CN109434536B - Anti-impact module, anti-impact mechanical device and anti-impact method - Google Patents
Anti-impact module, anti-impact mechanical device and anti-impact method Download PDFInfo
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- CN109434536B CN109434536B CN201811454583.XA CN201811454583A CN109434536B CN 109434536 B CN109434536 B CN 109434536B CN 201811454583 A CN201811454583 A CN 201811454583A CN 109434536 B CN109434536 B CN 109434536B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- 230000035939 shock Effects 0.000 claims description 5
- 230000000703 anti-shock Effects 0.000 claims 2
- 230000001133 acceleration Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
- B23Q5/58—Safety devices
Abstract
The application relates to the technical field of mechanical devices, and discloses an anti-impact module, an anti-impact mechanical device and an anti-impact method. The application discloses an anti-impact module which comprises a working piece, a first motor, a second motor, a first base and a second base, wherein the second motor can drive the first base, the second motor and the working piece to move; the application discloses an anti-impact device, wherein a moving module drives an anti-impact module to move on a third track; the application discloses an anti-impact method, wherein on the second displacement, a workpiece moves slowly, and when the workpiece contacts a target object, a first motor provides a force opposite to the movement direction of the workpiece for the target object, so that the impact force between the workpiece and the target object is smaller.
Description
Technical Field
The application relates to the field of mechanical devices, in particular to an anti-impact module, an anti-impact mechanical device and an anti-impact method.
Background
Linear motors are widely used in industrial production and are the first choice of many manufacturers, and are often used as equipment for providing displacement or moment, but in the prior art, the linear motor has a certain impact force in the moving process, at the moment when a workpiece on the linear motor is in contact with a target object, the impact force of the workpiece on the target object is relatively large, and if the target object is a fragile product, the impact force of the workpiece on the target object can cause a certain damage to the target object, so that the finally generated product has flaws.
Disclosure of Invention
In order to overcome the defects in the prior art, the application provides an anti-impact module, an anti-impact mechanical device and an anti-impact method, so that the impact force of a workpiece is smaller when the workpiece contacts with a target object.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides an anti-impact module, including first base, first motor, the second base, second motor and position reader, first motor contains first motor rotor and first motor stator, the second motor contains second motor stator and second electron rotor, first motor stator and first base fixed connection, first motor rotor and work piece fixed connection, the mobilizable connection of work piece is on first base, second motor stator and second base fixed connection, second motor rotor and first base fixed connection, first base mobilizable connection is on second base, when the position reader discerns to produce relative displacement between work piece and the first base, second motor drive first base stop motion, and the power that first motor rotor applyed on the work piece is opposite with the direction of motion of first base.
As an improvement to the technical scheme, the device further comprises an elastic structure, one end of the elastic structure is fixed on the first base, the other end of the elastic structure is fixed on the second base, and when the first base moves in a direction away from the second base, the elastic structure is stretched and deformed.
As a further improvement to the technical scheme, the first base comprises a first connecting plate and a first connecting block, one side, close to the first motor, of the first connecting block is fixedly connected with the first connecting plate and the first motor stator, the other side of the first connecting block is fixedly connected with the second motor rotor, the second base comprises a second connecting plate and a second connecting block, the second connecting plate is fixedly connected with the second connecting block, and the first connecting plate is movably connected to the second connecting plate.
As a further improvement to the technical scheme, the device further comprises a work piece connecting block, one end of the work piece connecting block is connected to the first motor rotor, the other end of the work piece connecting block is connected to the work piece, a first track is arranged on the side, close to the first motor, of the first connecting plate, a first sliding block is connected to one side, close to the first connecting plate, of the work piece connecting block, and the work piece can move relative to the first base through the first sliding block and the first track.
As a further improvement to the technical scheme, a second track is arranged on one side, close to the first motor, of the second connecting plate, a second sliding block is connected on one side, opposite to the second base, of the first connecting plate, and the first base can move relative to the second base through the second track and the second sliding block.
As a further improvement to the above technical solution, the second connection board is connected with a second reader, the first connection board is provided with a second grating ruler, and the second reader can identify the position of the second grating ruler.
As a further improvement to the technical scheme, the second base is provided with an inductor, the first base is provided with an origin mark, and the inductor can identify the origin mark.
The utility model provides a protection against shock mechanical device, includes the third track, removes the module protection against shock module, removes the module and is close to the third track one side and be equipped with the third slider, through the third slider, removes the module and removes along the third track, protection against shock module fixed connection is on removing the module.
As an improvement to the technical scheme, a third grating ruler is arranged on the third track, a third reader is connected to the mobile module, and the third reader can identify the third grating ruler.
An anti-impact method based on an anti-impact module comprises the following steps:
s10: driving the first base through the second motor so that the workpiece moves a first distance towards the target object, and applying force with the same direction as the movement direction of the workpiece to the workpiece through the first motor;
s20: driving the first base through the second motor on the basis of the step S10, so that the workpiece moves a second distance towards the target object until the workpiece contacts the target object, wherein the speed of the workpiece when the workpiece moves the second distance is smaller than that of the workpiece when the workpiece moves the first distance, and applying a force opposite to the movement direction of the workpiece to the workpiece through the first motor;
s30: detecting displacement between the workpiece and the first base by the position reader on the basis of the step S20, and stopping driving the second motor if the displacement is detected, wherein the first motor applies a force opposite to the movement direction of the first base to the workpiece;
s40: the work piece completes work;
s50: the second motor drives the first base to move in the direction opposite to the moving direction of the first base in the step S20 at a second distance;
s60: based on S50, the second motor drives the first base to move in a direction opposite to the moving direction of the first base in step S20 over a first distance, the speed of the workpiece when moving the second distance is smaller than the speed of the workpiece when moving the first distance,
in steps S50 and S60, a force in the same direction as the movement of the work piece is applied to the work piece by the first motor.
As an improvement to the technical scheme, a first grating ruler is arranged on the first base, a first reader is connected to the workpiece, in step S30, when the workpiece contacts with a target, relative displacement is generated between the workpiece and the first base, and when the relative displacement is recognized through the first grating ruler and the first reader, the second motor stops moving and drives the first base and the first motor stator to stop moving.
As a further improvement of the above technical solution, the first base has a second reader, the first base is connected with a second grating ruler, and the relative displacement of the first base relative to the second base can be identified through the second grating ruler and the second reader.
As a further improvement to the above technical solution, before step S10, the impact module is positioned to a corresponding station, and after step S60, the impact module is positioned to another station.
The beneficial effects of the application are as follows: when the workpiece is contacted with the target object, the workpiece and the first base which is still moving are in relative displacement, and after the position reader recognizes the relative displacement, the second motor drives the first base to stop moving.
Drawings
The application will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of an impact module according to one embodiment of the present application;
FIG. 2 is a schematic perspective view of another impact module according to one embodiment of the present application;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is a schematic perspective view of an impact mechanism according to one embodiment of the present application;
fig. 5 is a flow chart of a method of one embodiment of the present application.
Detailed Description
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, front, rear, etc. used in the present application are merely with respect to the mutual positional relationship of the respective constituent elements of the present application in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
Referring to fig. 1 to 3, fig. 1 is a perspective view of an impact module according to an embodiment of the present application, fig. 2 is another perspective view of an impact module according to an embodiment of the present application, and fig. 3 is a right side view of fig. 1, including: the anti-impact module 1, the second motor 101, the second motor stator 1011, the second motor mover 1012, the first motor 102, the first motor stator 1021, the first motor mover 1022, the work piece 103, the first rail 104, the second grid ruler 105, the first slider 106, the second reader 107, the stopper 108, the first connection block 109, the elastic structure 110, the buckle 111, the second connection block 112, the second connection plate 113, the sensor 114, the origin mark 115, the second rail 116, the second slider 117, the first reader 118, the first grid ruler 119, the work piece connection block 120, the anti-impact block 121, and the first connection plate 122.
Referring to fig. 1 to 3, the application discloses an anti-impact module 1, which comprises a first motor 102, a second motor 101 and a workpiece 103, wherein one side of a first connecting block 109 is connected with a second motor rotor 1012, the other side is connected with a first motor stator 1021, and a first motor rotor 1022 is fixedly connected with the workpiece 103 through a workpiece connecting block 120.
The first connection plate 122, the first connection block 109 constitute a first base, and the second connection plate 113 and the second connection block 112 constitute a second base.
In the moving process of the second motor rotor 1012, the first base, the first motor 102 and the workpiece 103 can be driven to move in the moving direction of the second motor rotor 1012, the first motor 102 provides the workpiece 103 with a force which is the same as or opposite to the moving direction of the second motor rotor 1012, in this embodiment, the moving direction of the second motor rotor 1012 is up and down, and then the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to move up and down, and the first motor 102 provides the workpiece 103 with an upward or downward force.
The side of the workpiece connecting block 120 adjacent to the first connecting plate 122 is connected with a first sliding block 106, the side of the first connecting plate 122 adjacent to the workpiece 103 is provided with a first track 104, the first sliding block 106 moves on the first track 104, and the workpiece can be displaced relative to the first connecting plate 122 through the first sliding block 106 and the first track 104, namely, the workpiece 103 can be displaced relative to the first base to a certain extent.
The other side of the first connecting plate 122 opposite to the first motor 102 is connected with a second slider 117, one side of the second connecting plate 113 adjacent to the workpiece 103 is provided with a second track 116, the second slider 117 moves on the second track 116, and the first motor 102, the first base and the workpiece 103 can move up and down relative to the second base under the driving of a second motor rotor 1012 through the second slider 117 and the second track 116, so that the second motor 101 can drive the first motor 102 and the workpiece 103 to displace in the moving direction of the second motor rotor 1012, and the first motor 102, the first base and the workpiece 103 can move up and down under the driving of the second motor 101 because the moving direction of the second motor stator 1012 is up and down.
The first reader 118 is connected to the first connecting plate 122, the first grating ruler 119 is connected to the working piece 103, the first reader 118 can identify the position of the first grating ruler 119, and the relative displacement of the working piece 103 relative to the first connecting plate 122 can be judged through the first grating ruler 119 and the first reader 118.
The second connecting plate 113 is connected with a second reader 107, the first connecting plate 122 is provided with a second grating ruler 105, the second reader 107 can identify the position of the second grating ruler 105, the position of the first connecting plate 122 relative to the second connecting plate 113 can be judged through the second grating ruler 105 and the second reader 107, and the relative positions of the first motor 102 and the working piece 103 relative to the second connecting plate 113 can be judged through the second grating ruler 105 and the second reader 107 because the first motor 102 and the working piece 103 are fixedly connected with the first connecting plate 122.
The first connecting block 109 and the second connecting block 112 are respectively provided with a buckle 111, an elastic structure 110 is connected between the buckle 111 on the first connecting block 109 and the buckle 111 on the second connecting block 112, as an embodiment, the elastic structure 110 can be a spring, because the direction of the movement of the anti-impact module 1 in the embodiment is up-and-down movement, in the movement process, the first base, the first motor 102 and the working piece 103 all have a certain weight, the generated gravity can enable the working piece 103 to have a larger impact force, and a certain influence can be possibly generated on a target, so that an elastic structure 110 is arranged between the first connecting block 109 and the second connecting block 112, and because the elastic structure 110 generates elastic stretching deformation in the downward movement process of the first base, the first motor 102 and the working piece 103, the movement trend of the recovery deformation can generate upward tension on the first base, and offset a part of gravity of the first base, the first motor 102 and the working piece 103.
An anti-collision block 121 is connected to one end of the second connection plate 113 adjacent to the first connection plate 122, and the anti-collision block 121 is located below the second slider 117, so that the device is prevented from being damaged due to collision with other parts when the second slider 117 suddenly moves down.
The second connecting plate 113 is provided with an inductor 114, the first connecting block 109 is connected with an origin mark 115, the inductor 114 can identify the origin mark 115, the origin mark 115 also moves upwards in the process that the second motor rotor 1012 drives the first base, the first motor 102 and the workpiece 103 to move upwards, when the inductor 114 fixedly connected to the second connecting plate 113 senses the origin mark 115, the first base, the first motor 102 and the workpiece 103 return to the initial position, and at the moment, the second motor rotor 1012 drives the first base, the first motor 102 and the workpiece 103 to stop moving.
The other end of the first connecting plate 122 opposite to the second motor 101 is connected with a limiting block 108, so that the position of the working piece connecting block 120 cannot exceed the position set by the limiting block 108, thereby limiting the limit position of the downward movement of the working piece 103 relative to the first connecting plate 122.
In combination with the above description, the working process of the anti-impact module 1 of the present application is as follows:
the first stage:
the first second motor runner 1012 starts to accelerate downward, the second rail 116 and the second slider 117 drive the first base, the first motor 102 and the workpiece 103 to accelerate downward together, since the first motor stator 1021 is fixed on the first connecting block 109, and in the state that the first motor 102 is not started, the workpiece 103 is in a state that the first slider 106 and the first rail 104 can slide automatically relative to the first connecting plate 122, when the first motor 102 accelerates downward, the workpiece 103 generates upward movement trend relative to the second motor 101, and at this time, the second motor 101 provides downward force to the workpiece 103 through the workpiece connecting block 120, so that the workpiece 103 and the first motor 102 keep relatively static, and the second motor runner 1012 moves downward at the same acceleration and speed.
And a second stage:
when the second motor mover 1012 accelerates to approach the target, it starts to become a low-speed motion, and the workpiece 103 moves downward with respect to the second motor 101, at which time the first motor 102 starts to provide an upward force to the workpiece 103, so that the workpiece 103 and the first motor 102 having a certain speed remain relatively stationary.
And a third stage:
with the second motor rotor 1012 further moving downwards at a low speed, when the workpiece 103 contacts the target, the displacement of the workpiece 103 relative to the target begins to be zero, at this time, the second motor rotor 1012 also drives the first base and the first motor stator 1021 to move downwards, when the first connecting plate 122 generates a very small relative displacement relative to the workpiece 103 through the first track 104 and the first slider 106, the first grating ruler 119 and the first reader 118 can recognize the displacement, and further control the second motor rotor 1012 to stop moving, so that the first connecting plate 122 also stops moving, and because the workpiece 103 contacts the target at a low speed, and the first motor rotor 1022 also provides an upward force for the workpiece 103 when the workpiece 103 contacts the target, the impact force of the workpiece 103 on the target is relatively small in the process of the workpiece 103 contacting the target, and the impact force can be between 0.1 n and 1 n.
In the second and third phases, the first motor 102 provides a constant amount of force to the workpiece 103.
Fourth stage:
after the workpiece 103 stops moving, the target object is operated, after the operation is finished, the second motor rotor 1012 starts to slowly move upwards and drives the first base, the first motor 102 and the workpiece 103 (possibly including the target object) to slowly move upwards together, at this time, the first motor rotor 1022 provides an upward force for the workpiece 103, so that the workpiece 103 and the first base keep relatively static, after the second motor rotor 1012 slowly moves for a period of time, starts to quickly move upwards and drives the first base, the first motor 102 and the workpiece 103 to quickly move upwards together, at this time, the first motor rotor 1022 provides an upward force for the workpiece 103, so that the workpiece 103 and the first base keep relatively static, and when an origin mark 115 on the first base is sensed by the sensor 114 in the moving process, the second motor rotor 1012 stops moving and drives the first base, the first motor 102 and the workpiece 103 to stop moving, so that a working cycle is completed.
In the process that the second motor rotor 1012 drives the first base, the first motor 102 and the workpiece 103 to move downwards, because the workpiece 103 moves at a low speed when being in contact with a target, and the first motor rotor 1022 provides an upward force for the workpiece 103 when the workpiece 103 is in contact with the target, the impact of the workpiece 103 on the target is relatively small, the impact force can be controlled between 0.1N and 1N, the target cannot be damaged due to the impact force of the workpiece 103, and meanwhile, the second motor rotor 1012 has a high-speed moving state in the processes of moving upwards and downwards, so that the time of one processing cycle is relatively short, and the working efficiency is improved.
In the present application, the workpiece 103 may be a claw, a suction nozzle, a suction cup, a mechanical arm, etc., and when the object of the operation of the workpiece 103 is to extract a target, the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to move upwards, and the target moves upwards together with the workpiece 103.
As shown in fig. 4, the present application discloses an impact-resistant mechanical device, which includes: the anti-impact module 1, the mobile module 2, the third track 3, the third grating ruler 4, the third sliding block 5 and the third reader 6.
In the device, the bottom of a movable module 2 is connected with a third sliding block 5, the movable module moves on a third track 3 through the third sliding block 5, an anti-impact module 1 is fixedly connected to the movable module 2 through a second connecting plate on the movable module, the movable module 2 can move along the extending direction of the third track 3 with the anti-impact module 1, a third grating ruler 4 is arranged on one side, close to the anti-impact module 1, of the third track 3, a third reader 6 is arranged on the movable module 2, the third reader 6 can identify the position of the third grating ruler 4, and the position, driven by the movable module 2, of the anti-impact module 1 relative to the third track 3 can be judged through the third grating ruler 4 and the third reader 6.
The device motion process is as follows, and the movable module 2 drives the anti-impact module 1 and moves along the third track 3, and when the third reading device discerns that a certain position on the third grid ruler 4 is a motion stop position, the movable module 2 stops moving, and at this moment, the second motor on the anti-impact module 1 starts to drive the first base, the first motor and the workpiece to move downwards, and enables the workpiece to start working, and when the second motor returns to the original point, the movable module 2 carries the anti-impact module 1 to continue to start moving.
The application discloses an anti-impact method, and fig. 5 is a flow chart of a method according to one embodiment of the application, and specifically illustrates the method with reference to fig. 1 to 5, comprising the following steps:
step 1: the second motor mover 1012 drives the first base, the first motor 102 and the workpiece 103 to move downward in an accelerating manner for a certain distance, and the displacement is recorded as a first distance, in this step, the second motor mover 1012 moves downward in an accelerating manner, and drives the first base, the first motor 102 and the workpiece 103 to move downward in an accelerating manner, at this moment, the first motor mover 1022 provides downward force for the workpiece 103, so that the workpiece 103 and the first base are kept relatively stationary, and because of the rapid acceleration and the rapid speed, the unit working time can be reduced.
The anti-impact module 1 is fixedly connected to the moving module 2, the moving module 2 is connected with a third sliding block 5, the moving module 2 is fixed on the third track 3 through the third sliding block 5, before the step 1, the moving module 2 can drive the anti-impact module 1 to move to a preset station on the third track 3, and when a third reading device on the moving module 2 recognizes the preset station of the third grid ruler 4 on the third track 3, the moving module 2 stops moving, and the anti-impact module 1 starts working.
Step 2: the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to move at a low speed for a distance, and the displacement is recorded as a second distance. When the second motor mover 1012 changes to a low-custom motion, the first motor mover 1022 provides an upward force to the workpiece 103, counteracting the downward motion tendency of the workpiece 103 during the acceleration of the downward motion in step 1, so that the workpiece 103 remains relatively stationary with the first pedestal.
During step 1 and step 2, the amount of force provided by the first motor-mover 1022 to the workpiece 103 is different.
Step 3: when the workpiece 103 contacts the target, the second motor 101 stops moving, and when the workpiece 103 contacts the target, the target stops moving, and because the first base and the first motor stator 1021 are driven by the second motor rotor 1012 to slowly move downwards, relative displacement can be generated between the workpiece 103 and the first base, and because the first reader 118 is connected to the workpiece 103, the first base is connected with the first grating ruler 119, and when the relative movement is identified through the first reader 118 and the first grating ruler 119, the second motor rotor 1012 stops moving, the first base and the first motor stator 1021 are driven to stop moving, and at the moment, the first motor 102 provides an upward force for the workpiece 103, and because the second motor 101 and the first base, the first motor 102 and the workpiece 103 start to slowly move downwards, and the first motor 102 provides an upward force for the workpiece 103, the impact force for the target brought by the workpiece 103 in contact with the target is very small, and can be kept at 0.1 ox, and the moment, the impact force on the workpiece 103 and the target is not damaged by the impact force on the workpiece is guaranteed to be lower than that the impact force on the target in the process.
By combining the step 2 and the step 3, in the working process of the anti-impact module 1, the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to accelerate downward movement at a first distance, so that the processing beat is accelerated, the working efficiency is improved, and at a second distance, the workpiece 103 moves slowly and the first motor 102 provides upward force for the workpiece 103, so that the impact force of the workpiece 103 on a target object is small, and the target object is prevented from being damaged.
In step 2 and step 3, the force of the first motor 102 to the work piece 103 to the arch is the same.
Step 4: the work piece 103 is completed, and after the second motor mover 1012 stops moving, the work piece 103 starts working on the target object, and in this method, the work piece 103 may be a claw, a suction cup, a suction nozzle, or a robot arm.
Step 5: the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to slowly move up over a second distance. After the workpiece 103 finishes working on the target object, the second motor 101 drives the first base, the first motor 102 and the workpiece 103 to start moving upwards slowly at a second distance, so that the workpiece 103 is ensured not to damage the target object in the process of leaving the target object, and when the workpiece 103 works on the target object in a picking-up type or transferring type, the target object is driven by the second motor 101 together with the workpiece 103 and moves upwards.
Step 6: the second motor 101 drives the first base, the first motor 102, and the workpiece 103 to rapidly move up over a first distance. When the second motor mover 1012 enters the first distance, the second motor 101 starts to move upward with the first base, the first motor 102 and the workpiece 103 (and the target object) together, so that the working time is saved and the working beat is accelerated.
In both step 5 and step 6, the first motor 102 provides an upward force to the work piece 103 such that the work piece 103 remains relatively stationary with the first base.
After step 6, when the sensor 114 on the first connecting plate 122 senses the origin mark 115 on the first base, it means that the first base, the first motor 102 and the workpiece 103 have returned to the origin position of the anti-impact device at this time, and at this time, the first motor 102 stops moving and drives the first base, the first motor 102 and the workpiece 103 to stop moving.
After this step, the moving module 2 can drive the anti-impact module 1 to move to other stations on the third rail 3, and perform the next round of work.
While the application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit of the application and that these changes and substitutions are intended in the scope of the application as defined by the appended claims.
Claims (11)
1. The utility model provides an anti-shock module, its characterized in that includes first base, first motor, second base, second motor and position reader, first motor contains first motor rotor and first motor stator, the second motor contains second motor stator and second electron rotor, first motor stator and first base fixed connection, first motor rotor and work piece fixed connection, the movable connection of work piece in on the first base, second motor stator and second base fixed connection, second motor rotor with first base fixed connection, first base movable connection in on the second base, when the position reader discerns produce relative displacement between work piece and the first base, the second motor drive first base stops the motion, just first motor rotor applys the power on the work piece with the direction of motion of first base is opposite, still includes elastic structure, the one end of elastic structure is fixed on the first base, the other end is fixed on the second base, and is equipped with the second sensor is equipped with the first sensor.
2. The anti-shock module of claim 1, wherein the first base comprises a first connection plate and a first connection block, the first connection block is fixedly connected with the first connection plate and the first motor stator adjacent to one side of the first motor, the other side of the first connection block is fixedly connected with the second motor rotor, the second base comprises a second connection plate and a second connection block, the second connection plate is fixedly connected with the second connection block, and the first connection plate is movably connected to the second connection plate.
3. The impact module of claim 2, further comprising a work piece connection block, wherein one end of the work piece connection block is connected to the first motor rotor, the other end is connected to the work piece, a first rail is provided on a side of the first connection block adjacent to the first motor, a first slider is connected to a side of the work piece connection block adjacent to the first connection block, and the work piece is movable relative to the first base through the first slider and the first rail.
4. The impact module of claim 2, wherein a second rail is disposed on a side of the second connection plate adjacent to the first motor, a second slider is connected to a side of the first connection plate opposite to the second base, and the first base is movable relative to the second base through the second rail and the second slider.
5. The impact module of claim 2, wherein the second connection plate is connected with a second reader, the first connection plate is provided with a second grating ruler, and the second reader can identify the position of the second grating ruler.
6. An anti-impact mechanical device, comprising a third rail, a moving module and an anti-impact module according to any one of claims 1-5, wherein a third sliding block is arranged on one side, adjacent to the third rail, of the moving module, the moving module moves along the third rail through the third sliding block, and the anti-impact module is fixedly connected to the moving module.
7. The impact protection mechanism of claim 6, wherein a third grating ruler is disposed on the third track, and a third reader is connected to the mobile module, and the third reader can identify the third grating ruler.
8. A method of protecting against shock based on the shock module of any one of claims 1 to 5, comprising the steps of:
s10: driving the first base through the second motor so that the workpiece moves a first distance towards the target object, and applying force with the same direction as the movement direction of the workpiece to the workpiece through the first motor;
s20: driving the first base through the second motor on the basis of the step S10, so that the workpiece moves a second distance towards a target object until the workpiece contacts the target object, wherein the speed of the workpiece when the second distance is moved is smaller than that of the workpiece when the first distance is moved, and applying a force opposite to the movement direction of the workpiece to the workpiece through the first motor;
s30: detecting displacement between the workpiece and the first base by a position reader on the basis of step S20, and stopping driving the second motor if displacement is detected, wherein the first motor applies a force to the workpiece in a direction opposite to the movement direction of the first base;
s40: the work piece completes work;
s50: the second motor drives the first base to move in the direction opposite to the moving direction of the first base in the step S20 on the second distance;
s60: on the basis of the step S50, the second motor drives the first base to move in the direction opposite to the moving direction of the first base in the step S20 on the first distance, and the speed of the workpiece when moving the second distance is smaller than the speed of the workpiece when moving the first distance;
in steps S50 and S60, a force in the same direction as the movement of the work piece is applied to the work piece by the first motor.
9. The impact protection method according to claim 8, wherein a first grating ruler is provided on the first base, a first reader is connected to the workpiece, and in the step S30, when the workpiece contacts the target, a relative displacement is generated between the workpiece and the first base, and when the relative displacement is recognized by the first grating ruler and the first reader, the second motor stops moving, and the first base and the first motor stator are also driven to stop moving.
10. The impact protection method of claim 8, wherein the first base has a second reader, the first base has a second grating, and the relative displacement of the first base with respect to the second base is identifiable by the second grating and the second reader.
11. The impact protection method according to claim 8, wherein the impact protection module is positioned to a corresponding station before step S10, and the impact protection module is positioned to another station after step S60.
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