CN219448477U - Modularized movement device - Google Patents

Abstract

The utility model discloses a modularized movement device which is characterized by comprising a shell, a linear driving part, a rotary driving part, a connecting piece, a movement piece and an air passage system, wherein the linear driving part, the rotary driving part, the connecting piece, the movement piece and the air passage system are arranged in the shell; the linear driving part is connected with the moving part through a connecting piece, the connecting piece is sleeved on the moving part, one end of the moving part is fixedly connected with the output end of the rotary driving part, and the other end of the moving part penetrates through the shell and extends out of the shell; the air passage system comprises a moving part air passage, a connecting part air passage, a fixed air passage, a hose and a shell air hole which are sequentially connected in a sealing mode from end to end, and the moving part is connected with the air supply part through the passage system. The device has the characteristics of convenient assembly, high integration level, flexible and controllable pickup and high precision. The air flue system is compact in structure, the space in the shell is utilized separately, the flexible pipe is short in wiring, the flexible pipe is effectively prevented from moving, winding or interfering with other parts, and the flexible flat cable is arranged vertically, so that abrasion can be effectively avoided.

Description

Modularized movement device

Technical Field

The utility model relates to the field of mobile clamping devices, in particular to a modularized movement device.

Background

In the industrial automation field, the application of modularization motion device is very extensive, and modularization motion device can output rectilinear motion and rotary motion simultaneously, can also be used for the group fortune of material through the mode that sets up negative pressure gas circuit in the moving part, can satisfy multiple industry demand.

The pipeline system of the existing modularized movement device is led out from the side part of the connecting piece, penetrates through the shell and is communicated with an external air channel, the air channel hose is exposed outside, the occupied space is large, and the winding and other parts are easy to interfere to cause faults.

Therefore, in combination with the above-mentioned technical problems, it is necessary to provide a new technical solution.

Disclosure of Invention

The utility model provides a modularized movement device which at least solves one of the technical problems in the prior art and has the characteristics of convenience in assembly, high integration level, flexibility and controllability in pickup and high precision. The specific technical scheme is as follows:

the modularized movement device is characterized by comprising a shell, and a linear driving part, a rotary driving part, a connecting piece, a movement piece and an air passage system which are arranged in the shell; the linear driving part is connected with the moving part through a connecting piece, the connecting piece is sleeved on the moving part, one end of the moving part is fixedly connected with the output end of the rotary driving part, and the other end of the moving part penetrates through the shell and extends out of the shell;

the air passage system comprises a moving part air passage, a connecting part air passage, a fixed air passage, a hose and a shell air hole which are sequentially connected in a sealing mode from end to end, and the moving part is connected with the air supply part through the passage system.

As a preferable scheme of the modularized movement device, the modularized movement device further comprises a linear rotation shaft sleeve, wherein a through hole is formed in the shell, the linear rotation shaft sleeve is arranged on the through hole, and the other end of the movement piece penetrates through the linear rotation shaft sleeve and extends out of the shell.

As a preferable scheme of the modularized movement device, the air passage system comprises a movement piece air passage, a connecting piece air passage, a fixed air passage, a hose and a shell air hole which are sequentially connected in a sealing way from end to end;

the moving part is provided with a first air passage with one end open along the axis direction, the opening of the first air passage faces to the direction away from the rotary driving part, the moving part is also provided with a second air passage and an annular air groove along the cross section direction, when the moving part is sleeved on the connecting part, the annular air groove and the connecting part form an annular air passage in a surrounding way, the first air passage, the second air passage and the annular air passage are sequentially communicated, and the first air passage, the second air passage and the annular air passage form the air passage of the moving part;

the connecting piece is provided with a connecting piece air passage, the fixing piece is provided with a through fixing air passage, and the shell is provided with a through shell air hole.

As a preferable mode of the modular exercise device of the present utility model, the fixing member is located at a side of the rotation driving part away from the housing; and/or

One end of the fixed air passage far away from the connecting piece is close to one end of the rotary driving part far away from the connecting piece; and/or

The two sides of the annular air passage are provided with sealing rings, and the moving part is arranged on the connecting part in a sealing way through the sealing rings.

As a preferable scheme of the modularized movement device, one end of the fixed air passage, which is close to the connecting piece, is provided with a pressure sensor.

As a preferable scheme of the modularized movement device, an anti-collision block is arranged on one side of the side wall of the shell, which is close to the connecting piece, and the anti-collision block corresponds to the connecting piece; and/or

An elastic piece is arranged in the shell, one end of the elastic piece is fixedly connected with the connecting piece, the other end of the elastic piece is fixed in the shell, and the elastic piece is configured to enable the connecting piece to move back to the initial position when power is off. As a preferable scheme of the modularized movement device, the other end of the fixed air passage is fixedly provided with a first air nozzle, and one end of a hose is in sealing connection with the other end of the fixed air passage through the first air nozzle; and/or

And a second air nozzle is fixedly arranged on one side of the shell air hole, which is close to the inner wall, and the other end of the hose is in sealing connection with the shell air hole through the second air nozzle.

As a preferred scheme of the modularized movement device, the modularized movement device further comprises a control assembly, wherein the control assembly comprises a first PCB, a second PCB, a third PCB and a connector;

the linear driving part is connected with the first PCB through a wire, the first PCB is connected with the second PCB, the rotary driving part is connected with the second PCB through a cable, the second PCB is connected with the third PCB, the third PCB is connected with the connector, and the control assembly is used for transmitting electric signals and control signals.

As a preferable scheme of the modularized movement device, the second PCB is connected with the third PCB through a flexible flat cable, and the flexible flat cable is arranged vertically to the bottom of the shell along the width direction.

As a preferable scheme of the modularized movement device, one end of the second PCB, which is close to the fixing piece, is provided with a strip hole, and the hose penetrates through the strip hole to be connected with the air hole of the shell.

Compared with the prior art, the technical scheme of the patent has at least one or more of the following beneficial effects:

the device has the advantages that the structural components are arranged in a modularized mode, the assembly is convenient, and the device is particularly important for the miniaturized movement device because of the small internal space and the convenient assembly. Compact structure, high precision, and flexible and controllable picking up of workpieces.

The linear driving part and the rotary driving part are simultaneously arranged and act on the moving part together and drive the moving part to move in the moving direction and the rotating direction so as to facilitate the moving part to move in a plurality of directions.

The air passage system is compact in structure, the air passage system fully utilizes the space in the shell, the air passage system occupies small space, the flexible pipe is short in wiring, the flexible pipe is effectively prevented from moving, winding or interfering with other parts, and the use and measurement accuracy of the device are improved.

And a vacuum pressure sensor is arranged, the adsorption condition of the adsorbed piece is judged by monitoring the pressure change of the air passage system, and the air passage system is controlled to further control the working state of the moving piece.

The linear driving part can control the movement direction of the connecting piece through the guide rail sliding block mechanism, the guide rail is arranged close to the moving piece, the movement smoothness and the accuracy of the connecting piece can be guaranteed, the connecting piece is prevented from shifting in the movement process, and meanwhile the rotation accuracy of the moving piece is guaranteed.

The soft flat cable is arranged vertically along the width direction, so that the soft flat cable can be effectively prevented from rubbing against the inner surface of the shell to abrade the circuit on the soft flat cable when moving along with the connecting piece, and the service life of the soft flat cable is effectively prolonged. The third PCB, the second PCB, the first PCB, the flexible flat cable and the first detection end are arranged in a layout manner, so that the space in the shell is fully utilized, and the size of the movement device is further reduced; in addition, the use of FPC flexible board is reduced to reduce the disability rate. The second PCB is provided with a strip hole for penetrating through the hose, and meanwhile limiting the hose, so that the hose is prevented from moving, winding or interfering with other parts, and the precision of the moving part is further affected.

The first detection structure has higher detection precision and sensitivity, and can accurately control the stroke and the position of the linear driving component in real time. In this application embodiment, first detection end 13 can be the magnetic grating, and second detection end 711 is the magnetic encoder reading head, and straight line drive part reciprocating frequency is extremely fast, and has accurate dynamics control feedback, and cooperation magnetic encoder reading head and magnetic grating can accomplish accurate stroke position control to can be accurate get put the material, and can be used to various dynamics detection, distance detection, position accuracy detection etc. like touch-sensitive screen detection, button detection, size measurement etc..

The magnetic grid is fixed in the casing in the first detection structure, and the magnetic encoder reading head sets up on first PCB board and moves along with the connecting piece, space and wiring optimization in the make full use of casing for the structure of motion device becomes simpler, and stability is higher, and manufacturing cost price is lower, and equipment and maintenance are more convenient.

And if the moving device is vertically arranged, when the linear driving part is powered off, the connecting part can downwards move due to self gravity, and the elastic part applies upward force to the connecting part, such as elastic tension of a tension spring or constant lifting force of a magnetic spring, so that the resetting of the connecting part is conveniently realized, and meanwhile, during normal operation, the load of the linear driving part is also lightened by the elastic part, and the service life of the linear driving part is prolonged.

The first air nozzle and the second air nozzle are arranged, so that the hose is more stable to install, and the movement of the hose is further reduced.

And an anti-collision block is arranged, so that the connecting piece is conveniently subjected to anti-collision protection, and particularly, the protection of the linear driving part during power failure is facilitated.

The wiring mouth of connector sets up for the U-shaped groove, can make connector, cable and all PCB boards integral erection and dismantlement, simple to operate is swift, need not split control assembly for the stability of product is good.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

In order to more clearly illustrate the technical solutions of the present utility model, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a modular exercise apparatus according to the present utility model;

FIG. 2 is a schematic view of an exploded construction of one embodiment of a modular exercise device according to the present utility model, with a cover plate not shown;

FIG. 3 is a schematic view of an exploded view of one embodiment of a modular exercise device according to the present utility model;

FIG. 4 is a schematic cross-sectional view of one embodiment of a modular exercise device according to the present utility model;

FIG. 5 is a schematic exploded view of the connector of FIG. 2;

FIG. 6 is a schematic cross-sectional view of the connection of FIG. 5;

FIG. 7 is a schematic perspective view of a moving member according to the present utility model;

fig. 8 is a schematic view of the internal structure of another embodiment of the modular exercise device according to the present utility model.

The device comprises a 1-shell, a 2-linear driving part, a 3-rotary driving part, a 4-connecting part, a 5-moving part, a 6-fixed part, a 7-control component, an 8-hose, a 9-second detection structure, a 101-shell body, a 102-cover plate, a 104-wiring port, a 105-mounting seat, a 106-limiting seat, a 107-stopping seat, a 11-shell air hole, a 12-through hole, a 13-first detection end, a 14-tension spring, a 140-magnetic spring, a 1401-spring stator, a 1402-spring rotor, a 15-anti-collision block, a 16-linear rotary shaft sleeve, a 17-guide rail, a 201-stator, a 202-rotor, a 401-connecting part, a 402-mounting part, a 403-limiting surface, a 41-connecting part air passage, a 42-first connecting part air passage, a 43-second connecting part air passage, a 44-third connecting part passage, a 45-hollow cavity, a 46-slider, a 51-first air passage, a 52-second air passage, a 53-annular air sensor, a 54-annular air groove, a 55-sealing groove, a 61-fixed air passage, a 62-pressure plate, a 71-first air nozzle, a 71-second air nozzle, a 72-second air nozzle, a 75-third air nozzle, a strip-72, a strip-shaped air nozzle, a second wire, a PCB, a strip-shaped air nozzle, a 75, a main body, a PCB and a main body, an air nozzle, and a main bodies.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, unless explicitly stated or limited otherwise, the terms "provided with," "connected," "mounted," "sleeved," "opened," "secured," etc. should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Referring to fig. 1-7, as shown in fig. 1-7, the present embodiment provides a modularized exercise device, which includes a housing 1, and a linear driving component 2, a rotary driving component 3, a connecting component 4, an exercise component 5 and an air channel system which are disposed in the housing; the linear driving part 2 is connected with the moving part 5 through the connecting part 4, the connecting part 4 is sleeved on the moving part 5, one end of the moving part 5 is fixedly connected with the output end of the rotary driving part 3, and the other end of the moving part 5 penetrates through the shell 1 and extends out of the shell 1; the air passage system comprises a moving part air passage, a connecting part air passage, a fixed air passage 61, a hose and a shell air hole 11 which are sequentially connected in a sealing mode from end to end, and the moving part 5 is connected with an air supply part through a passage system.

As shown in fig. 4, the connecting piece 4 may be integrally or separately designed. Preferably, in order to save processing materials, in this embodiment, the connecting piece 4 is configured in a split manner, and the connecting piece 4 includes a connecting portion 401 and a mounting portion 402 fixedly connected to the connecting portion 401 along an axis direction, the moving member is sleeved in the connecting portion 401, and the mounting portion is located at a side of the connecting portion away from the moving member. Preferably, as shown in fig. 3-4, the side wall of the housing 1 is provided with an anti-collision block 15, the anti-collision block 15 is located on one side of the connecting piece 4 away from the rotary driving part, the anti-collision block 15 corresponds to the connecting piece 4, and the anti-collision block is used for anti-collision protection of the connecting piece, especially protection when the linear driving part is powered off.

In a preferred embodiment, as shown in fig. 2-4, the device further comprises a linear rotation shaft sleeve 16, the housing 1 is provided with a through hole 12, the linear rotation shaft sleeve 16 is mounted on the through hole 12, and the other end of the moving member 5 passes through the linear rotation shaft sleeve 16 and protrudes out of the housing 1. The linear rotation sleeve can further improve the precision of the moving element in linear and/or rotary motion. The linear driving part and the rotary driving part act on the moving part together and drive the moving part to move in the moving direction and the rotating direction so as to facilitate the moving part to move in a plurality of directions.

In a preferred embodiment, as shown in fig. 2-7, the air passage system comprises a moving part air passage, a connecting part air passage, a fixed air passage 61, a hose and a shell air hole 11 which are connected in a sealing mode from end to end; the moving part 5 is provided with a first air passage 51 with one end open along the axial direction, the opening of the first air passage 51 faces the direction away from the rotary driving part 3, the axial direction of the first air passage 51 is consistent with the axial direction of the moving part 5, the moving part 5 is provided with a second air passage 52 and an annular air groove 54 along the cross section direction, the connecting part is provided with a hollow cavity 45, in the example, the hollow cavity is provided with a connecting part 401, the moving part is sleeved in the hollow cavity 45, and the moving part can rotate in the hollow cavity. When the moving part is sleeved in the hollow cavity, the annular air groove and the inner wall of the hollow cavity are surrounded to form an annular air passage 53. The second air passage 52 corresponds to the annular air passage 53, the first air passage 51, the second air passage 52 and the annular air passage 53 are sequentially communicated, one end of the second air passage 52 is communicated with the first air passage 51, the other end of the second air passage 52 is communicated with the annular air groove 531, and the first air passage 51, the second air passage 52 and the annular air passage 53 form a moving part air passage. In the example, seal grooves 55 are disposed on two sides of the annular air groove 54, and seal rings are disposed in the seal grooves and are sealed between the moving member and the inner wall of the hollow cavity, so that gas in the annular air passage is prevented from leaking from between the moving member and the mounting frame. The sealing ring plays a sealing role, and gas leakage in the annular air passage is avoided when the moving part rotates.

As shown in fig. 4-6, the connection part of the connection member 4 is provided with a connection member air passage 41, one end of the connection member air passage 41 is communicated with an annular air passage 53, and the other end of the connection member air passage extends to the surface of the connection part. Still be provided with mounting 6 and hose in the casing, preferably, mounting 6 is located the one side that the casing was kept away from to rotary drive part 3, has seted up the fixed air flue 61 that link up on the mounting 6, has seted up the casing gas pocket 11 that link up on the casing 1, and the one end of fixed air flue 61 and the other end sealing connection of connecting piece air flue 41, the other end sealing connection of fixed air flue 61 and the one end sealing connection of hose 8, the other end sealing connection of hose is on casing gas pocket 11. In an example, for convenience of processing, the connector air channel 41 includes a first connector air channel 42 and a second connector air channel 43, one end of the first connector air channel 42 is communicated with the annular air channel, the other end of the first connector air channel 42 is communicated with the second connector air channel 43, and the second connector air channel 43 extends to the surface of the connector 4. Meanwhile, for the feasibility of the process operation, the third connector channel 44 is further included, the third connector channel 44 corresponds to the first connector air channel 42, when the hole is opened, the hole is punched from the third connector channel 44 until the hole extends to the first connector air channel 42, in the example, the third connector channel 44 and the first connector air channel 42 are respectively located at two sides of the hollow cavity 45, and after the first connector air channel 42 is processed, the third connector channel 44 is plugged by using a plug to prevent gas leakage in an air channel system. Preferably, the fixed air passage 61 is a metal air passage, however, the present utility model is not limited thereto, and the fixed air passage may be any air passage made of a hard material, such as metal, alloy, metal oxide or stainless steel. Preferably, the end of the fixing member 6 remote from the connecting member 4 is close to the end of the rotation driving part 3 remote from the connecting member 4. The arrangement of the air passage system fully utilizes the space in the shell, the air passage system occupies small space, the flexible pipe is short in wiring, the flexible pipe is effectively prevented from moving, winding or interfering with other parts, and the use and measurement accuracy of the device are improved.

Preferably, as shown in fig. 3-4, a first air nozzle 81 is installed at one end of the fixed air channel 61 close to the hose, and one end of the hose is connected with the fixed air channel 61 in a sealing way through the first air nozzle 81; a second air tap 82 is fixedly arranged on one side of the shell air hole 11 close to the inner wall, and the other end of the hose is in sealing connection with the shell air hole 11 through the second air tap 82. The first air nozzle and the second air nozzle are arranged, so that the hose is more stable to install, and the movement of the hose is further reduced.

Preferably, as shown in fig. 2-4, the end of the fixed air channel 61 away from the connecting portion 401 is provided with a pressure sensor 62. And a vacuum pressure sensor is arranged, the adsorption condition of the adsorbed piece is judged by monitoring the pressure change of the air passage system, and the air passage system is controlled to further control the working state of the moving piece.

A guide rail sliding structure is also provided in the housing, and as shown in fig. 2-5, a slider 46 is provided on the connection portion of the connection member 4. The guide rail 17 is fixedly arranged in the shell, the sliding block 46 is arranged on the guide rail 17, and the sliding block can slide along the guide rail. The linear driving part can control the movement direction of the connecting piece through the guide rail sliding block mechanism, the guide rail is arranged close to the moving piece, the movement smoothness and the accuracy of the connecting piece can be guaranteed, the connecting piece is prevented from shifting in the movement process, and meanwhile the rotation accuracy of the moving piece is guaranteed.

When the mover 202 in the linear motor receives the movement of the electric signal, the link member can only slide along the axial direction of the guide rail, so that the mover can only move along the axial direction of the guide rail. Preferably, the cable of the stator is fixed on the first PCB board. And a connecting piece is arranged for supporting the linear motion of the rotor.

The linear driving part 2 is connected with the connecting piece 4, a moving piece 5 is fixedly arranged at the output end of the rotary driving part 2, and the moving piece 5 penetrates through the connecting part and extends out of the shell. The linear driving member 2 is configured to be capable of driving the link 4, the mover 5, and the rotary driving member 2 to linearly move together in the mover axis direction. The rotary driving part 2 is fixedly arranged on one side of the connecting part 401 far away from the shell 1, the moving part 4 is fixedly arranged at the output end of the rotary driving part 2, and the rotary driving part 2 can drive the moving part 5 to rotate. In the example, the linear driving component 2 is a linear motor, the linear motor comprises a stator 201 and a rotor 202, the stator 201 is fixedly installed in the shell, the rotor 202 is arranged on one side of the linear motor, which is close to the moving part 5, and the connecting part of the connecting part is fixedly connected with the rotor 202. In the example, the rotary driving part 2 is fixedly mounted on the connection part 401 by a flange.

Still include first detection structure, as shown in fig. 2-4, first detection structure includes first detection end 13 and second detection end 711, and first detection end 13 is fixed to be set up in the casing, and second detection end and connecting piece fixed connection, first detection end 13 and second detection end 711 are corresponding, and second detection end 711 can follow the removal of connecting piece and remove, and first detection end 13 and second detection end 711 mutually support in order to obtain the amount of movement of connecting piece 4. The first detection structure has higher detection precision and sensitivity, and can accurately control the stroke and the position of the linear driving component in real time. In this application embodiment, first detection end 13 can be the magnetic grating, and second detection end 711 is the magnetic encoder reading head, and straight line drive part reciprocating frequency is extremely fast, and has accurate dynamics control feedback, and cooperation magnetic encoder reading head and magnetic grating can accomplish accurate stroke position control to can be accurate get put the material, and can be used to various dynamics detection, distance detection, position accuracy detection etc. like touch-sensitive screen detection, button detection, size measurement etc.. In the example, the casing internal fixation is provided with mount pad 105, and first detection end is fixed to be set up on mount pad 105, and the second detection end is fixed to be set up on first PCB board, and first PCB board is fixed to be set up on the connecting piece. The mover 202 moves, the connector 4 fixedly connected with the mover 202 moves synchronously, and the magnetic encoder reading head can detect the movement displacement of the connector 4, and then the movement displacement of the mover 202. The magnetic grating is fixed in the casing, and the magnetic encoder reading head sets up on first PCB board and moves along with the connecting piece, and space and wiring in the make full use of casing are optimized for the structure of motion device becomes simpler, and stability is higher, and manufacturing cost price is lower, and equipment and maintenance are more convenient.

Preferably, the device further comprises an elastic piece, one end of the elastic piece is fixedly connected with the connecting piece, the other end of the elastic piece is fixed in the shell, and the elastic piece is configured to enable the connecting piece to move back to the initial position when power is off. Setting the position of the moving part as the initial position when the mover of the linear driving part moves to one side far away from the shell; when the mover of the linear driving member is set to move to a side close to the housing, the position of the moving portion is set to an extended position. In one embodiment, as shown in fig. 2, the elastic member is a tension spring 14, a limiting seat 106 is disposed in the housing 1, one end of the tension spring 14 is fixedly connected to the connecting portion 401 of the connecting member 4, and the other end of the tension spring 14 is fixedly connected to the limiting seat 106. If the movement device is vertically arranged, when the linear driving part is powered off, the connecting piece 4 can move downwards due to self gravity, and the tension spring 14 applies upward elastic tension to the connecting piece 4 so as to realize resetting of the connecting piece 4 to an initial position, and meanwhile, during normal operation, the tension spring 14 also lightens the load of the linear driving part 2, and the service life of the linear driving part is prolonged. Of course, the present patent is not limited thereto, but may be a compression spring, an elastic material, a magnetic material, or the like. In another embodiment, as shown in fig. 8, the elastic member is a magnetic spring 140, the magnetic spring 140 includes a spring stator 1401 and a spring mover 1402, the spring stator 1401 is fixedly installed in the housing, the spring stator 1401 is located at a side of a connecting portion of the connecting member away from the linear driving component, the spring mover 1402 is sleeved on the spring stator 1401, the spring mover 1402 can slide on the spring stator 1401, the spring mover 1402 is fixedly connected with the connecting portion 401, if the device is vertically installed and used, when the linear driving component is powered off, the connecting member 4 moves to the extended position due to self gravity, at this time, the spring mover 1402 is subjected to magnetic attraction force towards the initial position, and the connecting portion fixed with the spring mover 1402 moves back to the initial position. The magnetic spring 140 can return the connecting piece and the moving piece fixedly connected with the connecting piece to the initial position when the power is off. In an example, the spring stator 1401 is secured within the housing by a support flange.

Preferably, a limiting mechanism is further provided, a stop seat 107 is fixedly arranged in the shell, a limiting surface 403 is arranged on the mounting part 402 of the opposite-type connecting piece 4, the limiting surface is arranged on one side, close to the rotary driving part, of the opposite-type connecting piece 4, and after the moving piece resets or rebounds and resets, the limiting surface 403 is in contact with the stop seat 107.

Preferably, the end of the rotary drive member 2 remote from the connection is provided with a second detection arrangement 9, as shown in figures 2-4, which is capable of detecting the angle of rotation of the rotary drive member. Preferably, the second detecting structure is an encoder, such as a magnetic encoder, an optical encoder, etc., although the present utility model is not limited thereto.

And a control assembly 7, as shown in fig. 2-4, wherein the control assembly comprises a first PCB board 71, a second PCB board 72, a third PCB board 73 and a connector 74, and is capable of transmitting electric signals and control signals of the linear driving part 2, the rotary driving part 3, and the first detection structure and the second detection structure. As shown in fig. 5-6; the linear driving part 2 is connected with the first PCB 71 through a wire, the second detection end is fixedly connected with the first PCB 71, the first PCB 71 can obtain a moving distance signal of a moving part or a rotor through a first detection structure, the first PCB 71 is connected with the second PCB 72, the rotary driving part 3 and the second detection structure are both connected with the second PCB 72 through cables, the second PCB 72 is connected with the third PCB 73, the third PCB 73 is connected with a connector 74, an external controller can be connected to the connector, and a control assembly is used for transmitting electric signals and control signals. The housing 1 is provided with a wiring opening 104 to which the connector 74 is mounted. Preferably, the wiring mouth is U type groove, and the U type groove can make connector, cable and all PCB board integral erection and dismantlement, simple to operate is swift, need not split control assembly for the stability of product is good.

Preferably, the second PCB 72 is connected to the third PCB 73 through a flexible flat cable 75, and the flexible flat cable 75 is disposed perpendicular to the bottom of the case in the width direction. The flexible flat cable 75 is arranged vertically to the bottom of the shell along the width direction, so that the abrasion of the flexible flat cable caused by friction with the inner surface of the shell when the flexible flat cable moves along with the connecting piece can be effectively avoided, and the service life of the flexible flat cable is effectively prolonged.

In an example, the first PCB 71 is fixedly disposed on the mounting portion 401 of the connector 4, the linear driving component 2 is located on a side of the mounting portion 401 away from the rotary driving component 3, an axial direction of the first PCB 71 is consistent with an axial direction of the connector 4, and a second detection end on the first PCB 71 corresponds to the first detection end. The second PCB 72 is fixedly disposed on the mounting portion of the connecting member 4, and the second PCB 72 and the first PCB 71 can both follow the connecting member 4 to perform linear motion, where the mounting portion of the second PCB 72 is far away from one side of the linear driving member 2. The second PCB board 72 is connected to the third PCB board 73 through a flexible flat cable 75. The third PCB, the second PCB, the first PCB, the flexible flat cable and the first detection end are arranged in a layout manner, so that the space in the shell is fully utilized, and the size of the movement device is further reduced; in addition, the use of FPC flexible board is reduced to reduce the disability rate.

Preferably, an elongated hole 721 is formed at one end of the second PCB 72 near the fixing member, and the hose is connected to the housing air hole 11 through the elongated hole 721. Further preferably, the elongated hole is an oval hole, and an axial direction of the elongated hole is consistent with an axial direction of the second PCB 71. The second PCB is provided with a strip hole for penetrating through the hose, and meanwhile limiting the hose, so that the hose is prevented from moving, winding or interfering with other parts, and the precision of the moving part is further affected.

The working principle of the control component is as follows:

the electrical signal of the linear driving part is transmitted to the first PCB 71 through the cable, the first PCB 71 acquires the moving distance signal of the magnetic encoder reading head, then the moving distance signal of the magnetic encoder reading head on the first PCB 71 and the electrical signal of the linear driving part are transmitted to the second PCB 72, the electrical signal of the rotary driving part and the electrical signal of the second detecting structure are transmitted to the second PCB 72, and all the signals on the second PCB 72, including the moving distance signal of the magnetic encoder reading head, the electrical signal of the linear driving part, the electrical signal of the rotary driving part and the electrical signal of the second detecting structure, are transmitted to the third PCB 73, and then transmitted to the external controller through the connector.

In the example, as shown in fig. 2-3, the housing 1 is of a split design, the housing 1 includes a housing body 101 and a cover plate 102, where the linear driving component 2, the rotary driving component 3, the connecting component 4 and the moving component 5 are all disposed in the housing body 101, and the cover plate 102 covers the housing body 101. In the example, the through hole and the wiring port are both formed on the housing body 101, and the through hole 13 and the wiring port 104 are oppositely disposed on two side walls of the housing body 101.

In the description of the present specification, a description of the terms "one embodiment," "some embodiments," "yet another embodiment," "other embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art may combine and combine the different embodiments or examples described in this specification.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications and alternatives to the above embodiments may be made by those skilled in the art within the scope of the utility model.

Claims (9)

1. The modularized movement device is characterized by comprising a shell (1), a linear driving part (2), a rotary driving part (3), a connecting piece (4), a movement piece (5) and an air passage system, wherein the linear driving part (2), the rotary driving part (3), the connecting piece (4) and the air passage system are arranged in the shell; the linear driving part (2) is connected with the moving part (5) through the connecting piece (4), the connecting piece (4) is sleeved on the moving part (5), one end of the moving part (5) is fixedly connected with the output end of the rotary driving part (3), and the other end of the moving part (5) penetrates through the shell (1) and stretches out of the shell (1);

the air passage system comprises a moving part air passage, a connecting part air passage, a fixed air passage (61), a hose and a shell air hole (11) which are sequentially connected in a sealing mode from end to end, and the moving part (5) is connected with the air supply part through the passage system;

the other end of the fixed air passage is fixedly provided with a first air nozzle (81), and one end of the hose is in sealing connection with the other end of the fixed air passage through the first air nozzle (81); and/or

A second air nozzle (82) is fixedly arranged on one side, close to the inner wall, of the shell air hole, and the other end of the hose is in sealing connection with the shell air hole through the second air nozzle (82).

2. The movement device according to claim 1, further comprising a linear rotation shaft sleeve (16), wherein the housing (1) is provided with a through hole (12), the linear rotation shaft sleeve (16) is mounted on the through hole (12), and the other end of the movement member (5) extends out of the housing (1) through the linear rotation shaft sleeve (16).

3. The exercise apparatus of claim 1 wherein the air passage system comprises an exercise piece air passage, a connector air passage (41), a fixed air passage (61), a hose and a housing air vent (11) in sealing connection end to end in this order;

the moving part (5) is provided with a first air passage (51) with one end open along the axial direction, the opening of the first air passage (51) faces away from the direction of the rotary driving part (3), the moving part (5) is also provided with a second air passage (52) and an annular air groove along the cross section direction, when the moving part (5) is sleeved on the connecting piece, the annular air groove and the connecting piece are surrounded to form an annular air passage (53), the first air passage (51), the second air passage (52) and the annular air passage (53) are sequentially communicated, and the first air passage (51), the second air passage (52) and the annular air passage (53) form the moving part air passage;

the connecting piece (4) is provided with a connecting piece air passage (41), the fixing piece (6) is provided with a through fixing air passage (61), and the shell (1) is provided with a through shell air hole (11).

4. A movement device according to claim 3, characterized in that the fixing means are located on the side of the rotary drive member (3) remote from the housing; and/or

One end of the fixed air passage (61) far away from the connecting piece (4) is close to one end of the rotary driving part (3) far away from the connecting piece (4); and/or

The two sides of the annular air passage are provided with sealing rings, and the moving part (5) is arranged on the connecting part (4) in a sealing way through the sealing rings.

5. A sports device according to claim 3 or 4, characterized in that the end of the fixed air channel (61) near the connection piece is provided with a pressure sensor (62).

6. The movement device according to claim 1, characterized in that an anti-collision block (15) is arranged on one side of the side wall of the housing (1) close to the connecting piece (4), the anti-collision block (15) corresponding to the connecting piece (4); and/or

An elastic piece is arranged in the shell, one end of the elastic piece is fixedly connected with the connecting piece, the other end of the elastic piece is fixed in the shell, and the elastic piece is configured to enable the connecting piece to move back to the initial position when power is off.

7. The exercise apparatus of claim 1 further comprising a control assembly comprising a first PCB board (71), a second PCB board (72), a third PCB board (73), and a connector (74);

the linear driving part (2) is connected with the first PCB (71) through a wire, the first PCB (71) is connected with the second PCB (72), the rotary driving part (3) is connected with the second PCB (72) through a cable, the second PCB (72) is connected with the third PCB (73), the third PCB (73) is connected with the connector (74), and the control assembly is used for transmitting electric signals and control signals.

8. The movement device according to claim 1, characterized in that the second PCB board (72) and the third PCB board (73) are connected by a flexible flat cable (75), the flexible flat cable (75) being arranged perpendicular to the bottom of the housing in the width direction.

9. The exercise device of claim 7, wherein an elongated hole (721) is formed in an end of the second PCB (72) adjacent to the fixing member, and the hose is connected to the housing air hole (11) through the elongated hole (721).