本(ben)發明涉(she)及機電(dian)設備，尤其(qi)涉(she)及一種直線旋(xuan)轉模(mo)組及直線旋(xuan)轉模(mo)組的驅(qu)動方法。

背景技術：

1、隨著(zhu)直(zhi)線旋轉模組(zu)在半(ban)導(dao)體、3c行業內應用的(de)(de)(de)場景越(yue)來越(yue)多，對(dui)(dui)直(zhi)線旋轉模組(zu)的(de)(de)(de)需求也越(yue)來越(yue)多，具有提供大壓(ya)(ya)力(li)和小(xiao)(xiao)壓(ya)(ya)力(li)的(de)(de)(de)應用場景，目前針(zhen)對(dui)(dui)大壓(ya)(ya)力(li)場景時，通常采(cai)用絲桿(gan)和伺服電機的(de)(de)(de)方(fang)案，但(dan)是(shi)該種方(fang)案無(wu)法兼顧小(xiao)(xiao)壓(ya)(ya)力(li)的(de)(de)(de)場合；針(zhen)對(dui)(dui)小(xiao)(xiao)壓(ya)(ya)力(li)場景時，多采(cai)用直(zhi)線電機驅動的(de)(de)(de)方(fang)案，但(dan)是(shi)直(zhi)線電機的(de)(de)(de)體積較小(xiao)(xiao)，一般無(wu)法實(shi)現大壓(ya)(ya)力(li)場景。

2、為此，亟需(xu)研究一種直線旋轉模(mo)組及直線旋轉模(mo)組的驅動(dong)方法，以解決上(shang)述問題。

技術實現思路

1、本發明的(de)(de)目的(de)(de)在于提供一種(zhong)直線(xian)旋轉(zhuan)(zhuan)模組及直線(xian)旋轉(zhuan)(zhuan)模組的(de)(de)驅動方法，以(yi)同(tong)時滿足大壓(ya)力(li)和小壓(ya)力(li)的(de)(de)應用場景，且能實現多種(zhong)工作(zuo)模式(shi)，改善作(zuo)業效果。

2、為(wei)達上述(shu)目的(de)，本(ben)發明(ming)采用以下技(ji)術方案：

3、直(zhi)線旋轉模(mo)組，包括：

4、殼體；

5、旋(xuan)轉(zhuan)(zhuan)(zhuan)機構，具有旋(xuan)轉(zhuan)(zhuan)(zhuan)件(jian)以(yi)及(ji)旋(xuan)轉(zhuan)(zhuan)(zhuan)驅動組件(jian)，所(suo)述旋(xuan)轉(zhuan)(zhuan)(zhuan)驅動組件(jian)沿(yan)第一方向(xiang)能移(yi)動地約束于所(suo)述殼體(ti)內，所(suo)述旋(xuan)轉(zhuan)(zhuan)(zhuan)件(jian)能以(yi)自身軸線為(wei)軸相對所(suo)述旋(xuan)轉(zhuan)(zhuan)(zhuan)驅動組件(jian)轉(zhuan)(zhuan)(zhuan)動；

6、還包括兩個獨(du)立(li)控制的第(di)(di)一驅動(dong)(dong)系(xi)統(tong)和第(di)(di)二驅動(dong)(dong)系(xi)統(tong)，所(suo)述第(di)(di)一驅動(dong)(dong)系(xi)統(tong)和/或(huo)所(suo)述第(di)(di)二驅動(dong)(dong)系(xi)統(tong)驅動(dong)(dong)所(suo)述旋轉機(ji)構沿第(di)(di)一方向(xiang)移動(dong)(dong)；

7、所述第一驅動系統包括(kuo)：

8、直(zhi)(zhi)線驅(qu)(qu)動器，所述直(zhi)(zhi)線驅(qu)(qu)動器的輸(shu)出端與所述旋(xuan)轉驅(qu)(qu)動組件驅(qu)(qu)動連接(jie)；

9、所述第二驅(qu)動系統包括：

10、直線驅動(dong)(dong)(dong)組(zu)(zu)件(jian)，具有第一驅動(dong)(dong)(dong)件(jian)、與所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)第一驅動(dong)(dong)(dong)件(jian)的(de)(de)輸出端傳(chuan)動(dong)(dong)(dong)連接且(qie)自身軸線沿(yan)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)第一方向延(yan)伸(shen)的(de)(de)絲桿，以及(ji)與所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)絲桿螺(luo)紋配合(he)且(qie)能移(yi)動(dong)(dong)(dong)地約束于(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)殼體的(de)(de)傳(chuan)動(dong)(dong)(dong)件(jian)，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)傳(chuan)動(dong)(dong)(dong)件(jian)具有施(shi)壓(ya)(ya)部，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)旋轉(zhuan)驅動(dong)(dong)(dong)組(zu)(zu)件(jian)的(de)(de)受(shou)壓(ya)(ya)部位于(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)施(shi)壓(ya)(ya)部的(de)(de)移(yi)動(dong)(dong)(dong)路徑上，所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)施(shi)壓(ya)(ya)部在所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)第一驅動(dong)(dong)(dong)件(jian)的(de)(de)驅動(dong)(dong)(dong)下，能夠沿(yan)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)第一方向抵推所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)受(shou)壓(ya)(ya)部以推動(dong)(dong)(dong)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)旋轉(zhuan)驅動(dong)(dong)(dong)組(zu)(zu)件(jian)，并(bing)使(shi)所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)旋轉(zhuan)機構(gou)相對所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)殼體移(yi)動(dong)(dong)(dong)，或與所(suo)(suo)(suo)述(shu)(shu)(shu)(shu)(shu)(shu)(shu)(shu)受(shou)壓(ya)(ya)部分離。

11、作為(wei)一(yi)種直線旋轉(zhuan)模組的(de)可(ke)選技術方(fang)案(an)，所(suo)述(shu)(shu)直線旋轉(zhuan)模組還包括安(an)裝(zhuang)于受壓(ya)部(bu)的(de)壓(ya)力傳感(gan)器(qi)，所(suo)述(shu)(shu)施壓(ya)部(bu)在所(suo)述(shu)(shu)第(di)一(yi)驅(qu)動(dong)(dong)件驅(qu)動(dong)(dong)下(xia)，能夠沿所(suo)述(shu)(shu)第(di)一(yi)方(fang)向(xiang)抵推所(suo)述(shu)(shu)壓(ya)力傳感(gan)器(qi)以推動(dong)(dong)所(suo)述(shu)(shu)旋轉(zhuan)驅(qu)動(dong)(dong)組件并使所(suo)述(shu)(shu)旋轉(zhuan)機構(gou)相對(dui)所(suo)述(shu)(shu)殼體移動(dong)(dong)，或與所(suo)述(shu)(shu)壓(ya)力傳感(gan)器(qi)分離；

12、所(suo)述(shu)(shu)(shu)壓(ya)力(li)傳(chuan)(chuan)感(gan)器和(he)所(suo)述(shu)(shu)(shu)第一驅(qu)(qu)動件分別與(yu)控(kong)制(zhi)器通訊連接，所(suo)述(shu)(shu)(shu)壓(ya)力(li)傳(chuan)(chuan)感(gan)器被配置為(wei)檢測所(suo)述(shu)(shu)(shu)施壓(ya)部和(he)所(suo)述(shu)(shu)(shu)受壓(ya)部之間的壓(ya)力(li)值(zhi)，所(suo)述(shu)(shu)(shu)控(kong)制(zhi)器被配置為(wei)能(neng)接收所(suo)述(shu)(shu)(shu)壓(ya)力(li)值(zhi)并(bing)基于所(suo)述(shu)(shu)(shu)壓(ya)力(li)值(zhi)控(kong)制(zhi)所(suo)述(shu)(shu)(shu)第一驅(qu)(qu)動件。

13、作為一種直線旋(xuan)轉(zhuan)(zhuan)(zhuan)模組的(de)(de)可選技術方(fang)案(an)，所(suo)述(shu)(shu)旋(xuan)轉(zhuan)(zhuan)(zhuan)驅動(dong)組件(jian)包括移(yi)動(dong)件(jian)和(he)第(di)二驅動(dong)件(jian)，所(suo)述(shu)(shu)旋(xuan)轉(zhuan)(zhuan)(zhuan)件(jian)穿過(guo)所(suo)述(shu)(shu)移(yi)動(dong)件(jian)與所(suo)述(shu)(shu)第(di)二驅動(dong)件(jian)轉(zhuan)(zhuan)(zhuan)動(dong)連接(jie)，所(suo)述(shu)(shu)移(yi)動(dong)件(jian)或第(di)二驅動(dong)件(jian)朝向所(suo)述(shu)(shu)絲桿的(de)(de)轉(zhuan)(zhuan)(zhuan)動(dong)軸(zhou)線的(de)(de)方(fang)向的(de)(de)側壁凸出并形成受壓塊，所(suo)述(shu)(shu)受壓塊朝向所(suo)述(shu)(shu)施(shi)壓部的(de)(de)端面(mian)形成所(suo)述(shu)(shu)受壓部；

14、所(suo)述傳(chuan)動件的(de)部分側壁沿(yan)與所(suo)述第一方向呈夾角的(de)第二方向外(wai)凸形成施壓塊，所(suo)述施壓塊沿(yan)所(suo)述第一方向且(qie)朝向所(suo)述受壓部的(de)端面形成所(suo)述施壓部。

15、一(yi)種直線(xian)旋(xuan)轉模組(zu)的驅動方法，應用于上述(shu)任一(yi)技(ji)術方案所述(shu)的直線(xian)旋(xuan)轉模組(zu)，包括(kuo)以下步驟：

16、s1、獲取目(mu)標壓力值(zhi)；

17、s2、判(pan)斷目標(biao)壓(ya)(ya)力值是(shi)否小于所述第一驅動(dong)系統的額定壓(ya)(ya)力值，若是(shi)，則執行(xing)步驟s31，若否，則執行(xing)步驟s32；

18、s31、通過第(di)一驅動(dong)系統驅動(dong)旋轉(zhuan)機構(gou)沿(yan)所述第(di)一方向移動(dong)以使得旋轉(zhuan)機構(gou)的輸出(chu)端(duan)抵接(jie)工(gong)件，并維持(chi)目標壓力值直至結(jie)束；

19、s32、包(bao)括可選(xuan)擇的步驟：

20、a）通過第二驅動系統(tong)驅動旋(xuan)轉機(ji)構(gou)沿所(suo)述第一方向移(yi)動以(yi)使得旋(xuan)轉機(ji)構(gou)的輸出端抵接工(gong)件，并維持目標壓力值直至(zhi)結(jie)束；或，

21、b）當所述(shu)(shu)第(di)一驅動系統驅動旋轉(zhuan)機(ji)構的(de)輸(shu)出端沿(yan)所述(shu)(shu)第(di)一方向移動并(bing)抵(di)接(jie)工件后，所述(shu)(shu)第(di)二驅動系統的(de)施壓部再抵(di)接(jie)所述(shu)(shu)受壓部，以驅動旋轉(zhuan)機(ji)構的(de)輸(shu)出端持(chi)續抵(di)接(jie)工件直至達到目標壓力值，并(bing)維持(chi)目標壓力值直至結束(shu)。

22、作為一種直線(xian)旋轉模組的(de)驅動(dong)方(fang)法的(de)可選技術方(fang)案，

23、在步驟b）中，包括以下步驟：

24、第一驅動(dong)系統(tong)先啟動(dong)，以使(shi)旋轉(zhuan)機(ji)構的(de)輸出端(duan)抵接工(gong)件，并(bing)對工(gong)件施加保壓(ya)(ya)壓(ya)(ya)力以進行保壓(ya)(ya)，所(suo)述(shu)保壓(ya)(ya)壓(ya)(ya)力小于目(mu)標(biao)壓(ya)(ya)力值；

25、第二驅動系統再啟動，使施壓(ya)部(bu)抵接(jie)受(shou)壓(ya)部(bu)以驅動旋轉機構的輸出(chu)端抵接(jie)工件直(zhi)至(zhi)達到(dao)目標壓(ya)力(li)值(zhi)，并維持目標壓(ya)力(li)值(zhi)直(zhi)至(zhi)結束。

26、作為一(yi)種直線(xian)旋(xuan)轉模組的驅(qu)動(dong)方法(fa)的可(ke)選技術方案(an)，

27、在步驟b）中，第一(yi)驅(qu)動系(xi)統驅(qu)動旋轉機構(gou)移動預(yu)設時間(jian)后(hou)，且在旋轉機構(gou)的輸(shu)出端抵接工件前，第二驅(qu)動系(xi)統啟動。

28、作(zuo)為一種直(zhi)線旋轉模(mo)組(zu)的(de)驅(qu)動(dong)方法的(de)可(ke)選技(ji)術方案，

29、在步(bu)驟b）中，第(di)一驅動(dong)系統和第(di)二驅動(dong)系統同步(bu)啟動(dong)，在旋轉機構的輸出(chu)端抵接工件前，所(suo)述第(di)二驅動(dong)系統的施壓(ya)(ya)部(bu)與所(suo)述受壓(ya)(ya)部(bu)之(zhi)間(jian)留有間(jian)隙(xi)。

30、作為一種直線(xian)旋轉模組的驅(qu)動(dong)方(fang)法的可選技術(shu)方(fang)案，

31、所(suo)(suo)述(shu)(shu)直(zhi)線旋轉模組(zu)還包(bao)括安裝于受壓(ya)部(bu)(bu)的壓(ya)力傳感(gan)器，所(suo)(suo)述(shu)(shu)施壓(ya)部(bu)(bu)能(neng)抵推所(suo)(suo)述(shu)(shu)壓(ya)力傳感(gan)器，或(huo)與所(suo)(suo)述(shu)(shu)壓(ya)力傳感(gan)器分離；

32、步驟(zou)a）中，第(di)(di)二驅(qu)動(dong)(dong)系統(tong)驅(qu)動(dong)(dong)旋(xuan)轉(zhuan)(zhuan)機(ji)(ji)構的(de)(de)輸出端從(cong)第(di)(di)一初始位(wei)(wei)(wei)置(zhi)移動(dong)(dong)至第(di)(di)一中間(jian)位(wei)(wei)(wei)置(zhi)，且從(cong)第(di)(di)一中間(jian)位(wei)(wei)(wei)置(zhi)至抵(di)接(jie)工件(jian)的(de)(de)位(wei)(wei)(wei)置(zhi)；至少在旋(xuan)轉(zhuan)(zhuan)機(ji)(ji)構的(de)(de)輸出端從(cong)第(di)(di)一中間(jian)位(wei)(wei)(wei)置(zhi)移動(dong)(dong)至抵(di)接(jie)工件(jian)的(de)(de)位(wei)(wei)(wei)置(zhi)的(de)(de)過程中，實(shi)時獲(huo)取壓(ya)力(li)傳感器檢測(ce)的(de)(de)壓(ya)力(li)值(zhi)，并(bing)(bing)判斷壓(ya)力(li)值(zhi)是(shi)否等于目(mu)標(biao)壓(ya)力(li)值(zhi)，是(shi)則(ze)控制(zhi)第(di)(di)二驅(qu)動(dong)(dong)系統(tong)停止驅(qu)動(dong)(dong)旋(xuan)轉(zhuan)(zhuan)機(ji)(ji)構，并(bing)(bing)維(wei)持目(mu)標(biao)壓(ya)力(li)值(zhi)直(zhi)至結束；否則(ze)通過第(di)(di)二驅(qu)動(dong)(dong)系統(tong)繼續驅(qu)動(dong)(dong)旋(xuan)轉(zhuan)(zhuan)機(ji)(ji)構；和/或，

33、步驟b）中(zhong)，第(di)(di)(di)二(er)驅動(dong)(dong)(dong)系統(tong)驅動(dong)(dong)(dong)作(zuo)用下，施壓(ya)部(bu)從(cong)第(di)(di)(di)二(er)初始(shi)位置移(yi)動(dong)(dong)(dong)至(zhi)(zhi)第(di)(di)(di)二(er)中(zhong)間(jian)位置，且從(cong)第(di)(di)(di)二(er)中(zhong)間(jian)位置移(yi)動(dong)(dong)(dong)至(zhi)(zhi)與壓(ya)力傳感(gan)器(qi)抵(di)接(jie)的(de)位置；至(zhi)(zhi)少(shao)在施壓(ya)部(bu)從(cong)第(di)(di)(di)二(er)中(zhong)間(jian)位置移(yi)動(dong)(dong)(dong)至(zhi)(zhi)抵(di)接(jie)壓(ya)力傳感(gan)器(qi)的(de)位置的(de)過程中(zhong)，實時(shi)獲取(qu)壓(ya)力傳感(gan)器(qi)檢測的(de)壓(ya)力值，并判(pan)斷壓(ya)力值是(shi)否(fou)等于目標壓(ya)力值，是(shi)則控制(zhi)施壓(ya)部(bu)停止移(yi)動(dong)(dong)(dong)，并維持(chi)目標壓(ya)力值直至(zhi)(zhi)結束；否(fou)則控制(zhi)施壓(ya)部(bu)繼(ji)續(xu)移(yi)動(dong)(dong)(dong)。

34、作為一種直線旋轉模組的驅動方(fang)(fang)法的可選技術(shu)方(fang)(fang)案(an)，

35、步驟(zou)a）中(zhong)(zhong)，第(di)二驅(qu)動系(xi)統驅(qu)動旋轉(zhuan)機構的輸出端從(cong)第(di)一初(chu)始位置(zhi)(zhi)(zhi)以第(di)一速度移動至第(di)一中(zhong)(zhong)間位置(zhi)(zhi)(zhi)，且(qie)從(cong)第(di)一中(zhong)(zhong)間位置(zhi)(zhi)(zhi)以第(di)二速度移動至抵接工件的位置(zhi)(zhi)(zhi)，第(di)二速度小于第(di)一速度；和/或(huo)，

36、步驟b）中(zhong)，第(di)(di)(di)(di)二(er)驅(qu)動系統驅(qu)動作用(yong)下，施壓部從第(di)(di)(di)(di)二(er)初始位置以第(di)(di)(di)(di)三速(su)度移(yi)動至第(di)(di)(di)(di)二(er)中(zhong)間位置，且從第(di)(di)(di)(di)二(er)中(zhong)間位置以第(di)(di)(di)(di)四速(su)度移(yi)動至與壓力(li)傳感器抵接的位置，第(di)(di)(di)(di)四速(su)度小于第(di)(di)(di)(di)三速(su)度。

37、作(zuo)為一(yi)種直(zhi)線(xian)旋(xuan)轉(zhuan)模組的驅動方法的可選技術方案，

38、在步(bu)驟(zou)b）中，還(huan)包括以下(xia)步(bu)驟(zou)：

39、在(zai)施壓(ya)部從第二(er)中(zhong)間位置移動(dong)至(zhi)(zhi)抵(di)接壓(ya)力傳(chuan)感器的(de)位置的(de)過程中(zhong)，實時(shi)獲取(qu)壓(ya)力傳(chuan)感器檢測的(de)壓(ya)力值，當壓(ya)力值大于(yu)設置的(de)閾值，第一驅動(dong)系統斷電以停止驅動(dong)旋(xuan)轉機(ji)構(gou)，且第二(er)驅動(dong)系統繼續驅動(dong)以使得(de)旋(xuan)轉機(ji)構(gou)的(de)輸出端持續接觸(chu)工件直至(zhi)(zhi)達到目標壓(ya)力值，并(bing)維持目標壓(ya)力值直至(zhi)(zhi)結束。

40、作為一種直線旋轉(zhuan)模(mo)組的驅(qu)動方法的可選(xuan)技術(shu)方案，

41、在s31中，

42、第(di)一驅動(dong)(dong)系統驅動(dong)(dong)旋轉機構的輸出(chu)端從(cong)第(di)三初始位(wei)置(zhi)以第(di)五速(su)(su)度(du)(du)移動(dong)(dong)至第(di)三中間(jian)(jian)位(wei)置(zhi)，且從(cong)第(di)三中間(jian)(jian)位(wei)置(zhi)以第(di)六速(su)(su)度(du)(du)移動(dong)(dong)至抵(di)接工件的位(wei)置(zhi)，并對工件施加目標壓力，第(di)六速(su)(su)度(du)(du)小于第(di)五速(su)(su)度(du)(du)；

43、在s32中的步驟(zou)b）中，

44、第一驅動(dong)系統驅動(dong)旋轉機(ji)構的輸出(chu)端從第三初始(shi)位(wei)置(zhi)以第五速度(du)(du)移(yi)動(dong)至第三中間位(wei)置(zhi)，且從第三中間位(wei)置(zhi)以第六速度(du)(du)移(yi)動(dong)至抵接工(gong)件(jian)的位(wei)置(zhi)，并對工(gong)件(jian)施加保(bao)壓壓力，第六速度(du)(du)小于第五速度(du)(du)。

45、本發明的有(you)益效果為：

46、本(ben)發明提供一(yi)種(zhong)直(zhi)(zhi)(zhi)線(xian)(xian)(xian)旋(xuan)轉(zhuan)模(mo)(mo)組(zu)(zu)，該直(zhi)(zhi)(zhi)線(xian)(xian)(xian)旋(xuan)轉(zhuan)模(mo)(mo)組(zu)(zu)包(bao)括(kuo)兩(liang)個(ge)獨立(li)控制的(de)第(di)(di)一(yi)驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)和(he)(he)第(di)(di)二驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)，其中(zhong)(zhong)(zhong)(zhong)，第(di)(di)一(yi)驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)包(bao)括(kuo)與旋(xuan)轉(zhuan)驅(qu)動(dong)(dong)(dong)(dong)組(zu)(zu)件(jian)(jian)連(lian)接的(de)直(zhi)(zhi)(zhi)線(xian)(xian)(xian)驅(qu)動(dong)(dong)(dong)(dong)器，能對旋(xuan)轉(zhuan)驅(qu)動(dong)(dong)(dong)(dong)組(zu)(zu)件(jian)(jian)直(zhi)(zhi)(zhi)接驅(qu)動(dong)(dong)(dong)(dong)，以滿足(zu)小(xiao)壓(ya)(ya)(ya)力(li)的(de)應(ying)用(yong)(yong)場(chang)景；第(di)(di)二驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)包(bao)括(kuo)直(zhi)(zhi)(zhi)線(xian)(xian)(xian)驅(qu)動(dong)(dong)(dong)(dong)組(zu)(zu)件(jian)(jian)，其中(zhong)(zhong)(zhong)(zhong)，直(zhi)(zhi)(zhi)線(xian)(xian)(xian)驅(qu)動(dong)(dong)(dong)(dong)組(zu)(zu)件(jian)(jian)中(zhong)(zhong)(zhong)(zhong)通過(guo)絲桿和(he)(he)傳動(dong)(dong)(dong)(dong)件(jian)(jian)的(de)配(pei)合能適應(ying)大壓(ya)(ya)(ya)力(li)的(de)應(ying)用(yong)(yong)場(chang)景，從而使(shi)得直(zhi)(zhi)(zhi)線(xian)(xian)(xian)旋(xuan)轉(zhuan)模(mo)(mo)組(zu)(zu)能同時滿足(zu)大壓(ya)(ya)(ya)力(li)和(he)(he)小(xiao)壓(ya)(ya)(ya)力(li)應(ying)用(yong)(yong)場(chang)景，擴大了直(zhi)(zhi)(zhi)線(xian)(xian)(xian)旋(xuan)轉(zhuan)模(mo)(mo)組(zu)(zu)的(de)施壓(ya)(ya)(ya)范圍；另外(wai)，在使(shi)用(yong)(yong)時，在小(xiao)壓(ya)(ya)(ya)力(li)的(de)應(ying)用(yong)(yong)場(chang)景中(zhong)(zhong)(zhong)(zhong)，可(ke)以通過(guo)第(di)(di)一(yi)驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)單(dan)獨作用(yong)(yong)；在大壓(ya)(ya)(ya)力(li)的(de)應(ying)用(yong)(yong)場(chang)景中(zhong)(zhong)(zhong)(zhong)，可(ke)以通過(guo)第(di)(di)二驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)單(dan)獨作用(yong)(yong)，也(ye)可(ke)以通過(guo)第(di)(di)一(yi)驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)和(he)(he)第(di)(di)二驅(qu)動(dong)(dong)(dong)(dong)系統(tong)(tong)(tong)(tong)配(pei)合，以對旋(xuan)轉(zhuan)驅(qu)動(dong)(dong)(dong)(dong)組(zu)(zu)件(jian)(jian)分階段(duan)驅(qu)動(dong)(dong)(dong)(dong)，提高了直(zhi)(zhi)(zhi)線(xian)(xian)(xian)旋(xuan)轉(zhuan)模(mo)(mo)組(zu)(zu)末端的(de)壓(ya)(ya)(ya)控精度。

47、本發(fa)明提(ti)供(gong)一(yi)種(zhong)直(zhi)(zhi)線旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)模(mo)(mo)組(zu)的(de)(de)(de)(de)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)方法，該直(zhi)(zhi)線旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)模(mo)(mo)組(zu)的(de)(de)(de)(de)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)方法中(zhong)，具(ju)有對(dui)(dui)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)三種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)，根據目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)不同的(de)(de)(de)(de)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)，其(qi)中(zhong)，第(di)(di)一(yi)種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)，在目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)小于(yu)(yu)第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)額(e)(e)定壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)時(shi)，可(ke)以(yi)通過第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)直(zhi)(zhi)接(jie)(jie)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)使得旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)輸出(chu)端(duan)對(dui)(dui)工(gong)(gong)(gong)件(jian)施(shi)(shi)加(jia)的(de)(de)(de)(de)力(li)(li)(li)達(da)到目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)，并(bing)(bing)維(wei)持目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)直(zhi)(zhi)至結束。該種(zhong)模(mo)(mo)式(shi)(shi)的(de)(de)(de)(de)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)作速度(du)快，有助于(yu)(yu)提(ti)高(gao)(gao)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)效(xiao)率(lv)以(yi)及直(zhi)(zhi)線旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)模(mo)(mo)組(zu)末(mo)(mo)端(duan)的(de)(de)(de)(de)壓(ya)(ya)(ya)(ya)(ya)控精度(du)。第(di)(di)二種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)，當目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)大(da)(da)于(yu)(yu)第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)額(e)(e)定壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)時(shi)，可(ke)以(yi)通過第(di)(di)二驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)直(zhi)(zhi)接(jie)(jie)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)使得旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)輸出(chu)端(duan)對(dui)(dui)工(gong)(gong)(gong)件(jian)施(shi)(shi)加(jia)的(de)(de)(de)(de)力(li)(li)(li)達(da)到目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)，并(bing)(bing)維(wei)持目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)直(zhi)(zhi)至結束。該種(zhong)模(mo)(mo)式(shi)(shi)的(de)(de)(de)(de)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)作速度(du)快，有助于(yu)(yu)提(ti)高(gao)(gao)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)效(xiao)率(lv)，從(cong)而提(ti)高(gao)(gao)生產效(xiao)率(lv)。第(di)(di)三種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)，當目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)大(da)(da)于(yu)(yu)第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)額(e)(e)定壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)時(shi)，通過第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)和第(di)(di)二驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)配合驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)，即第(di)(di)一(yi)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)先驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)使得旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)輸出(chu)端(duan)抵接(jie)(jie)工(gong)(gong)(gong)件(jian)后，第(di)(di)二驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)施(shi)(shi)壓(ya)(ya)(ya)(ya)(ya)部(bu)再抵接(jie)(jie)旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)受壓(ya)(ya)(ya)(ya)(ya)部(bu)，并(bing)(bing)繼續驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)以(yi)使得旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)機(ji)構(gou)的(de)(de)(de)(de)輸出(chu)端(duan)對(dui)(dui)工(gong)(gong)(gong)件(jian)施(shi)(shi)加(jia)的(de)(de)(de)(de)力(li)(li)(li)達(da)到目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)，并(bing)(bing)維(wei)持目標(biao)(biao)(biao)(biao)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)值(zhi)(zhi)直(zhi)(zhi)至結束。該種(zhong)模(mo)(mo)式(shi)(shi)中(zhong)，在第(di)(di)二驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)(xi)(xi)(xi)統(tong)(tong)(tong)施(shi)(shi)加(jia)大(da)(da)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)時(shi)工(gong)(gong)(gong)件(jian)已被(bei)定位，有助于(yu)(yu)提(ti)高(gao)(gao)直(zhi)(zhi)線旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)模(mo)(mo)組(zu)末(mo)(mo)端(duan)的(de)(de)(de)(de)位置精度(du)高(gao)(gao)。三種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)能適應大(da)(da)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)和小壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)的(de)(de)(de)(de)應用(yong)(yong)場(chang)(chang)景，尤其(qi)是在大(da)(da)壓(ya)(ya)(ya)(ya)(ya)力(li)(li)(li)的(de)(de)(de)(de)應用(yong)(yong)場(chang)(chang)景中(zhong)具(ju)有兩種(zhong)驅(qu)(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)模(mo)(mo)式(shi)(shi)可(ke)以(yi)選擇(ze)，以(yi)滿足不同的(de)(de)(de)(de)使用(yong)(yong)需(xu)求。