CN220874395U - Embedded double-station Z-axis linear motor module - Google Patents

Abstract

The utility model discloses an embedded double-station Z-axis linear motor module, and belongs to the field of linear motors. Including base, first slip platen, second slip platen, slide mechanism, first slip platen and the relative setting about the second slip platen are provided with first linear motor active cell and second linear motor active cell in the base, are provided with first magnetic track in the first slip platen, are provided with the second magnetic track in the second slip platen, and first magnetic track is relative with first linear motor active cell, and second magnetic track is relative with second linear motor active cell, slide mechanism embeds in the base, and first slip platen, second slip platen all pass through slide mechanism in Z axle direction and base sliding connection. The Z-axis motion of duplex position can be realized, working property is excellent, stable in structure, high in precision and good in economical efficiency, and the Z-axis motion device is convenient to use and popularize.

Description

Embedded double-station Z-axis linear motor module

Technical Field

The utility model belongs to the field of linear motors, and particularly relates to an embedded double-station Z-axis linear motor module.

Background

The direct drive motor is a motion control structure that omits all intermediate mechanisms, and directly transmits force/torque from a power source to a load through linear guide rails or rolling bearing guidance. By eliminating mechanical drive components (ball screw assembly, gears, racks, timing belts, gearboxes, etc.), the drive structure eliminates reverse play, compliance, wear and other problems associated with mechanical drive. The direct drive motor includes a direct drive linear motor (DDL) and a direct drive torque motor (DDR).

A direct drive linear motor (DDL) is one type of direct drive motor. By expanding the closed magnetic field into an open magnetic field, the electrical energy is directly converted into mechanical energy for linear motion without any intermediate conversion mechanism transmission. The linear motor may be constructed by radially sectioning a single rotary motor and linearly expanding the circumference of the motor.

The linear motor module consists of a base, a guide mechanism (linear guide rail and linear guide sleeve), a power mechanism (linear motor rotor and linear motor magnetic track), position feedback (optical/magnetic grid encoder assembly, hall and photoelectric sensor), a protection assembly (cover plate and limiting block) and the like. The linear motor outputs power to directly act on the load through guide rail guidance, and the position feedback realizes closed-loop control. The whole structure can realize high-precision and high-response positioning. Compared with a rotating motor, the rotary motor has the advantages of simple structure, high positioning accuracy, high reaction speed, high sensitivity, good follow-up performance, safe and reliable work, long service life, unrestricted stroke length, independent operation of multiple movers and the like.

The linear motor module is structurally simplified and high in accuracy in comparison with the screw rod module and the synchronous belt module. However, due to the advantage that the power of the linear motor directly acts on the load, the linear motor and the magnetic track must be in the stroke range of the module, so that the motor can generate a stable closed-loop magnetic field to provide stable thrust. Therefore, the linear motor module cannot be small in size and flat in structure. In addition, in vertical application, the linear motor does not have a self-locking function. So its use is limited (the load can be free falling when the motor is de-energized). If the linear motor needs to be applied to a vertical occasion, a self-locking device or a gravity balance system needs to be added. To prevent the load from striking the event when the motor is abnormally powered off.

At present, the following schemes are adopted for balancing gravity under the condition of vertical use of the linear motor:

1. The guide rail self-locking device is added, namely the guide rail clamp is used, and when the equipment is powered off, the guide rail clamp is closed to hold the guide rail, so that the module has a self-locking function. However, rail clamps are costly and require matching rails of the corresponding specifications. And when the module motor moves vertically upwards by using the guide rail clamp, the motor also needs to balance the gravity of the load to do work. The motor with corresponding thrust is required to be added to meet the working condition requirement. The volume and weight of the module are increased. In addition, rail clamps require the use of a separate control source to operate. The system has no signal feedback during operation, and can not generate a closed loop to enable the system to judge whether the system has the state of the band-type brake.

2. Gravity balance system:

And (3) a telescopic spring: the extension spring can balance some light loads and short stroke applications. The cost performance is high. But fatigue failure occurs due to long-term operation of the spring. The springs need to be made into wearing parts for periodic replacement.

Air bar balance: the dead weight of the load is balanced by the cylinder generating a vertically upward force. The travel of the device can reach 500mm. But the cylinder occupies a larger space, increasing the volume of the module. And the thrust generated by the air cylinder can not meet the high-speed and high-acceleration motion.

Magnetic force spring: the existing magnetic spring has the advantages of high precision, high response and the like when applied to a Z-axis occasion. But is costly due to its price. The current application occasions are not promoted in a large range.

Disclosure of utility model

In order to solve the problems, the primary object of the present utility model is to provide an embedded double-station Z-axis linear motor module, which can stably balance load in vertical application by using the working principle of a magnetic spring, and avoid free falling collision in power failure;

The utility model further aims to provide the Z-axis linear motor module with the load balancing structure, which has the advantages of excellent working performance, stable structure, high precision and good economy, and is convenient to use and popularize.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

The utility model provides an embedded double-station Z-axis linear motor module which comprises a base, a first sliding bedplate, a second sliding bedplate and a sliding mechanism, wherein the first sliding bedplate and the second sliding bedplate are oppositely arranged left and right, a first linear motor rotor and a second linear motor rotor are arranged in the base, a first magnetic track is arranged in the first sliding bedplate, a second magnetic track is arranged in the second sliding bedplate, the first magnetic track is opposite to the first linear motor rotor, the second magnetic track is opposite to the second linear motor rotor, the sliding mechanism is embedded into the base, and the first sliding bedplate and the second sliding bedplate are both in sliding connection with the base in the Z-axis direction through the sliding mechanism. The first magnetic part is installed to the one end of base, the second magnetic part is installed to the one end of first linear electric motor active cell and second linear electric motor active cell, first magnetic part and second magnetic part magnetism repel each other, and first magnetic part and second magnetic part next-door neighbour set up and form load balance structure. According to the utility model, the first sliding bedplate and the second sliding bedplate can slide in the Z-axis direction relative to the base to form the double-station Z-axis linear motor module, so that the stroke of the linear motor module can be increased. When the first sliding bedplate and the second sliding bedplate move to a half stroke, the first magnetic piece and the second magnetic piece start to contact, a passive magnetic spring for balancing load gravity is formed at the latter half section of the stroke due to homopolar mutual repulsion, and after the motor module is powered off, the passive magnetic spring can buffer impact force generated by free falling bodies of the first linear motor rotor and the second linear motor rotor when the first sliding bedplate and the second sliding bedplate reset, so that the first linear motor rotor and the second linear motor rotor are prevented from being impacted. The load balancing device is simple in structure, can be used for independently selecting magnets with different magnetic fields as magnetic pieces, and is convenient for different loads to be applied to vertical occasions.

Further, the base includes left base and right base, and first magnetic part installs the tip at left base and right base, first linear motor active cell is fixed in left base, and second linear motor active cell is fixed in right base, left base and right base fixed connection just form the slip cavity between the two, first slip platen, second slip platen set up relatively in the slip cavity for first slip platen slides relative left base Z axle, and second slip platen slides relative right base Z axle. In the application, the motor coil with the iron core structure is respectively embedded into the left base and the right base, and then is integrally filled with glue to form the first motor rotor and the second motor rotor, and then the first motor rotor and the second motor rotor are mutually locked, the left base and the right base are integrally formed through screw connection and fixation, and the motor rotor and the magnetic track form a closed magnetic field.

Further, the boss is arranged on the upper side and the lower side of the inner sides of the left base and the right base, the mounting groove is arranged in the boss, the sliding mechanism comprises a steel rail and a reflux device, the steel rail and the reflux device slide relatively, the steel rail is embedded into the upper side and the lower side of the first sliding bedplate and the second sliding bedplate, and the reflux device is embedded into the mounting groove. According to the application, the balls in the reflux device can roll on the steel rail, so that the first sliding bedplate and the second sliding bedplate slide relative to the base, the embedded steel rail and the reflux device can reduce the occupied volume of the module, protect the sliding mechanism and improve the stability of the structure. It should be noted that, the sliding mechanism composed of the reflux device and the steel rail belongs to the prior art, and the specific structure is not required to be disclosed in the application.

Further, the end parts of the left base and the right base are respectively provided with a limiting seat, the limiting seats of the left base and the right base are arranged oppositely, a limiting shaft is arranged between the two limiting seats, the end parts of the first sliding bedplate and the second sliding bedplate are provided with limiting grooves with opposite positions, the limiting shaft penetrates through the limiting grooves left and right to connect the limiting seats of the left base and the right base, and the limiting shaft is arranged in the limiting grooves in an up-and-down movable mode to form a limiting structure. In the application, the limiting structure can limit the up-and-down sliding of the first sliding bedplate and the second sliding bedplate, and prevent the first sliding bedplate and the second sliding bedplate from falling out of the base.

Further, auxiliary guide holes are symmetrically formed in the two sides of the limiting groove, the auxiliary guide holes are parallel to the limiting groove, and the guide piece can be matched with the guide holes for guiding in the sliding process of the first sliding table plate and the second sliding table plate.

Further, the first sliding bedplate and the second sliding bedplate are further provided with a load adapter plate at one end far away from the limiting groove, and the side face of the base is further provided with a base adapter plate. The load can be installed through the load adapter plate, and the base adapter plate can be used for installing and fixing the motor module.

Further, through grooves are formed in the left base and the right base, a coding head support is fixed on the side wall of the through groove, a coding reading head is mounted on the coding head support, a transparent plate is further mounted on the outer side of the through groove, and grating coding rules corresponding to the coding reading head are fixed on the first sliding bedplate and the second sliding bedplate. According to the application, the grating coding ruler and the coding reading head can feed back the positions of the first sliding bedplate and the second sliding bedplate through matching, so that the precision is ensured, and the transparent plate can conveniently observe the relative positions of the grating coding ruler and the coding reading head and has a dustproof effect.

The utility model has the advantages that compared with the prior art:

The working performance is excellent: the rotor is powered by a linear motor, the guide rail provides a guiding function, and the grating component forms closed-loop position feedback, so that the rotor has the advantages of high precision, high response, high speed and the like; by utilizing the working principle of the magnetic spring, the load can be stably balanced in the vertical application occasion, and free falling collision is avoided in the power failure; the adoption radiator fan guarantees that the motor is continuously operated in a stable temperature environment, guarantees the stable output of motor thrust.

Stable in structure, the precision is high: the motor adopts an integrated glue filling mode, so that the size of the module is reduced, the mass of the whole motion assembly is reduced, and the motion response of the module is faster; the embedded guide rail is adopted, so that the module has smaller volume, the steel rail and the motor are assembled and then processed on the upper grinding machine, and the rigidity of the module is enhanced, and meanwhile, the precision of the module is ensured; the grating ruler reading head is provided with a transparent dust-proof plate, so that whether the grating ruler reading head works normally can be observed at any time.

The economy is good: the embedded guide rail is adopted by the module, all mechanical precision can be finished simultaneously during machining, the guide rail assembly process is omitted, and meanwhile, compared with a standard guide rail on the market, the embedded guide rail is completely and autonomously machined, so that large-scale batch production can be realized; the magnets with different magnetic fields are independently selected to replace the standard magnetic springs, so that the application of different loads to vertical occasions can be matched.

Drawings

Fig. 1 is an isometric view of the present embodiment.

Fig. 2 is an exploded view of the present embodiment.

Fig. 3 is a right side view of the present embodiment.

Fig. 4 is an exploded view at A-A in fig. 3.

Fig. 5 is a schematic structural view of the left base of the present embodiment.

Fig. 6 is a schematic structural view of the first sliding platen of the present embodiment.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

In order to achieve the above object, the technical solution of this embodiment is as follows:

Referring to fig. 1-6, the embodiment provides an embedded double-station Z-axis linear motor module, which comprises a base 1, a first sliding platen 2, a second sliding platen 3 and a sliding mechanism 4, wherein the first sliding platen 2 and the second sliding platen 3 are oppositely arranged left and right, a first linear motor rotor 5 and a second linear motor rotor 6 are arranged in the base 1, a first magnetic track 7 is arranged in the first sliding platen 2, a second magnetic track 8 is arranged in the second sliding platen 3, the first magnetic track 7 is opposite to the first linear motor rotor 5, the second magnetic track 8 is opposite to the second linear motor rotor 6, the sliding mechanism 4 is embedded in the base 1, and the first sliding platen 2 and the second sliding platen 3 are both in sliding connection with the base 1 in the Z-axis direction through the sliding mechanism 4. The first magnetic part 9 is installed to the one end of base 1, and the second magnetic part 10 is installed to the one end of first linear electric motor active cell 5 and second linear electric motor active cell 6, and first magnetic part 9 and second magnetic part 10 magnetism repel each other, and first magnetic part 9 and second magnetic part 10 are closely set up and form load balance structure. In the application, the first sliding platen 2 and the second sliding platen 3 can slide in the Z-axis direction relative to the base 1 to form a double-station Z-axis linear motor module, and the stroke of the linear motor module can be increased. When the first sliding table plate 2 and the second sliding table plate 3 move to a half stroke, the first magnetic member 9 and the second magnetic member 10 start to contact, a passive magnetic spring for balancing load gravity is formed at the latter half of the stroke due to mutual repulsion of homopoles, and when the motor module is powered off, the first sliding table plate and the second sliding table plate can buffer impact force generated by free falling bodies of the first linear motor rotor 5 and the second linear motor rotor 6 when the free falling bodies are reset, so that the first linear motor rotor 5 and the second linear motor rotor 6 are prevented from being impacted. The load balancing device is simple in structure, can be used for independently selecting magnets with different magnetic fields as magnetic pieces, and is convenient for different loads to be applied to vertical occasions.

Further, the base 1 comprises a left base 11 and a right base 12, the first magnetic piece 9 is installed at the end parts of the left base 11 and the right base 12, the first linear motor rotor 5 is fixed in the left base 11, the second linear motor rotor 6 is fixed in the right base 12, the left base 11 and the right base 12 are fixedly connected, a sliding cavity is formed between the left base 11 and the right base 12, the first sliding bedplate 2 and the second sliding bedplate 3 are oppositely arranged in the sliding cavity, the first sliding bedplate 2 slides along the Z axis relative to the left base 11, and the second sliding bedplate 3 slides along the Z axis relative to the right base 12. In the application, the motor coil with the iron core structure is respectively embedded into the left base and the right base, and then is integrally filled with glue to form the first motor rotor and the second motor rotor, and then the first motor rotor and the second motor rotor are mutually locked, the left base and the right base are integrally formed through screw connection and fixation, and the motor rotor and the magnetic track form a closed magnetic field.

Further, the upper and lower inner sides of the left base 11 and the right base 12 are provided with bosses 13, the inside of the bosses 13 is provided with mounting grooves 14, the sliding mechanism 4 comprises steel rails 41 and a reflux device 42, the steel rails 41 and the reflux device 42 slide relatively, the steel rails 41 are embedded into the upper and lower sides of the first sliding bedplate 2 and the second sliding bedplate 3, and the reflux device 42 is embedded into the mounting grooves 14. In the application, the balls in the reflux device 42 can roll on the steel rail 41, so that the first sliding bedplate 2 and the second sliding bedplate 3 slide relative to the base, the embedded steel rail 41 and the reflux device 42 can reduce the occupied volume of the module, protect the sliding mechanism 4 and improve the stability of the structure. The sliding mechanism 4 composed of the reflux device 42 and the rail 41 belongs to the prior art, and the specific structure thereof is not necessarily disclosed in the present application.

Further, the end parts of the left base 11 and the right base 12 are respectively provided with a limit seat 15, the limit seats 15 of the left base 11 and the right base 12 are oppositely arranged, a limit shaft 16 is arranged between the two, the end parts of the first sliding bedplate 2 and the second sliding bedplate 3 are provided with limit grooves 17 with opposite positions, the limit shaft 16 penetrates through the limit grooves 17 left and right to connect the limit seats 15 of the left base 11 and the right base 12, and the limit shaft 16 is vertically movably arranged in the limit grooves 17 to form a limit structure. In the application, the limiting structure can limit the up-and-down sliding of the first sliding bedplate 2 and the second sliding bedplate 3, and prevent the first sliding bedplate 2 and the second sliding bedplate from falling out of the base.

Further, auxiliary guide holes 18 are symmetrically formed in the first sliding table plate 2 and the second sliding table plate 3 on two sides of the limiting groove 17, the auxiliary guide holes 18 are parallel to the limiting groove 17, and in the sliding process of the first sliding table plate 2 and the second sliding table plate 3, the first sliding table plate and the second sliding table plate can be guided through the guide pieces in cooperation with the guide holes.

Further, the first sliding platen 2 and the second sliding platen 3 are further provided with a load adapter plate 19 at one end far away from the limiting groove 17, and the side surface of the base is further provided with a base adapter plate 20. The load can be mounted through the load adapter plate 19, and the motor module can be mounted and fixed through the base adapter plate 20.

Further, through grooves 21 are formed in the left base 11 and the right base 12, a code head support 22 is fixed on the side wall of the through groove 21, a code reading head 23 is mounted on the code head support 22, a transparent plate 25 is further mounted on the outer side of the through groove 21, and grating code rulers 24 corresponding to the code reading head 23 are fixed on the first sliding bedplate 2 and the second sliding bedplate 3. In the application, the grating code ruler 24 and the code reading head 23 can feed back the positions of the first sliding platen 2 and the second sliding platen 3 through matching, so that the precision is ensured, and the transparent plate can conveniently observe the relative positions of the grating code ruler 24 and the code reading head 23 and has a dustproof effect.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (7)

1. The embedded double-station Z-axis linear motor module is characterized by comprising a base, a first sliding bedplate, a second sliding bedplate and a sliding mechanism, wherein the first sliding bedplate and the second sliding bedplate are oppositely arranged left and right, a first linear motor rotor and a second linear motor rotor are arranged in the base, a first magnetic track is arranged in the first sliding bedplate, a second magnetic track is arranged in the second sliding bedplate, the first magnetic track is opposite to the first linear motor rotor, the second magnetic track is opposite to the second linear motor rotor, the sliding mechanism is embedded into the base, and the first sliding bedplate and the second sliding bedplate are both in sliding connection with the base in the Z-axis direction through the sliding mechanism; the first magnetic part is installed to the one end of base, the second magnetic part is installed to the one end of first linear electric motor active cell and second linear electric motor active cell, first magnetic part and second magnetic part magnetism repel each other, and first magnetic part and second magnetic part next-door neighbour set up and form load balance structure.

2. The embedded double-station Z-axis linear motor module according to claim 1, wherein the base comprises a left base and a right base, the first magnetic element is mounted at the ends of the left base and the right base, the first linear motor mover is fixed in the left base, the second linear motor mover is fixed in the right base, the left base is fixedly connected with the right base, and a sliding cavity is formed between the left base and the right base, the first sliding platen and the second sliding platen are relatively arranged in the sliding cavity, so that the first sliding platen slides relative to the left base Z-axis, and the second sliding platen slides relative to the right base Z-axis.

3. The embedded double-station Z-axis linear motor module as claimed in claim 2, wherein bosses are arranged on the upper side and the lower side of the inner sides of the left base and the right base, mounting grooves are arranged in the bosses, the sliding mechanism comprises steel rails and a reflux device, the steel rails and the reflux device slide relatively, the steel rails are embedded into the upper side and the lower side of the first sliding bedplate and the second sliding bedplate, and the reflux device is embedded into the mounting grooves.

4. The embedded double-station Z-axis linear motor module as claimed in claim 3, wherein the end parts of the left base and the right base are respectively provided with a limiting seat, the limiting seats of the left base and the right base are arranged oppositely, a limiting shaft is arranged between the two limiting seats, the end parts of the first sliding bedplate and the second sliding bedplate are provided with limiting grooves with opposite positions, the limiting shaft penetrates through the limiting grooves left and right to connect the limiting seats of the left base and the right base, and the limiting shaft is arranged in the limiting grooves in an up-and-down movable mode to form a limiting structure.

5. The embedded double-station Z-axis linear motor module as claimed in claim 4, wherein the first sliding bedplate and the second sliding bedplate are symmetrically provided with auxiliary guide holes on two sides of the limiting groove, and the auxiliary guide holes are parallel to the limiting groove.

6. The embedded double-station Z-axis linear motor module according to claim 4, wherein the first sliding bedplate and the second sliding bedplate are further provided with a load adapter plate at one end far away from the limiting groove, and the side surface of the base is further provided with a base adapter plate.

7. The embedded double-station Z-axis linear motor module according to claim 6, wherein through grooves are formed in the left base and the right base, a coding head support is fixed on the side wall of each through groove, a coding reading head is mounted on each coding head support, a transparent plate is further mounted on the outer side of each through groove, and grating coding rules corresponding to the coding reading heads are fixed on the first sliding table plate and the second sliding table plate.