Traction device and control method

Abstract

The invention provides a traction device and a control method.The traction device comprises a support, a sliding assembly, a linear motor and a clamping mechanism, the support is arranged on a traction plane, the sliding assembly is limited to move in the direction parallel to the traction plane, the traction end of the linear motor is connected with the sliding assembly, and the sliding assembly is dragged through controlled movement of the traction end; therefore, the clamping mechanism and the clamped tool move along with the sliding assembly. According to the traction device, due to the fact that the linear motor is matched with the sliding assembly, the problems that a traditional driving mode is insufficient in load capacity and limited in power output are solved, the limiting moving direction of the sliding assembly ensures that the tool is stable, further, the clamping mechanism ensures that the tool does not generate displacement or positioning errors in the clamping state, and by means of the technical means, the machining efficiency is improved. The problems that an existing traction device is insufficient in load, low in efficiency, poor in stability and inaccurate in tool positioning in the heavy tool traction process are effectively solved.

Description

Technical Field

[0001] The invention relates to a traction device, and in particular to a traction device for heavy tooling and a control method thereof. Background Art

[0002] In the modern automobile manufacturing process, especially in the production and assembly of door panels, accurate and efficient workpiece transportation has become a key link. In the production process of door panels, the panels that have been positioned and spliced ​​need to be quickly and accurately moved to the welding device for further processing.

[0003] In the existing door panel conveying and traction systems, common driving methods mainly include double-speed chain drive or cylinder drive. Among them, the double-speed chain system is usually composed of a chain, a sprocket and a drive motor, and the material is conveyed through the rapid cycle transmission of the chain. The double-speed chain has the advantages of simple structure and easy maintenance, and is suitable for the transmission of lighter loads and smaller workpieces. The cylinder-driven feeding device is generally suitable for short-stroke, high-frequency conveying scenarios. In the cylinder drive system, compressed gas is driven by the piston in the cylinder to push the material or tooling in a certain direction. The cylinder system has a compact structure and fast response speed. It can achieve rapid start and stop and rapid transmission over short distances. It is suitable for small and medium load applications.

[0004] However, when it comes to heavy tooling or large door panels, both the double-speed chain and cylinder-driven traction devices have limited load-bearing capacity and low efficiency. Especially when dealing with large-sized, high-load heavy tooling, the performance and stability of these devices cannot meet the needs of efficient and precise transportation in modern automobile manufacturing. Especially when it is necessary to tow multiple heavy tooling at the same time, the shortcomings of these existing devices become more prominent, often leading to stagnation of the production line or inaccurate positioning of the tooling, thus affecting the efficiency and quality of the entire production process. Therefore, it is urgent to propose a new traction device to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a high-efficiency traction device capable of moving high-load tooling.

[0006] The technical solution adopted by the present invention to solve the above problem is: a traction device for traction and movement of heavy tooling, comprising:

[0007] The support includes a traction plane for placing tooling.

[0008] A sliding assembly is disposed at the traction plane, and the sliding assembly is restricted to move along a first direction, wherein the first direction is parallel to the traction plane.

[0009] The linear motor comprises a traction end, which moves in a controlled manner and is connected to the sliding assembly to pull the sliding assembly to move.

[0010] The clamping mechanism is arranged on the sliding assembly to move with the sliding assembly, and the clamping mechanism is configured to make the tooling placed on the traction plane and the sliding assembly in a relatively static state when the clamping mechanism is in a clamping state and moves with the sliding assembly.

[0011] Preferably, the bracket further comprises a rotating member, the rotating member comprises a rotating axis, the rotating member is restricted to rotate around the rotating axis, the rotating plane of the rotating member is perpendicular to the traction plane, and the highest point of the rotating member at the rotating plane is coplanar with the traction plane. There are a plurality of rotating members, and each of the rotating members is arranged in sequence along the first direction.

[0012] Preferably, the sliding assembly comprises two parallel carriages, both of which are arranged at the traction plane and extend along the first direction, and both of which are connected to the traction end so that both of them move with the traction end.

[0013] Preferably, the sliding assembly further comprises two linear guide pairs, both of which are connected to the bracket, and the two linear guide pairs are arranged in one-to-one correspondence with the two carriages, and the linear guide pairs comprise:

[0014] A linear guide rail is connected to the bracket, and an extension direction of the linear guide rail is set to be parallel to the first direction.

[0015] The slider is slidably connected to the linear guide rail so that the slider moves along the first direction, and the slider is also connected to the carriage so as to limit the moving direction of the carriage.

[0016] Preferably, the clamping mechanism includes a clamping unit, the clamping unit includes two pairs of clamping assemblies, the two pairs of clamping assemblies are respectively arranged on the two carriages in a symmetrical manner to move with the carriages, each of the clamping assemblies includes two synchronously controlled clamping members, and the two clamping members in each of the same clamping assemblies are arranged in sequence on the corresponding carriage along the first direction, and the spacing between the two clamping members is equal to the length of the tooling, so that a pre-clamping area for placing the tooling is formed by the four clamping members in the same clamping unit.

[0017] Preferably, there are a plurality of the clamping units, and the clamping units are arranged in sequence along the first direction.

[0018] Preferably, the linear motor comprises:

[0019] The fixing frame includes a mounting surface.

[0020] A linear guide and a sliding member, wherein the linear guide is arranged at the mounting surface, and the extension direction of the linear guide is arranged to be parallel to the first direction, the sliding member is slidably connected to the linear guide to be restricted to move along the first direction, and the traction end is one end of the sliding member.

[0021] The stator is arranged on the linear guide rail.

[0022] A mover is arranged at the sliding member to drive the sliding member to move.

[0023] Preferably, the sliding assembly includes two parallel carriages, both of which are arranged at the traction plane and extend along the first direction; both of the carriages are connected to the traction end so that both of the carriages move with the traction end.

[0024] The clamping mechanism includes a clamping unit, which includes two pairs of clamping assemblies. The two pairs of clamping assemblies are symmetrically arranged on the two carriages, respectively, so as to move with the carriages. Each of the clamping assemblies includes two synchronously controlled clamping members, and the two clamping members in each of the same clamping assemblies are arranged in sequence on the corresponding carriage along the first direction. The spacing between the two clamping members is equal to the length of the tooling, so that a pre-clamping area for placing the tooling is formed by the four clamping members in the same clamping unit.

[0025] Furthermore, the number of the clamping units is multiple, and the clamping units are arranged in sequence along the first direction.

[0026] The linear motor comprises:

[0027] The fixing frame includes a mounting surface.

[0028] A linear guide and a sliding member, wherein the linear guide is arranged at the mounting surface, and the extension direction of the linear guide is arranged to be parallel to the first direction, the sliding member is slidably connected to the linear guide to be restricted to move along the first direction, and the traction end is one end of the sliding member.

[0029] The stator is arranged on the linear guide rail.

[0030] A mover is arranged at the sliding member to drive the sliding member to move.

[0031] In particular, a control method for a traction device as described above comprises:

[0032] The clamping mechanism is switched to a clamping state, so that the tooling placed on the traction plane is in a clamped state, so that it can move synchronously when the sliding assembly moves.

[0033] The sliding member is moved a target distance in a direction away from the bracket, and the tooling closest to the linear motor is moved to a target position.

[0034] The clamping mechanism is switched to a non-clamping state, so that the tooling placed on the traction plane is separated from the clamping mechanism.

[0035] The sliding member is moved toward the bracket by the target distance, and the clamping mechanism is moved to an initial position.

[0036] The above steps are repeated sequentially, so that each tooling in the pre-clamping area is moved to the target position sequentially.

[0037] Beneficial effects of the embodiments of the present invention

[0038] Due to the combination of the linear motor and the sliding assembly, the traction end can accurately control the movement of the sliding assembly, and the controlled movement of the traction end can effectively achieve the traction of the heavy tooling, thereby solving the problems of insufficient load capacity and limited power output in the traditional driving method. At the same time, the sliding assembly ensures the stability of the tooling during the traction process by limiting its movement in the direction parallel to the traction plane, and the clamping mechanism can ensure the relative stillness between the tooling and the traction plane in the clamping state through the integrated design with the sliding assembly, avoiding the displacement and positioning error of the tooling during the traction process. Due to the adoption of the above technical means, the problems of insufficient load capacity, low efficiency, poor traction stability and inaccurate tooling positioning in the prior art when traction of heavy tooling are effectively solved, thereby achieving the high load capacity of the traction device, improving the traction efficiency and stability, and ensuring the accurate positioning and stability of the tooling, thereby improving the overall work efficiency and precision of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic structural diagram of a traction device in one embodiment of the present invention.

[0040] Figure 2 The present invention Figure 1 Enlarged view of point A in the middle.

[0041] Figure 3 It is a schematic three-dimensional diagram of a linear motor in one embodiment of the present invention.

[0042] Figure 4 is a schematic side view of a linear motor in one embodiment of the present invention.

[0043] Among them: 10, bracket; 110, traction plane; 120, rotating part; 20, sliding assembly; 210, drag plate; 30, linear motor; 310, fixed frame; 311, mounting surface; 320, linear guide; 330, sliding part; 331, traction end; 40, clamping mechanism; 410, clamping assembly; 411, clamping part; 50, tooling. DETAILED DESCRIPTION

[0044] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description created by the present application, unless otherwise specified, "multiple" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0047] like Figures 1 to 4As shown, a traction device is provided in a preferred embodiment of the present application, which is used for traction of heavy tooling 50, and includes a bracket 10, a sliding assembly 20, a linear motor 30 and a clamping mechanism 40. The bracket 10 includes a traction plane 110 for placing the tooling 50. The sliding assembly 20 is arranged at the traction plane 110, and the sliding assembly 20 is restricted to move along a first direction, and the first direction is parallel to the traction plane 110. The linear motor 30 includes a traction end 331, which moves in a controlled manner, and the traction end 331 is connected to the sliding assembly 20 to traction the sliding assembly 20 to move. The clamping mechanism 40 is arranged on the sliding assembly 20 to move with the sliding assembly 20, and the clamping mechanism 40 is configured to make the tooling 50 placed on the traction plane 110 and the sliding assembly 20 in a relatively static state when the clamping mechanism 40 is in a clamping state and moves with the sliding assembly 20.

[0048] Specific:

[0049] The bracket 10 can be formed by splicing a number of profiles, and is specifically embodied as a long linear frame. When the frame is placed on the ground, its top plane is the traction plane 110, and the traction plane 110 is parallel to the horizontal plane. The design of the traction plane 110 ensures that the tooling 50 can be placed firmly on the device, and the top plane of the bracket 10 needs to be provided with a support for supporting the tooling 50 to ensure that the tooling 50 can move on the traction plane 110 without falling. The material of the bracket 10 can generally be made of metal materials such as steel or aluminum alloy, and should have a high load-bearing capacity and shock resistance. The size and shape of the bracket 10 can be customized according to the size of the tooling 50 and the transportation requirements.

[0050] The sliding assembly 20 is arranged at the traction plane 110 and is limited to move in a first direction parallel to the traction plane 110. This design ensures that the tooling 50 can accurately move along a predetermined direction during the traction process. The first direction is parallel to the linear direction of the aforementioned bracket 10 as a long linear frame. The sliding assembly 20 should be made of a material with a small friction coefficient, such as engineering plastics or metal slide rails, to ensure smooth sliding and not easy to wear. Furthermore, the sliding assembly 20 can be designed with rollers or sliders to reduce friction and improve movement efficiency.

[0051] The traction end 331 of the linear motor 30 is connected to the sliding assembly 20, and the sliding assembly 20 is accurately pulled by the controlled movement of the traction end 331. The working principle of the linear motor 30 is to generate a linear thrust between the stator and the mover through electromagnetic force, and the traction end 331 can accurately control the movement speed and direction according to the control signal. The connection between the linear motor 30 and the sliding assembly 20 can be achieved through a fixed seat or a clamping device to ensure that it will not deviate or fall off during the movement. The design of the linear motor 30 takes into account high load capacity, low energy consumption and high response speed to meet the traction requirements of heavy tooling 50.

[0052] It should be noted that, during the traction process of the heavy tooling 50, the linear motor 30 has significant advantages over the double-speed chain and the cylinder, especially when handling large loads and the synchronous movement of multiple tooling 50, the linear motor 30 demonstrates its irreplaceable advantages.

[0053] The linear motor 30 directly generates linear thrust between the stator and the mover through electromagnetic force, which can provide higher thrust output. The magnitude of the thrust is directly related to the current, and can maintain stable traction under heavy loads. Compared with the double-speed chain and cylinder, the linear motor 30 has the following advantages:

[0054] High load carrying capacity, the thrust output range of the linear motor 30 can be adjusted according to the current and voltage, which can provide more precise force control. When pulling heavy tooling 50, the linear motor 30 can work for a long time under a large load without affecting performance due to overload or inefficiency. For example, when handling heavy tooling 50 weighing more than one ton, the linear motor 30 can still maintain efficient and stable movement.

[0055] Efficient synchronous control: when multiple heavy-duty tools 50 need to be pulled at the same time, the linear motor 30 can ensure the synchronous movement of each tool 50 through a precise control system. The double-speed chain may have problems such as uneven tension and chain deformation when facing multiple tools 50, while the cylinder system may cause multiple tools 50 to be unable to be pulled synchronously due to its short stroke and unstable air pressure, resulting in reduced efficiency or even positioning errors. The linear motor 30 can provide linear motion and high precision, which is suitable for the needs of synchronous pulling of multiple tools 50.

[0056] Furthermore, compared with the double-speed chain, the double-speed chain system realizes power transmission through chains and sprockets, which is suitable for smaller loads and relatively light tooling 50. In the traction of high-load, large-sized tooling 50, the disadvantages of the double-speed chain become more obvious:

[0057] Due to load capacity limitations, the double-speed chain is prone to chain deformation or wear under high loads, and because its power transmission is achieved through friction, its efficiency drops significantly when carrying heavier tooling 50. In addition, the double-speed chain system has poor adaptability to load changes and may not be able to maintain stable operation under heavy loads.

[0058] Precision and control issues: The control precision of the double-speed chain is low, especially when multiple tooling 50 need to be towed. Due to the elasticity and friction of the chain, the synchronization of the multiple tooling 50 is poor. The linear motor 30 can provide precise control to avoid position deviation and asynchronism problems.

[0059] Furthermore, compared with the cylinder, the cylinder system is suitable for short strokes and fast start and stop, but its disadvantages are also very obvious when transporting large loads and long distances:

[0060] The cylinder system relies on compressed gas to provide power, and its output force is less stable. It is prone to insufficient air pressure or inaccurate control under high load. The linear motor 30 can provide more stable and lasting power output, and is not easily affected by changes in the external environment (such as temperature, humidity) or air pressure fluctuations.

[0061] The ability to adapt to long distances and high loads is poor. The cylinder system may encounter insufficient force under high load conditions, especially when pulling a large-sized tooling 50. In addition, the relationship between the thrust and stroke of the cylinder is not linear, and it is impossible to accurately control the position and motion trajectory of the tooling 50 like the linear motor 30.

[0062] In summary, under large load conditions, the application of linear motor 30 shows obvious creativity, especially in the occasions of traction of heavy tooling 50 and synchronous movement of multiple tooling 50. Traditional technical solutions such as double-speed chains and cylinders often cannot provide sufficient load-bearing capacity, precision control and stability.

[0063] Specific:

[0064] In the industrial field, the double-speed chain and cylinder drive systems have been widely used and are mature and stable. Technical personnel in this field tend to choose these proven technologies when selecting drive solutions based on the "rule of thumb". Even in the face of high load requirements, engineers in traditional technical solutions often believe that the demand can be met by increasing the load capacity of the existing system or by adding multiple cylinders or double-speed chains, while ignoring the potential of linear motors 30 in high load and high precision.

[0065] Linear motors 30 usually involve high initial investment and installation and commissioning costs. This includes the purchase cost of the motor itself, the matching control system, the matching cooling system, etc. In contrast, the cost of double-speed chains and cylinders is lower and their application is mature, which often makes engineers give priority to these traditional solutions, especially when the budget is limited or the load requirements are not extreme. The high investment in linear motors 30 is considered not cost-effective in many cases, especially when the load requirements are relatively light, and the "good enough" of traditional technologies often excludes linear motors 30.

[0066] In addition, the control system of the linear motor 30 is relatively complex, requiring a high-precision drive and feedback system to adjust the thrust output and control the precise movement of the tooling 50, which is in sharp contrast to the traditional double-speed chain or cylinder system. The control systems of the double-speed chain and the cylinder are relatively simple, and can achieve relatively direct and rough movements through mechanical transmission and pneumatic control. The linear motor 30 requires higher technical requirements, especially in terms of synchronous operation of multiple devices, precise position control and high-efficiency management. Many engineers may think that increasing the number of cylinders or optimizing the layout of the double-speed chain can solve the problem of large loads, and will not immediately consider using the linear motor 30 as a substitute.

[0067] Therefore, technicians in this field often have "technical inertia" when designing conveying and traction devices, that is, engineers and designers tend to continue to optimize rather than boldly try new technologies when faced with existing technical solutions. Although the linear motor 30 can effectively solve problems such as large loads and synchronous movement of multiple tooling 50, due to factors such as cost, complexity, and environmental adaptability, traditional double-speed chain and cylinder drive solutions have long dominated engineering practice. When faced with high load requirements, many technicians may rely on existing experience and believe that the needs can be met by improving the transmission system, thereby ignoring the huge potential of the linear motor 30 in efficient and precise traction. Therefore, the innovative application of the linear motor 30 in the field of traction of large-load tooling 50 has significant technical breakthroughs and creativity.

[0068] In summary, the linear motor 30 provides advantages that cannot be matched by the double-speed chain and the cylinder when traction of heavy tooling 50 and synchronous traction of multiple tooling 50, especially in terms of large load and high-precision control, and its performance and reliability are irreplaceable by traditional systems. However, due to the complex structure and high requirements for the control system, it is usually difficult to realize that the linear motor 30 is the first choice in conventional conveying systems. Therefore, the use of the linear motor 30 as the power source of the traction device in this application should be considered as an innovation.

[0069] The clamping mechanism 40 is arranged on the sliding assembly 20 and moves with the sliding assembly 20 to ensure that the tooling 50 is relatively stationary with the sliding assembly 20 in the clamping state. The clamping mechanism 40 adopts a clamping claw or a pneumatic clamping device, and is designed to be adjustable or automatically adaptable to tooling 50 of different sizes as required. The clamping mechanism 40 can realize the clamping function through a cylinder, a hydraulic system or an electric drive. In the clamping state, the tooling 50 is firmly fixed to avoid displacement or positioning error during the traction process, and ensure the stability of the tooling 50 during movement.

[0070] When the traction device in this embodiment is started, the clamping mechanism 40 switches to the clamping state to clamp and fix the tooling 50 on the traction plane 110, so that the clamped tooling 50 can move with the clamping mechanism 40. After the tooling 50 is clamped, the linear motor 30 starts to accurately control the movement of the sliding assembly 20 according to the command of the control system, and the sliding assembly 20 moves along the first direction parallel to the traction plane 110. The clamping mechanism 40 drives the tooling 50 to move with the sliding assembly 20 to ensure that the tooling 50 and the sliding assembly 20 remain relatively still, thereby avoiding any displacement of the tooling 50 during the traction process. The clamping function of the clamping mechanism 40 ensures that the tooling 50 remains stable during the entire movement process to avoid tilting or uneven load. The controlled movement of the linear motor 30 ensures the precise positioning of the tooling 50 and can efficiently and smoothly complete the traction task of the heavy tooling 50.

[0071] The traction device of the present invention solves the problems of insufficient load capacity, low efficiency, poor stability and inaccurate positioning of the tooling 50 in the traction of heavy tooling 50 by traditional traction devices. The combination of the linear motor 30 and the sliding assembly 20 provides efficient power transmission and precise control, can operate stably under heavy load conditions, and achieve high traction efficiency. At the same time, the design of the clamping mechanism 40 ensures the stability of the tooling 50 during movement and avoids the occurrence of displacement or positioning errors. These technical innovations effectively improve the efficiency, accuracy and stability of the production line, and are particularly suitable for scenarios with high loads and long-term continuous operations, greatly improving production efficiency.

[0072] In order to reduce the friction force on the tooling 50 when it moves on the traction plane 110, the bracket 10 further includes a rotating member 120, the rotating member 120 includes a rotation axis, the rotating member 120 is limited to rotate around the rotation axis, the rotation plane of the rotating member 120 is perpendicular to the traction plane 110, and the highest point of the rotating member 120 at the rotation plane is coplanar with the traction plane 110. There are a plurality of rotating members 120, and each rotating member 120 is arranged in sequence along the first direction.

[0073] Specific:

[0074] The rotating member 120 is usually made of highly wear-resistant materials, such as steel or ceramics, and has a low friction coefficient. It is designed to reduce the friction resistance of the tooling 50 on the traction plane 110 by rotating, thereby reducing energy consumption and friction heat generation, and improving traction efficiency. The number of rotating members 120 can be appropriately adjusted according to the size and load requirements of the traction plane 110. Multiple rotating members 120 are evenly distributed on the traction plane 110 to ensure smooth movement of the tooling 50.

[0075] When the rotating member 120 rotates around its rotation axis, the rotation plane is perpendicular to the traction plane 110, and the highest point of the rotating member 120 is coplanar with the traction plane 110. This design ensures that the contact point between the rotating member 120 and the traction plane 110 is always in the best position, thereby achieving lower friction and higher traction efficiency.

[0076] In actual operation, the linear motor 30 drives the sliding assembly 20 to move along the first direction of the traction plane 110, and the rotation of the rotating member 120 reduces the friction resistance of the tool 50 on the traction plane 110. The rotating member 120 always maintains the contact point with the traction plane 110 through the rotation of its rotation axis, so that the tool 50 can move more smoothly and reduce the friction during the sliding process. The number and arrangement of the rotating members 120 ensure that the tool 50 can be evenly stressed during the entire traction process to avoid instability or tilting.

[0077] Furthermore, in practical applications, the number, arrangement and material of the rotating parts 120 can be adjusted according to the specific requirements of the traction device. If the load is small or higher traction accuracy is required, a high-precision ceramic rotating part 120 can be selected to further reduce friction. At the same time, the size of the rotating part 120 can also be customized according to the weight and size of different tooling 50.

[0078] This embodiment effectively reduces the friction of the tooling 50 during the traction process by arranging the rotating member 120 on the traction plane 110, thereby significantly improving the traction efficiency, reducing energy consumption, and reducing the wear caused by friction. In addition, the design of the rotating member 120 ensures the smooth movement of the tooling 50, avoids the problem of equipment overheating or unstable traction caused by excessive friction, and further improves the stability and accuracy of the entire traction system.

[0079] In some embodiments, the sliding assembly 20 includes two parallel carriages 210, both carriages 210 are arranged at the traction plane 110, and the carriages 210 extend along the first direction. Both carriages 210 are connected to the traction end 331, so that both carriages 210 move with the traction end 331. The sliding assembly 20 also includes two linear guide pairs, both linear guide pairs are connected to the bracket 10, and the two linear guide pairs are arranged one-to-one with the two carriages 210, and the linear guide pairs include a linear guide and a slider, wherein the linear guide is connected to the bracket 10, and the extension direction of the linear guide is set to be parallel to the first direction. The slider is slidably connected to the linear guide so that the slider moves along the first direction, and the slider is also connected to the carriage 210 to limit the moving direction of the carriage 210.

[0080] Specifically, the carriage 210 is a core component of the sliding assembly 20. The carriage 210 is specifically embodied as a long strip of plate. Two carriages 210 are arranged in parallel on the traction plane 110, and the length direction of the long strip of carriage 210 is parallel to the first direction. Generally, a strong metal material is used, which can withstand a large load. Each carriage 210 is connected to the traction end 331 of the linear motor 30 to ensure that the carriage 210 moves accurately under the control of the traction motor. The design of the carriage 210 enables it to slide smoothly on the traction plane 110 while maintaining high stability.

[0081] The linear guide pair is composed of a linear guide and a slider. The linear guide is fixedly connected to the bracket 10, and its extension direction is parallel to the first direction of the traction plane 110. The slider is slidably connected to the linear guide, and moves along the first direction by sliding. Each slider is also connected to the carriage 210 to ensure that the movement of the carriage 210 is strictly limited to the first direction to prevent directional deviation or unstable movement.

[0082] In this embodiment, the traction end 331 of the linear motor 30 drives the two carriages 210 to move along the first direction of the traction plane 110. Each carriage 210 is connected to the linear guide pair through a slider, and the slider moves smoothly along the first direction under the guidance of the linear guide, thereby ensuring stable traction of the carriage 210. When the traction end 331 drives the carriage 210 to move, the sliding of the slider cooperates with the linear guide to further ensure that the carriage 210 moves along the predetermined direction, thereby avoiding any lateral deviation or unstable movement of the carriage 210.

[0083] This embodiment significantly improves the stability and accuracy of the traction system by dividing the sliding assembly 20 into two parallel carriages 210 and accurately guiding the carriages 210 to move along the first direction of the traction plane 110 through a linear guide pair. The cooperation between the slider and the linear guide ensures the stable movement of the carriage 210 during the traction process, avoids lateral deviation or uneven friction, and further improves the traction efficiency and accuracy. At the same time, through the optimized design, the traction device can carry a larger load, meet the precise traction requirements of the heavy tooling 50, and improve the work efficiency and overall accuracy of the production line.

[0084] In some embodiments, the clamping mechanism 40 includes a clamping unit, and the clamping unit includes two pairs of clamping assemblies 410, which are symmetrically arranged on two carriages 210 to move with the carriages 210, and each clamping assembly 410 includes two synchronously controlled clamping members 411, and the two clamping members 411 in each same clamping assembly 410 are sequentially arranged on the corresponding carriage 210 along the first direction, and the spacing between the two clamping members 411 is equal to the length of the tool 50, so that the four clamping members 411 in the same clamping unit form a pre-clamping area for placing the tool 50. The number of clamping units is several, and each clamping unit is sequentially arranged along the first direction.

[0085] Specific:

[0086] Each clamping unit cooperates with two pairs of clamping assemblies 410, and two clamping members 411 in the clamping assemblies 410 are arranged along the first direction, and the clamping tool 50 is clamped by synchronous control. Through this design, the clamping unit can provide precise clamping force to ensure that the tool 50 is stable and does not move during the traction process. Multiple clamping units are arranged in sequence along the first direction of the traction plane 110, and can be flexibly configured according to the length and size of the tool 50.

[0087] The clamping members 411 in each clamping assembly 410 are arranged along the first direction and are operated in a synchronous controlled manner. The spacing of the clamping members 411 is consistent with the length of the tooling 50, thereby ensuring that the tooling 50 is clamped accurately and evenly. The synchronous control of the clamping members 411 ensures the balance and stability of the clamping force, and prevents the tooling 50 from being offset or tilted during the traction process.

[0088] During operation, the clamping unit and the carriage 210 work together. When the traction end 331 of the linear motor 30 drives the carriage 210 to move along the first direction of the traction plane 110, the clamping member 411 in the clamping unit acts synchronously to ensure that the tooling 50 is stable and immobile in the clamping area. Through the clamping action of the four clamping members 411, the clamping area formed firmly fixes the tooling 50 and accurately pulls it along with the movement of the carriage 210. In actual operation, the clamping unit accurately adjusts the clamping force through the synchronous control system, so that the tooling 50 remains stable during the entire traction process, avoiding displacement or positioning errors of the tooling 50 due to uneven clamping force or looseness.

[0089] The clamping mechanism 40 is suitable for applications requiring high precision and high stability towing heavy tooling 50, especially in automated production lines and workshop environments, such as the automotive and aviation manufacturing industries. The design of the clamping member 411 can cope with the different sizes and weight requirements of the tooling 50, ensuring stable traction of the tooling 50 under various loads. This traction device can operate efficiently in an environment of room temperature to °C, and is suitable for workshop environments with large changes in temperature and humidity.

[0090] The clamping mechanism 40 of this embodiment can accurately control the clamping force through the design of the synchronously controlled clamping member 411, ensuring the stability and positioning accuracy of the heavy tooling 50 during the traction process. Furthermore, the setting of multiple clamping units makes the clamping area more flexible, which can adapt to tooling 50 of different sizes and weights. The arrangement of the clamping member 411 ensures that the tooling 50 will not be displaced or tilted during the entire traction process, greatly improving the safety and accuracy of the traction process. Through these technical means, the traction device can significantly improve the traction efficiency and stability of the tooling 50, and improve the overall working accuracy and production efficiency of the production line.

[0091] In some embodiments, Figure 3 to Figure 4 As shown, the linear motor 30 includes a fixed frame 310, a linear guide 320, a sliding member 330, a stator and a mover. Among them, the fixed frame 310 includes a mounting surface. The linear guide 320 is arranged at the mounting surface, and the extension direction of the linear guide 320 is set to be parallel to the first direction. The sliding member 330 is slidably connected with the linear guide 320 to be restricted to move along the first direction, and the traction end 331 is one end of the sliding member 330. The stator is arranged at the linear guide 320. The mover is arranged at the sliding member 330 to drive the sliding member 330 to move.

[0092] Specific:

[0093] The fixing frame 310 is a supporting part of the linear motor 30 and is provided with a mounting surface for firmly fixing other components.

[0094] The function of the linear guide rail 320 is to provide guidance for the sliding member 330 , ensuring that the sliding member 330 moves only along the first direction. Guided by the linear guide rail 320 , the sliding member 330 can move accurately along the desired direction on the traction plane 110 .

[0095] The sliding member 330 is slidably connected to the linear guide rail 320 and can freely move along the first direction on the guide rail. One end of the sliding member 330 is a traction end 331 , which is connected to the sliding assembly 20 (such as the carriage 210 ) to play the role of traction tooling 50 .

[0096] The stator is the fixed part of the linear motor 30, and is usually fixed on the bracket 10. The mover is connected to the sliding member 330, and the mover moves in the magnetic field of the stator through the action of the driving current, thereby driving the sliding member 330 to perform a smooth linear motion along the linear guide 320.

[0097] The working principle of the linear motor 30 is based on the principle of electromagnetic induction, and the mover moves under the magnetic field of the stator. The stator is fixed on the bracket 10, and the mover is set on the sliding member 330 to achieve smooth movement of the sliding member 330. When the linear motor 30 is working, the mover generates thrust under the action of the current, so that the sliding member 330 slides along the linear guide 320, and drives the traction end 331 to pull the sliding assembly 20 to move, thereby achieving traction and positioning of the tooling 50.

[0098] The sliding member 330 can only slide freely along the first direction, which is parallel to the traction plane 110, ensuring the accuracy during the traction process. By precisely controlling the movement of the motor, the system can precisely control the traction speed, position and movement direction as needed.

[0099] The linear motor 30 of this embodiment can achieve high-precision and high-stability traction of the tooling 50 through the precise design of the fixed frame 310, linear guide 320, sliding member 330, stator and mover. The parallel motion path of the sliding member 330 and the precise control of the traction end 331 ensure the stability of the tooling 50 during the traction process. Compared with traditional power sources, the linear motor 30 provides higher load capacity and more precise control capabilities, significantly improves traction efficiency and traction accuracy, and meets the needs of modern automated production lines for efficient and stable traction. At the same time, through the low-friction design, power loss is reduced and the energy efficiency of the overall system is improved.

[0100] In order to make the above-mentioned traction device more suitable for actual production applications, in some embodiments, a control method for the traction device is proposed, including:

[0101] The clamping mechanism 40 is switched to the clamping state, so that the tooling 50 placed on the traction plane 110 is in the clamped state, so as to move synchronously when the sliding assembly 20 moves.

[0102] The sliding member 330 is moved a target distance in a direction away from the support 10 , and the tooling 50 closest to the linear motor 30 is moved to a target position.

[0103] The clamping mechanism 40 is switched to a non-clamping state, so that the tooling 50 placed on the traction plane 110 is separated from the clamping mechanism 40 .

[0104] The sliding member 330 is moved toward the bracket 10 by a target distance, and the clamping mechanism 40 is moved to an initial position.

[0105] The above steps are repeated sequentially, so that each tooling 50 in the pre-clamping area is moved to the target position sequentially.

[0106] Specifically, in order to achieve efficient and accurate control of the traction device, this embodiment proposes a control method suitable for the traction and positioning process of the heavy tooling 50. The method ensures that the tooling 50 can be moved to the target position smoothly and stably through precise steps, sequences and control parameters, while reducing damage and displacement errors. The above control method is specifically manifested as follows:

[0107] Switch the clamping mechanism 40 to the clamping state. At the beginning of the control, the clamping mechanism 40 is first switched to the clamping state. At this time, the clamping member 411 in the clamping assembly 410 will tightly clamp the tooling 50 placed on the traction plane 110 to ensure that the tooling 50 and the sliding assembly 20 are relatively still. The switching of the clamping state can be completed by electrical control or pneumatic control, and the clamping force is adjusted according to the load and clamping requirements of the actual application. The key to this step is to accurately control the clamping force to prevent the tooling 50 from displacement or sliding during the traction process.

[0108] The slide 330 moves to the target position. Subsequently, the linear motor 30 is controlled to drive the slide 330 to move in a direction away from the bracket 10, so as to move the tooling 50 closest to the linear motor 30 to the target position. The key to this step is the precise setting of the target position, which is usually achieved through real-time feedback through sensors or encoders to ensure that the moving distance of the slide 330 is consistent with the target position. The setting of the target position is dynamically adjusted based on the size and type of the tooling 50 and the layout of the production line. The target distance is the distance from the tooling 50 closest to the linear motor 30 to the target position. Therefore, the target distance should also be determined according to the target position.

[0109] Switch the clamping mechanism 40 to the non-clamping state. When the slide 330 successfully moves the tool 50 to the target position, the control system switches the clamping mechanism 40 to the non-clamping state, so that the clamping assembly 410 is separated from the tool 50. This switch ensures that the tool 50 can stay at the target position without being disturbed by the clamp 411. The switch to the non-clamping state should be timely and accurate to avoid slippage or collision of the tool 50.

[0110] The sliding member 330 moves to the initial position in the direction close to the bracket 10. Then, the sliding member 330 moves in the direction close to the bracket 10 to restore the clamping mechanism 40 to the initial position. This process can be controlled by the feedback system to control the return distance of the sliding member 330 to ensure that the clamping mechanism 40 is accurately restored to the preset position. The key to this step is to ensure that the relative position of the sliding member 330 and the clamping mechanism 40 is accurate to avoid error accumulation.

[0111] Repeat the above steps to process other tools 50 in turn. Once the current tool 50 successfully moves to the target position and completes the switch of the clamping state, the control system will repeat the above steps in turn to ensure that all tools 50 in the pre-clamping area can be smoothly moved to the target position. This process involves independent control of each tool 50, and the movement path and target position of each tool 50 will be optimized based on real-time feedback to ensure efficient operation of the production line.

[0112] The key points of the above control method are clamping state control, target position setting and feedback, timeliness of non-clamping state and return and reset of the sliding member 330.

[0113] Specific:

[0114] The switching of the clamping mechanism 40 is the core of the whole control method, which ensures that the tooling 50 remains stable and moves accurately during the traction process. This step requires precise control of the clamping force to avoid the clamping member 411 being too loose or too tight, resulting in errors or damage to the tooling 50.

[0115] The moving distance and direction of the slide 330 must be precisely controlled according to the actual target position. Through sensors and feedback systems (such as encoders), the travel of the slide 330 can be adjusted in real time to ensure that each tool 50 can accurately reach the target position.

[0116] When the clamping mechanism 40 is switched to the non-clamping state, ensure that the tooling 50 is completely separated from the clamping mechanism 40 to avoid interference or friction. This step must be quick and accurate to avoid any displacement of the tooling 50 at this stage.

[0117] After completing the movement to the target position, the sliding member 330 can accurately return to the initial position, ensuring that the clamping mechanism 40 can smoothly process the next tool 50. This process requires high return accuracy to prevent the accumulation of errors.

[0118] The specific working process of the control method in this embodiment is as follows:

[0119] Start the control system and set the clamping state to clamping mode.

[0120] The linear motor 30 is controlled to drive the sliding member 330 to move in a direction away from the bracket 10 , so as to move the tooling 50 to a target position.

[0121] The clamping mechanism 40 is switched to a non-clamping state, so that the tooling 50 is separated from the clamping assembly 410 .

[0122] The control sliding member 330 moves toward the direction close to the bracket 10 to restore the clamping mechanism 40 to the initial position.

[0123] Repeat the above steps to move the tooling 50 located in the pre-clamping area to the target position one by one.

[0124] The implementation of this control method helps to ensure the accuracy and efficiency of the production line, especially when handling multiple heavy tooling 50, by accurately controlling each step and position, significantly improving the stability and efficiency of the pulling process.

[0125] Furthermore, in order to solve the instability problem caused by inertia of the heavy tooling 50 during the traction process while ensuring efficiency, the control method further includes:

[0126] Segmented acceleration and deceleration control. In the initial stage, the acceleration of the sliding assembly 20 is controlled to increase steadily by gradually increasing the driving force of the linear motor to reach a predetermined maximum speed. During this process, the motor needs to gradually adjust the output power according to the loaded weight and friction characteristics to avoid impact caused by inertia.

[0127] A speed closed-loop control system is used to adjust the driving force in real time to ensure that the speed curve of the sliding component 20 is consistent with the preset acceleration curve.

[0128] It is understandable that, if necessary, in certain specific scenarios, the uniform speed stage may be entered after acceleration. At this time, the motor driving force and the friction force are kept balanced to move the tooling 50 at a constant speed.

[0129] Deceleration stage. When the sliding assembly 20 approaches the target position, the driving force of the motor is gradually reduced, and the sliding assembly 20 is smoothly decelerated until it stops through the reverse braking force. The key to this stage is to ensure smooth braking and prevent overshoot caused by inertia through closed-loop control combined with deceleration feedback.

[0130] Furthermore, real-time acceleration monitoring can be performed. During the control process, an inertial measurement unit (IMU) is used to monitor the acceleration and speed change of the tooling 50 in real time, and the output power of the motor is dynamically adjusted according to the feedback data to actively compensate for the offset caused by inertia.

[0131] By adopting the technical means of feedforward control, before the movement starts, the influence of inertia on the system is predicted according to the mass of the tooling 50 and the predetermined movement parameters, and the driving force output is adjusted in advance.

[0132] The pulling force can also be adjusted dynamically, and the pulling force of the motor can be precisely controlled through a speed and position closed-loop system, so that the sliding assembly 20 can cope with the influence of inertia and achieve smooth operation.

[0133] Furthermore, the speed, position and acceleration of the sliding assembly 20 are monitored throughout the entire process, and combined with the real-time feedback of the control system, the driving force of the motor is dynamically adjusted to eliminate any abnormal acceleration or braking deviation.

[0134] When a system abnormality is detected (such as insufficient output or a stuck movement of the sliding assembly 20), the traction is stopped immediately and the tooling 50 and the system are prevented from being damaged through a protective mechanism.

[0135] When implementing the above control method, it is necessary to adjust the initial parameter settings of the motor according to the mass, friction characteristics and inertia parameters of the actual tooling 50 .

[0136] Select high-precision inertial measurement units and sensor systems to ensure real-time dynamic compensation and feedback adjustment.

[0137] Regular maintenance of the linear guide 320, the slide assembly 20 and the motor drive system ensures their reliability and stability under high load and high frequency operation.

[0138] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A traction device for traction of heavy tooling, characterized in that: include: The support includes a traction plane for placing the tooling; a sliding assembly disposed at the traction plane, the sliding assembly being restricted to move along a first direction, the first direction being parallel to the traction plane; The linear motor comprises a traction end, the traction end moves in a controlled manner, and the traction end is connected to the sliding assembly to pull the sliding assembly to move; The clamping mechanism is arranged on the sliding assembly to move with the sliding assembly, and the clamping mechanism is configured to make the tooling placed on the traction plane and the sliding assembly in a relatively static state when the clamping mechanism is in a clamping state and moves with the sliding assembly.

2. A traction device according to claim 1, characterized in that: The bracket also includes a rotating member, which includes a rotating axis. The rotating member is restricted to rotate around the rotating axis. The rotation plane of the rotating member is perpendicular to the traction plane, and the highest point of the rotating member at the rotation plane is coplanar with the traction plane. The number of the rotating members is several, and each of the rotating members is arranged in sequence along the first direction.

3. A traction device according to claim 1, characterized in that: The sliding assembly includes two parallel carriages, both of which are arranged at the traction plane and extend along the first direction; both of the carriages are connected to the traction end so that both of the carriages move with the traction end.

4. A traction device according to claim 3, characterized in that: The sliding assembly further includes two linear guide pairs, both of which are connected to the bracket, and the two linear guide pairs are arranged in a one-to-one correspondence with the two carriages, and the linear guide pairs include: A linear guide rail connected to the bracket, wherein the extension direction of the linear guide rail is set to be parallel to the first direction; The slider is slidably connected to the linear guide rail so that the slider moves along the first direction, and the slider is also connected to the carriage so as to limit the moving direction of the carriage.

5. A traction device according to claim 3, characterized in that: The clamping mechanism includes a clamping unit, which includes two pairs of clamping assemblies. The two pairs of clamping assemblies are symmetrically arranged on the two carriages, so as to move with the carriages. Each of the clamping assemblies includes two synchronously controlled clamping members, and the two clamping members in each of the same clamping assemblies are arranged in sequence on the corresponding carriage along the first direction. The spacing between the two clamping members is equal to the length of the tooling, so that a pre-clamping area for placing the tooling is formed by the four clamping members in the same clamping unit.

6. A traction device according to claim 5, characterized in that: The number of the clamping units is multiple, and the clamping units are arranged in sequence along the first direction.

7. A traction device according to claim 1 or 6, characterized in that: The linear motor comprises: A fixing frame including a mounting surface; A linear guide and a sliding member, wherein the linear guide is arranged at the mounting surface, and the extension direction of the linear guide is arranged to be parallel to the first direction, the sliding member is slidably connected to the linear guide to be restricted to move along the first direction, and the traction end is one end of the sliding member; A stator, arranged at the linear guide rail; A mover is arranged at the sliding member to drive the sliding member to move.

8. A traction device according to claim 1, characterized in that: The sliding assembly includes two parallel carriages, both of which are arranged at the traction plane and extend along the first direction; both of the carriages are connected to the traction end so that both of the carriages move with the traction end; The clamping mechanism comprises a clamping unit, the clamping unit comprises two pairs of clamping assemblies, the two pairs of clamping assemblies are respectively arranged on the two carriages in a symmetrical manner to move with the carriages, each of the clamping assemblies comprises two synchronously controlled clamping members, and the two clamping members in each of the same clamping assemblies are sequentially arranged on the corresponding carriage along the first direction, and the spacing between the two clamping members is equal to the length of the tooling, so that a pre-clamping area for placing the tooling is formed by the four clamping members in the same clamping unit; Furthermore, the number of the clamping units is several, and the clamping units are arranged in sequence along the first direction; The linear motor comprises: A fixing frame including a mounting surface; A linear guide and a sliding member, wherein the linear guide is arranged at the mounting surface, and the extension direction of the linear guide is arranged to be parallel to the first direction, the sliding member is slidably connected to the linear guide to be restricted to move along the first direction, and the traction end is one end of the sliding member; A stator, arranged at the linear guide rail; A mover is arranged at the sliding member to drive the sliding member to move.

9. A control method for a traction device according to claim 8, characterized in that: include: Switching the clamping mechanism to a clamping state, so that the tooling placed on the traction plane is in a clamped state, so as to move synchronously when the sliding assembly moves; Move the sliding member in a direction away from the bracket by a target distance, and move the tooling closest to the linear motor to a target position; Switching the clamping mechanism to a non-clamping state so that the tooling placed on the traction plane is separated from the clamping mechanism; Move the sliding member toward the bracket by the target distance, and move the clamping mechanism to an initial position; The above steps are repeated sequentially, so that each tooling in the pre-clamping area is moved to the target position sequentially.

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