) to move. 2) and an X-axis screw motor module (23) installed on the Y-axis moving seat (12) and used to drive the X-axis moving seat (22) to move, the Z-axis module (3) includes a Z-axis guide rail (31) vertically installed on the X-axis moving seat (22), a Z-axis moving seat (32) installed on the Z-axis guide rail (31) and used to install the C-axis module (5), and a Z-axis screw motor module (33) installed on the X-axis moving seat (22) and used to drive the Z-axis moving seat (32) to move up and down.

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