High-precision six-axis turntable module
By designing a high-precision six-axis tilting stage module and employing adjustment mechanisms such as linear motors, arc motors, and low-voltage servo motors, multi-axis linkage control of lenses was achieved, solving the problem of low lens alignment accuracy in traditional equipment and improving alignment efficiency and accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN ZHONGKE PRECISION TECH CO LTD
- Filing Date
- 2025-07-07
- Publication Date
- 2026-07-07
AI Technical Summary
In traditional mobile phone module AA equipment, the alignment process of the lens relies on a fixed gripper stage module, which makes it difficult to achieve multi-axis linkage, resulting in low accuracy.
A high-precision six-axis tilting table module was designed, including Y-axis, X-axis, and Z-axis structures. The linear motion of the XYZ axes and the high-precision angle adjustment of the Ty, Tz, and Tx axes are realized through adjustment mechanisms such as linear motors, arc motors, and low-voltage servo motors. Closed-loop linkage control is realized through a CPU control system.
It achieves linear motion along the XYZ axes and high-precision angle adjustment along the Ty, Tz, and Tx axes, significantly improving the alignment accuracy and efficiency of lenses. It also features a compact structure that facilitates installation and maintenance.
Smart Images
Figure CN224473333U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of six-axis swing table technology, and in particular to a high-precision six-axis swing table module. Background Technology
[0002] In mobile phone camera alignment (AA) devices, the lens alignment process primarily relies on a fixed gripper stage module. Specifically, when the lens moves to the gripper stage position, the XYZ axes of the gripper module are completely fixed, with adjustment only achieved on the Tx axis via a stepper motor. The externally purchased standard angle stage only adjusts the Ty and Tz axes. The entire lens placement and removal process is essentially completed in a fixed position, relying mainly on the lens and sensor moving to the center of the gripper module for alignment.
[0003] However, in traditional mobile phone module AA equipment, the lens only uses an angle table to adjust the angle of the grasped product, which makes it difficult to achieve multi-axis linkage and results in low precision. Therefore, this utility model proposes a high-precision six-axis table module to solve the above problems. Utility Model Content
[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a high-precision six-axis swing table module.
[0005] To achieve the above objectives, this utility model provides a high-precision six-axis tilting table module, including a Y-axis structure, an X-axis structure, and a Z-axis structure. Each of the X-axis, Y-axis, and Z-axis structures is connected to a first adjustment mechanism, which enables linear motion along the X, Y, and Z axes. A Tz-axis structure is mounted on one side of the Z-axis structure, a Ty-axis structure is mounted on the Tz-axis structure, a gripper structure is mounted on the Ty-axis structure, and a Tx-axis structure is mounted on the gripper structure. The Ty-axis and Tz-axis structures are connected to second adjustment mechanisms, which enable high-precision angle adjustment of the Ty and Tz axes. The Tx-axis structure is connected to a third adjustment mechanism, which enables high-precision angle adjustment of the Tx-axis.
[0006] Optionally, the X-axis structure is fixedly installed on top of the Y-axis structure, and the Z-axis structure is fixedly installed on top of the X-axis structure.
[0007] Optionally, the first adjustment mechanism consists of a linear motor moving stator, a cross roller guide rail, and a grating ruler; the second adjustment mechanism consists of an arc motor, an arc guide rail, and an arc grating ruler; and the third adjustment mechanism consists of a low-voltage servo motor.
[0008] Optionally, the first adjustment mechanism, the second adjustment mechanism, and the third adjustment mechanism are all connected to the control system, which includes a CPU controller and is used to realize closed-loop linkage control of the above-mentioned axes.
[0009] Optionally, the repeatability of the first adjustment mechanism is ±0.5μm, and the positioning accuracy is 5μm.
[0010] Optionally, the travel range of the X-axis structure is 10 mm, and the travel range of the Y-axis structure is 10 mm.
[0011] Optionally, the first adjustment mechanism adopts a combination of a linear motor moving stator and a cross roller guide, with the output end of the linear motor moving stator connected to the sliding component of the cross roller guide. The second adjustment mechanism adopts a combination of an arc motor and an arc guide, with the output end of the arc motor connected to the sliding component of the arc guide.
[0012] Optionally, the repeatability of the second adjustment mechanism is ±0.005°, and the positioning accuracy is ±0.01°.
[0013] Optionally, the travel range of the Tz axis structure is 15mm, the travel range of the Ty axis structure is ±5°, and the travel range of the Tz axis structure is ±5°.
[0014] Compared with the prior art, the beneficial effects of this utility model are:
[0015] 1. This utility model realizes linear motion of the XYZ axes and high-precision angle adjustment of the Ty, Tz and Tx axes, and can complete the linkage control of six axes. Compared with traditional equipment that can only realize single-axis adjustment, this module realizes multi-axis coordinated motion through closed-loop control algorithm, which significantly improves adjustment accuracy and alignment efficiency.
[0016] 2. All adjustment mechanisms of this utility model are connected to the control system. The Y-axis structure, X-axis structure, Z-axis structure, Tz-axis structure, Ty-axis structure and Tx-axis structure are integrated through the first, second and third adjustment mechanisms. The structure is compact, easy to install and maintain, and also improves the reliability of the system. Attached Figure Description
[0017] To more clearly illustrate the solutions in this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This is the first perspective view provided by this utility model;
[0019] Figure 2 This is the second perspective view provided by this utility model;
[0020] Figure 3 This is the front view provided by this utility model;
[0021] Figure 4 This is a side view provided by this utility model;
[0022] Figure 5 This is a rear view provided by this utility model;
[0023] Explanation of reference numerals in the attached figures:
[0024] 1. Tx-axis structure; 2. Gripper structure; 3. Ty-axis structure; 4. Tz-axis structure; 5. Z-axis structure; 6. X-axis structure; 7. Y-axis structure. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, 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 scope of protection of this application.
[0026] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.
[0027] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.
[0028] Please see Figure 1-5 A high-precision six-axis tilting table module includes a Y-axis structure 7, an X-axis structure 6, and a Z-axis structure 5. The X-axis structure 6, Y-axis structure 7, and Z-axis structure 5 are each connected to a first adjustment mechanism. The first adjustment mechanism is used to realize linear motion along the XYZ axes. A Tz-axis structure 4 is mounted on one side of the Z-axis structure 5. A Ty-axis structure 3 is mounted on the Tz-axis structure 4. A gripper structure 2 is mounted on the Ty-axis structure 3. A Tx-axis structure 1 is mounted on the gripper structure 2. The Ty-axis structure 3 and Tz-axis structure 4 are each connected to a second adjustment mechanism. The mechanism is used to achieve high-precision angle adjustment of the Ty and Tz axes. The Tx axis structure 1 is connected to a third adjustment mechanism, which is used to achieve high-precision angle adjustment of the Tx axis. The X axis structure 6 is fixedly installed on top of the Y axis structure 7, and the Z axis structure 5 is fixedly installed on top of the X axis structure 6. The travel range of the X axis structure 6 is 10mm; the travel range of the Y axis structure 7 is 10mm; the travel range of the Tz axis structure 4 is 15mm; the travel range of the Ty axis structure 3 is ±5°; and the travel range of the Tz axis structure 4 is ±5°.
[0029] As an improvement to the above technical solution, the first adjustment mechanism consists of a linear motor moving stator, a cross roller guide rail, and a grating ruler; the second adjustment mechanism consists of an arc motor, an arc guide rail, and an arc grating ruler; and the third adjustment mechanism consists of a low-voltage servo motor. All three adjustment mechanisms are connected to the control system. The repeatability of the first adjustment mechanism is ±0.5μm, and the positioning accuracy is 5μm; the repeatability of the second adjustment mechanism is ±0.005°, and the positioning accuracy is ±0.01°. The first adjustment mechanism uses a combination of a linear motor moving stator and a cross roller guide rail, with the output end of the linear motor moving stator connected to the sliding component of the cross roller guide rail. The second adjustment mechanism uses a combination of an arc motor and an arc guide rail, with the output end of the arc motor connected to the sliding component of the arc guide rail. The control system includes a CPU controller, which is used to achieve closed-loop linkage control of the above axes to meet the requirements of high-precision lens active alignment.
[0030] The working principle and usage of this utility model:
[0031] Working principle
[0032] XYZ axis linear motion: The XYZ axis structure achieves high-precision linear motion through the first adjustment mechanism. The first adjustment mechanism consists of a linear motor moving stator, a cross roller guide, and a grating ruler. The output end of the linear motor moving stator is connected to the sliding component of the cross roller guide. The sliding component achieves high-precision linear motion in the XYZ direction through electromagnetic drive. The repeatability can reach ±0.5μm, and the positioning accuracy is 5μm.
[0033] Ty and Tz axis angle adjustment: The Tz axis structure 4 is installed on one side of the Z axis structure 5, and the Ty axis structure 3 is installed on the Tz axis structure 4. The Ty axis structure 3 and the Tz axis structure 4 achieve high-precision angle adjustment through a second adjustment mechanism. The second adjustment mechanism consists of an arc motor, an arc guide rail, and an arc grating ruler. The output end of the arc motor is connected to the sliding part of the arc guide rail, enabling high-precision angle adjustment of the Ty and Tz axes with a repeatability of ±0.005° and a positioning accuracy of ±0.01°.
[0034] Tx-axis angle adjustment: The Tx-axis structure 1 is mounted on the gripper structure 2, and high-precision angle adjustment is achieved through a third adjustment mechanism. The third adjustment mechanism consists of a low-voltage servo motor, which enables high-precision angle adjustment of the Tx-axis.
[0035] Closed-loop linkage control: The first, second, and third adjustment mechanisms are all connected to the control system. The control system automatically adjusts the motion trajectory of each axis according to the preset process parameters to achieve linkage adjustment of six axes, meeting the requirements of high-precision lens active alignment.
[0036] Grip structure fixation and alignment: The lens is fixed to the module by the gripper structure 2, which is mounted on the Ty axis structure 3. It can be adjusted at multiple angles with the movement of the Ty axis and Tz axis to ensure that the lens remains stable during the alignment process.
[0037] How to use
[0038] Secure the lens to gripper structure 2, ensuring stable clamping. Start the control system for initial calibration, ensuring all axes are in their initial positions. Activate the first adjustment mechanism, inputting preset XYZ axis position parameters through the control system. A linear motor drives a sliding component on the crossed roller guide, achieving high-precision linear movement of the lens in the XYZ directions, aligning the lens horizontally and vertically. Activate the second adjustment mechanism, inputting preset Ty and Tz axis angle parameters through the control system. An arc motor drives a sliding component on an arc guide, achieving high-precision angle adjustment of the lens in the Ty and Tz axes, aligning the lens tilt angle. Activate the third adjustment mechanism, inputting preset Tx axis angle parameters through the control system. A low-voltage servo motor drives Tx axis structure 1, achieving high-precision angle adjustment of the lens in the Tx axis, aligning the lens rotation angle. Through six-axis linkage, high-precision active alignment of the lens is achieved. Once the lens is aligned with high precision, the control system issues a completion signal, allowing the operator to proceed with subsequent assembly or testing operations. To re-align, simply repeat the steps above.
[0039] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0040] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0043] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0045] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.
[0046] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A high-precision six-axis swing stage module, characterized in that: The system includes a Y-axis structure, an X-axis structure, and a Z-axis structure. Each of the X-axis, Y-axis, and Z-axis structures is connected to a first adjustment mechanism, which is used to achieve linear motion along the XYZ axes. A Tz-axis structure is mounted on one side of the Z-axis structure, a Ty-axis structure is mounted on the Tz-axis structure, a gripper structure is mounted on the Ty-axis structure, and a Tx-axis structure is mounted on the gripper structure. The Ty-axis and Tz-axis structures are each connected to a second adjustment mechanism, which is used to achieve high-precision angle adjustment of the Ty-axis and Tz-axis. The Tx-axis structure is connected to a third adjustment mechanism, which is used to achieve high-precision angle adjustment of the Tx-axis.
2. The high-precision six-axis swing stage module according to claim 1, characterized in that: The X-axis structure is fixedly installed on top of the Y-axis structure, and the Z-axis structure is fixedly installed on top of the X-axis structure.
3. A high-precision six-axis swing stage module according to claim 2, characterized in that: The first adjustment mechanism consists of a linear motor moving stator, a cross roller guide rail, and a grating ruler; the second adjustment mechanism consists of an arc motor, an arc guide rail, and an arc grating ruler; and the third adjustment mechanism consists of a low-voltage servo motor.
4. A high-precision six-axis swing stage module according to claim 3, characterized in that: The first adjustment mechanism, the second adjustment mechanism, and the third adjustment mechanism are all connected to the control system, which includes a CPU controller and is used to realize closed-loop linkage control of the above-mentioned axes.
5. A high-precision six-axis swing stage module according to claim 4, characterized in that: The repeatability of the first adjustment mechanism is ±0.5μm, and the positioning accuracy is 5μm.
6. A high-precision six-axis swing stage module according to claim 5, characterized in that: The travel range of the X-axis structure is 10mm, and the travel range of the Y-axis structure is 10mm.
7. A high-precision six-axis swing stage module according to claim 6, characterized in that: The first adjustment mechanism adopts a combination of a linear motor moving stator and a cross roller guide, with the output end of the linear motor moving stator connected to the sliding component of the cross roller guide. The second adjustment mechanism adopts a combination of an arc motor and an arc guide, with the output end of the arc motor connected to the sliding component of the arc guide.
8. A high-precision six-axis swing stage module according to claim 4, characterized in that: The repeatability of the second adjustment mechanism is ±0.005°, and the positioning accuracy is ±0.01°.
9. A high-precision six-axis swing stage module according to claim 5, characterized in that: The travel range of the Tz axis structure is 15mm, the travel range of the Ty axis structure is ±5°, and the travel range of the Tz axis structure is ±5°.