CN211307555U - Closed loop force control system based on voice coil motor drive - Google Patents
Closed loop force control system based on voice coil motor drive Download PDFInfo
- Publication number
- CN211307555U CN211307555U CN201921987436.9U CN201921987436U CN211307555U CN 211307555 U CN211307555 U CN 211307555U CN 201921987436 U CN201921987436 U CN 201921987436U CN 211307555 U CN211307555 U CN 211307555U
- Authority
- CN
- China
- Prior art keywords
- voice coil
- axis
- pressure head
- coil motor
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model discloses a closed loop force control system based on voice coil motor drive, which comprises a base, a vertical support seat arranged on the base, an upper pressure head mechanism provided with a voice coil motor, a lower pressure head assembly and a product conveying mechanism, the closed loop force control system driven by the voice coil motor is used for binding FPC and a display screen, the voice coil motor is used for driving and binding the upper pressure head structure to move, a force sensor is arranged at the bottom of the lower pressure head structure, when the upper pressure head presses downwards, the force sensor uninterruptedly detects the force applied by the upper pressure head and the lower pressure head to the bound product, the force feedback system is applied by sensing force, the system transmits the feedback information to the voice coil motor control system, the voice coil motor is in the closed loop control system, the pressure applied by the lower pressure head to the bound product can be automatically adjusted according to the data fed back by the force sensor, the stability of the pressure applied when the product is bound is ensured, so as to achieve the rapid production of the production.
Description
Technical Field
The utility model relates to an automatic technical field, specific saying so relates to a closed loop force control system based on voice coil motor drive.
Background
The traditional FPC and display screen binding pressure structure is composed of a servo motor, a screw rod and an air cylinder, is relatively complex in structure, and is controlled separately in stroke and pressure application. The pressure is difficult to control when binding the product, the pressure when binding is adjusted by debugging experience, and the pressure when binding the product is not detected at any time, so that the force borne by the binding is not stable enough.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model discloses the technical problem who solves lies in providing a closed loop force control system based on voice coil motor drive, and the purpose of designing this closed loop force control system causes the product to damage in order to avoid binding the product.
In order to solve the technical problem, the utility model discloses a following scheme realizes: closed loop force control system based on voice coil motor drive includes a seat and sets up the perpendicular supporting seat on the seat, still includes:
the upper pressure head mechanism is arranged on the supporting seat through a vertical mounting plate, two groups of voice coil motors which are equal in height and fixed side by side are arranged on the upper pressure head mechanism, and an upper pressure head driven by the driving end to do lifting motion is arranged at the driving end of each voice coil motor;
the lower pressure head assembly is fixedly arranged at the processing station of the vertical supporting seat and is arranged right below the upper pressure head mechanism, an installation bottom plate fixedly arranged on the processing station sheet and two groups of lower pressure head seats arranged on the installation bottom plate side by side are arranged on the lower pressure head assembly, two lower pressure heads vertically corresponding to the two upper pressure heads are fixedly arranged at the upper ends of the two groups of lower pressure head seats, force sensors are respectively arranged between the two groups of lower pressure head seats and the installation bottom plate, the force sensors enable the pressure applied when the upper pressure heads and the lower pressure heads are bound on products to be fed back to the voice coil motor control system through the force sensors, and the magnitude of the lower pressure of the upper pressure heads is controlled through the voice coil motor control system;
a product conveying mechanism, sets up on the seat platform, be provided with on it and install X axle actuating mechanism on the seat platform, install Y axle actuating mechanism on X axle actuating mechanism's the X axle moving platform, install Z axle actuating mechanism on Y axle actuating mechanism's the Y axle moving platform, install theta axle actuating mechanism on Z axle actuating mechanism's the lift platform and install theta axle actuating mechanism's the adsorption plate that is used for binding the product, product conveying mechanism can bind the product and send into go up the pressure head and descend between the pressure head.
Furthermore, the upper pressure head mechanism further comprises two groups of upper probes for detecting the descending distance of the voice coil motor, and the two groups of upper probes are respectively arranged on two sides of the two groups of voice coil motors.
Furthermore, two parallel copper noses are arranged on the top seat block of each group of the pressing head seat.
Furthermore, the X-axis driving mechanism comprises an X-axis servo driving motor, an X-axis ball screw and an X-axis moving platform moving along the X axis, the driving end of the X-axis servo driving motor is connected with the X-axis ball screw and drives the X-axis ball screw to rotate, the X-axis moving platform is connected to the X-axis ball screw in a threaded mode through a screw block, the X-axis ball screw can drive the X-axis moving platform to move in the X axis direction through rotation, and the X-axis moving platform drives the Y-axis driving mechanism on the X-axis moving platform to move in the X axis direction.
Furthermore, the Y-axis driving mechanism comprises a Y-axis servo driving motor, a Y-axis ball screw and a Y-axis moving platform moving along the Y axis, the driving end of the Y-axis servo driving motor is connected with the Y-axis ball screw and drives the Y-axis ball screw to rotate, the Y-axis moving platform is connected to the Y-axis ball screw in a threaded mode through a threaded block, and the Y-axis ball screw can drive the Y-axis moving platform to move in the Y axis direction through rotation.
Furthermore, the Z-axis driving mechanism drives the lifting platform to do lifting motion through a Z-axis servo driving motor and a Z-axis ball screw.
Furthermore, the theta axis driving mechanism comprises a theta axis motor and a theta axis turnover plate which is arranged at the driving end of the theta axis motor and is driven by the driving end to rotate angularly.
Furthermore, an adsorption plate is arranged on the surface of the theta axis turnover plate.
Furthermore, the adsorption plate is provided with a plurality of vacuum holes, and each vacuum hole is connected to a vacuum-pumping device through a pipeline.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses voice coil motor driven closed loop force control system is used for binding of FPC and display screen, use voice coil motor drive to bind pressure head structure motion, pressure head structure bottom installation force sensor under, when last pressure head pushes down, force sensor is incessant to detect the pressure head and pushes down the pressure head to the product application force of binding, by the force feedback system that will exert the force of sensing, the system transmits the information of feedback to voice coil motor control system, voice coil motor is in closed loop control system, but according to the data automatically regulated that force sensor feedbacks pressure that exerts when the pressure head is to binding the product down, the stability of the pressure that receives when ensureing the product and binding, in order to reach the quick production of production. Through voice coil motor control and force sensor feedback information, can be about pressure precision 0.2N with the precision of pressure to the effect of binding is more stable.
Drawings
Fig. 1 is a schematic structural diagram of the upper pressing head mechanism of the present invention.
Fig. 2 is a schematic structural diagram of the lower pressing head mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the product conveying mechanism of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention. It is obvious that the described embodiments of the invention are only some of the embodiments of the invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
referring to fig. 1-3, the present invention provides a closed loop force control system based on voice coil motor driving, including a seat and a vertical support seat disposed on the seat, further including:
the upper pressure head mechanism is arranged on the supporting seat through a vertical mounting plate 1, two groups of voice coil motors 3 which are equal in height and are fixed side by side are arranged on the upper pressure head mechanism, and an upper pressure head 4 driven by the driving end to do lifting motion is arranged at the driving end of each voice coil motor 3;
the lower pressure head assembly is fixedly arranged at a processing station of the vertical supporting seat and is arranged right below the upper pressure head mechanism, an installation bottom plate 5 fixedly arranged on the processing station sheet and two groups of lower pressure head seats arranged on the installation bottom plate 5 side by side are arranged on the lower pressure head assembly, two lower pressure heads 8 vertically corresponding to the two upper pressure heads 4 are fixedly arranged at the upper ends of the two groups of lower pressure head seats, force sensors 6 are respectively arranged between the two groups of lower pressure head seats and the installation bottom plate 5, and the force sensors 6 enable the pressure applied when the upper pressure heads 4 and the lower pressure heads 8 are bound to products to be fed back to the voice coil motor control system through the force sensors, and control the magnitude of the lower pressure of the upper pressure heads 4 through the voice coil motor control system;
a product conveying mechanism sets up on the seat platform, be provided with on it and install X axle actuating mechanism 9 on the seat platform, install Y axle actuating mechanism 10 on X axle moving platform of X axle actuating mechanism 9, install Z axle actuating mechanism 11 on Y axle moving platform of Y axle actuating mechanism 10, install theta axle actuating mechanism 12 on Z axle actuating mechanism 11's the lift platform and install theta axle actuating mechanism 12 be used for binding the adsorption plate 13 of product, product conveying mechanism can bind the product and send into go up between pressure head 4 and the lower pressure head 8.
A preferred technical solution of this embodiment: the upper pressure head mechanism further comprises two groups of upper probes 2 used for detecting the descending distance of the voice coil motor 3, and the two groups of upper probes 2 are respectively arranged on two sides of the two groups of voice coil motors 3.
A preferred technical solution of this embodiment: and two parallel copper noses 7 are arranged on the top seat block of each group of the press-down head seat.
A preferred technical solution of this embodiment: the X-axis driving mechanism 9 comprises an X-axis servo driving motor, an X-axis ball screw and an X-axis moving platform moving along the X axis, the driving end of the X-axis servo driving motor is connected with the X-axis ball screw and drives the X-axis ball screw to rotate, the X-axis moving platform is connected onto the X-axis ball screw in a threaded mode through a screw block, the X-axis ball screw can drive the X-axis moving platform to move in the X axis direction, and the X-axis moving platform drives the Y-axis driving mechanism 10 on the X-axis moving platform to move in the X axis direction.
A preferred technical solution of this embodiment: the Y-axis driving mechanism 10 comprises a Y-axis servo driving motor, a Y-axis ball screw and a Y-axis moving platform moving along the Y axis, the driving end of the Y-axis servo driving motor is connected with the Y-axis ball screw and drives the Y-axis ball screw to rotate, the Y-axis moving platform is connected to the Y-axis ball screw in a threaded mode through a threaded block, and the Y-axis ball screw can drive the Y-axis moving platform to move in the Y axis direction.
A preferred technical solution of this embodiment: and the Z-axis driving mechanism 11 drives the lifting platform to do lifting motion through a Z-axis servo driving motor and a Z-axis ball screw.
A preferred technical solution of this embodiment: the theta axis driving mechanism 12 includes a theta axis motor, and a theta axis flipping board disposed at a driving end of the theta axis motor and driven to rotate angularly by the driving end.
A preferred technical solution of this embodiment: and an adsorption plate 13 is arranged on the surface of the theta axis turnover plate.
A preferred technical solution of this embodiment: the adsorption plate 13 is provided with a plurality of vacuum holes, and each vacuum hole is connected to a vacuum-pumping device through a pipeline.
Example 2:
as shown in fig. 1-3, bind the product that adsorption plate 13 on the platform bound the pre-compaction and move to through product conveying mechanism between last pressure head 4 and the pressure head 8 down, pressure head 8 supports the face that the product originally pressed down, 4 descends and carry out this pressure to the product of pre-compaction on the drive through two sets of voice coil motor 3, what make FPC and display screen bind is more firm, the pressure that goes up pressure head 4 and exert transmits the power of going up pressure head 4 for voice coil motor system through force transducer 6, voice coil motor 3 forms the closed loop structure and will carry out automatically regulated to the pressure that lower pressure head 8 applyed, accomplish final binding according to the actual demand of product. The utility model discloses voice coil motor driven closed loop force control system is used for binding of FPC and display screen, use voice coil motor drive to bind pressure head structure motion, pressure head structure bottom installation force sensor under, when last pressure head pushes down, force sensor is incessant to detect the pressure head and pushes down the pressure head to the product application force of binding, by the force feedback system that will exert the force of sensing, the system transmits the information of feedback to voice coil motor control system, voice coil motor is in closed loop control system, but according to the data automatically regulated that force sensor feedbacks pressure that exerts when the pressure head is to binding the product down, the stability of the pressure that receives when ensureing the product and binding, in order to reach the quick production of production. Through voice coil motor control and force sensor feedback information, can be about pressure precision 0.2N with the precision of pressure to the effect of binding is more stable.
The utility model discloses an last pressure head 4 and lower pressure head 8 in the closed loop force control system all adopt titanium alloy TC4 material, inlay the temperature sensing line about pressure head pre-compaction product 1mm department to the required temperature of product and the temperature difference that temperature control system adjusted when binding, the plane precision on last pressure head 4 and 8 surfaces of lower pressure head reaches 0.002mm, and the product does not receive reasons such as temperature, pressure and roughness when guaranteeing to bind, causes and makes the product damage.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the same way in the protection scope of the present invention.
Claims (9)
1. Closed loop force control system based on voice coil motor drive, including a seat and set up the perpendicular supporting seat on the seat, its characterized in that still includes:
the upper pressure head mechanism is arranged on the supporting seat through a vertical mounting plate (1), two groups of voice coil motors (3) which are equal in height and are fixed side by side are arranged on the upper pressure head mechanism, and an upper pressure head (4) driven by the driving end to do lifting motion is arranged at the driving end of each voice coil motor (3);
the lower pressure head assembly is fixedly arranged at a processing station of the vertical supporting seat and is arranged right below the upper pressure head mechanism, an installation bottom plate (5) fixedly arranged on the processing station sheet and two groups of lower pressure head seats arranged on the installation bottom plate (5) side by side are arranged on the lower pressure head assembly, two lower pressure heads (8) vertically corresponding to the two upper pressure heads (4) are fixedly arranged at the upper ends of the two groups of lower pressure head seats, force sensors (6) are respectively arranged between the two groups of lower pressure head seats and the installation bottom plate (5), the force sensors (6) enable the pressure applied when the upper pressure heads (4) and the lower pressure heads (8) bind the products to be fed back to a voice coil motor control system through the force sensors, and the magnitude of the lower pressure of the upper pressure heads (4) is controlled through the voice coil motor control system;
a product conveying mechanism, sets up on the seat platform, be provided with on it and install X axle actuating mechanism (9) on the seat platform, install Y axle actuating mechanism (10) on the X axle moving platform of X axle actuating mechanism (9), install Z axle actuating mechanism (11) on the Y axle moving platform of Y axle actuating mechanism (10), install theta axle actuating mechanism (12) on the lift platform of Z axle actuating mechanism (11) and install theta axle actuating mechanism (12) be used for binding adsorption plate (13) of product, product conveying mechanism can bind the product and send into go up between pressure head (4) and lower pressure head (8).
2. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: the upper pressure head mechanism further comprises two groups of upper probes (2) used for detecting the descending distance of the voice coil motor (3), and the two groups of upper probes (2) are respectively arranged on two sides of the two groups of voice coil motors (3).
3. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: two parallel copper noses (7) are arranged on the top seat block of each group of the press head seat.
4. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: x axle actuating mechanism (9) include X axial servo drive motor, X axle ball screw and follow X axial displacement's X axle moving platform, X axle ball screw is connected and is driven to X axial servo drive motor's drive end X axle ball screw is rotatory, X axle moving platform passes through the spiral shell piece spiro union on X axle ball screw, and X axle ball screw's rotation can drive X axle moving platform is X axial displacement, and then X axle moving platform drives Y axle actuating mechanism (10) on it and does X axial displacement.
5. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: the Y-axis driving mechanism (10) comprises a Y-axis servo driving motor, a Y-axis ball screw and a Y-axis moving platform moving along the Y axis, the driving end of the Y-axis servo driving motor is connected with the Y-axis ball screw and drives the Y-axis ball screw to rotate, the Y-axis moving platform is connected to the Y-axis ball screw in a threaded mode through a threaded block, and the rotation of the Y-axis ball screw can drive the Y-axis moving platform to move in the Y axis direction.
6. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: and the Z-axis driving mechanism (11) drives the lifting platform to do lifting motion through a Z-axis servo driving motor and a Z-axis ball screw.
7. The closed loop force control system based on voice coil motor drive of claim 1, characterized in that: the theta axis driving mechanism (12) comprises a theta axis motor and a theta axis turnover plate which is arranged at the driving end of the theta axis motor and is driven by the driving end to rotate angularly.
8. The closed loop force control system based on voice coil motor drive of claim 7, wherein: and an adsorption plate (13) is arranged on the surface of the theta axis overturning plate.
9. The closed loop force control system based on voice coil motor drive of claim 8, wherein: the adsorption plate (13) is provided with a plurality of vacuum holes, and each vacuum hole is connected to a vacuum-pumping device through a pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921987436.9U CN211307555U (en) | 2019-11-18 | 2019-11-18 | Closed loop force control system based on voice coil motor drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921987436.9U CN211307555U (en) | 2019-11-18 | 2019-11-18 | Closed loop force control system based on voice coil motor drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211307555U true CN211307555U (en) | 2020-08-21 |
Family
ID=72076914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921987436.9U Active CN211307555U (en) | 2019-11-18 | 2019-11-18 | Closed loop force control system based on voice coil motor drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211307555U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112985992A (en) * | 2021-03-24 | 2021-06-18 | 横川机器人（深圳）有限公司 | Voice coil motor output pressure control method and system |
-
2019
- 2019-11-18 CN CN201921987436.9U patent/CN211307555U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112985992A (en) * | 2021-03-24 | 2021-06-18 | 横川机器人（深圳）有限公司 | Voice coil motor output pressure control method and system |
| CN112985992B (en) * | 2021-03-24 | 2022-10-18 | 横川机器人（深圳）有限公司 | Voice coil motor output pressure control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216680716U (en) | Laser welding system with multilayer lamination pre-compaction welding | |
| CN211307555U (en) | Closed loop force control system based on voice coil motor drive | |
| CN102233710A (en) | Printing work pipeline and printing method | |
| CN105058043A (en) | Gear sleeve planeness and positive and negative pose detecting mechanism of synchronizer assembling and detecting line | |
| CN207142255U (en) | A kind of battery material toggling positioner | |
| CN202438847U (en) | Coaxial macro-micro compound linear motion platform device | |
| CN107727514A (en) | One kind is used for neodymium iron boron magnetic body coating shearing force testing device | |
| CN202763411U (en) | Hold-down mechanism | |
| CN204659142U (en) | A kind of laminating mechanism | |
| CN211614800U (en) | Online automatic lamination equipment of LCD frame | |
| CN210754577U (en) | A plastic tool for cavity subassembly is automatic to be compared | |
| CN210978114U (en) | Pressure control attaching mechanism of automatic equipment | |
| CN207698702U (en) | Overturn tooling | |
| CN105107983A (en) | Sliding block type plate feeding device | |
| CN213322212U (en) | Thick film of duplex position dish printing device that generates heat | |
| CN211869046U (en) | Height-adjustable's engraving mechanism for mechanical equipment processing | |
| CN211393075U (en) | Self-balancing stacker crane | |
| CN207224774U (en) | A kind of full-automation piece membrane type laminator | |
| CN203148823U (en) | Rotor core and magnetic ring adhesive strength detecting device | |
| CN105643822B (en) | A kind of silicon single crystal rod mechanical cohesive bond equipment | |
| CN221389325U (en) | Pressure device and pressure equipment | |
| CN215316886U (en) | Automatic assembling and detecting equipment for automobile air outlet buckles | |
| CN216096247U (en) | Device for automatically riveting super charging pile product | |
| CN218177652U (en) | Back plate rubber frame pressing tool | |
| CN205043876U (en) | Insulating adhesive tape cut -out press of flexible flat connecting wire |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |