A linear drive

Abstract

The present invention discloses a linear drive, which relates to the technical field of drives, and includes a lead screw, wherein the bottom end of the lead screw is connected to a frameless motor rotor through a flange, the outer sleeve of the frameless motor rotor is provided with a frameless motor stator, the outer surface of the bottom end of the lead screw is provided with a first drive rear shell, and the frameless motor stator is bolted to the inside of the first drive rear shell, the bottom end of the frameless motor stator is riveted to an encoder, and the bottom surface of the first drive rear shell is fixedly connected to a drive fixed bearing. The linear drive, by providing a frameless motor stator, can transmit power to a fisheye bearing under the joint action of the frameless motor rotor, a wire machine, a nut, a guide sleeve and a cylinder guide rod, thereby achieving the purpose of applying power to the shaft of a target part, and in combination with the action of the fisheye bearing, can reduce the load on the drive while enabling the entire system to increase its load capacity.

Description

Technical Field

[0001] The invention relates to the technical field of drivers, in particular to a linear driver. Background Art

[0002] The linear drives currently on the market include liquid drive (hydraulic cylinder), gas drive (pneumatic cylinder), and motor drive (the more common forms are mainly linear motors or screws driven by conventional servo motors or stepper motors. Their structure is mainly composed of an integrated stepper motor or servo motor, connected to the screw nut slide through a coupling, and then combined with the end connector).

[0003] The common disadvantages of existing drives are that the various parts are not integrated, resulting in a partial loss of space, making it impossible to meet space requirements under some working conditions; secondly, the coupling connection between the active motor and the driven screw slide not only loses some space, but the coupling is also a wearing part, which reduces the stability of the product equipment; finally, when heavy equipment wants to use electric drive, the load does not meet the requirements. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies of the prior art, the present invention provides a linear drive, which solves the problem that the prior drive occupies a large space and the load does not meet the requirements.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a linear drive, comprising a lead screw, the bottom end of the lead screw is connected to a frameless motor rotor through a flange, the outer portion of the frameless motor rotor is sleeved with a frameless motor stator, the outer surface of the bottom end of the lead screw is sleeved with a first drive rear shell, and the frameless motor stator is bolted to the inside of the first drive rear shell, the bottom end of the frameless motor stator is riveted to an encoder, the bottom surface of the first drive rear shell is fixedly connected to a drive fixed bearing, the top end of the first drive rear shell is fixedly connected to a drive housing, and the lead screw is located inside the drive housing, a bearing is fixedly inlaid inside the bottom end of the drive housing, and the inner ring of the bearing is fixedly connected to the outer surface of the optical axis at the bottom end of the lead screw, the robotic arm mechanism comprises a robotic arm base, a balancing cylinder, a linear drive 1, a robotic arm waist, a robotic arm boom, a linear drive 2, a robotic arm forearm, a forearm posture control rod, a forearm posture rod, an end posture control rod, an end posture rod and an arm posture control rod.

[0008] The outer surface of the lead screw is threadedly connected with a nut that matches the lead screw, the top of the nut is fixedly connected with a guide sleeve, and the guide sleeve and the nut are both located inside the driver housing, the top of the driver housing is fixedly connected with a second driver rear shell, and the second driver rear shell is sleeved on the outer surface of the guide sleeve, the top of the guide sleeve is threadedly connected with a stud, and the other end of the stud is threadedly connected with a first fisheye bearing, the outside of the first fisheye bearing is provided with a bearing flange, the top of the bearing flange is fixedly connected with two symmetrical second fisheye bearings, and the two second fisheye bearings are hinged to the first fisheye bearing, the bottom of the bearing flange is threadedly connected with a cylinder guide rod, and the outer surface of the cylinder guide rod is sleeved with a cylinder housing that matches the cylinder guide rod, and the bottom end of the cylinder housing is fixedly connected with a balancing cylinder fixed bearing.

[0009] As a further description of the above technical solution, a guide tube graphite copper sleeve is fixedly embedded in the interior of the second driver rear shell, and the guide tube graphite copper sleeve is adapted to the guide sleeve. By setting the guide tube graphite copper sleeve, not only the friction between the second driver rear shell and the guide sleeve can be reduced, but also the guiding effect of the guide tube graphite copper sleeve can minimize the occurrence of guide sleeve tilting.

[0010] As a further description of the above technical solution, a lead screw graphite sleeve that is compatible with the guide sleeve is sleeved on the optical axis at the top of the lead screw, and the lead screw graphite sleeve is slidably connected to the inside of the guide sleeve. By setting the lead screw graphite sleeve, it can guide the lead screw and prevent the lead screw from tilting inside the guide sleeve.

[0011] As a further description of the above technical solution, pressure sensors are provided between the bearing flange and the cylinder guide rod and between the stud bolt and the first fisheye bearing. By providing the pressure sensors, the output can be feedback-adjusted to avoid excessive damage to the equipment due to excessive movement.

[0012] As a further description of the above technical solution, the waist of the robotic arm and the upper arm posture control rod are hinged on the robotic arm base, the upper arm of the robotic arm and the forearm posture control rod are hinged on the waist of the robotic arm, and the other end is hinged on the forearm posture rod to form a parallelogram, the balancing cylinder and linear drive one are hinged on the robotic arm base, the linear drive two is hinged on the waist of the robotic arm, the forearm of the robotic arm is hinged on the upper arm of the robotic arm, the forearm of the robotic arm, the forearm of the robotic arm, the forearm of the robotic arm, the forearm posture rod, the end posture control rod, and the end posture rod are hinged to form a parallelogram to ensure the posture of the end posture rod.

[0013] (III) Beneficial effects

[0014] The present invention provides a linear actuator having the following beneficial effects:

[0015] The linear actuator, by providing a frameless motor stator, can transmit motor power and pneumatic power to the first fisheye bearing and the second fisheye bearing under the joint action of the frameless motor rotor, wire machine, nut, guide sleeve and cylinder guide rod, so as to achieve the purpose of applying hybrid power to the shaft of the target part, and cooperate with the action of the fisheye bearing to reduce the load of the driver while allowing the entire system to increase its load capacity. Since the device adopts a V-shaped shape, it occupies less space.

[0016] The linear drive, by providing a guide tube graphite copper sleeve, can not only reduce the friction between the rear shell of the second drive and the guide sleeve, but also can minimize the occurrence of guide sleeve tilting through the guiding effect of the guide tube graphite copper sleeve. By providing a lead screw graphite sleeve, it can guide the lead screw to avoid tilting of the lead screw inside the guide sleeve. By providing a pressure sensor, the output force can be feedback-regulated to avoid excessive damage to the equipment due to excessive movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a full cross-sectional schematic diagram of the present invention in the front view direction;

[0018] Figure 2 This is a schematic diagram of the appearance of the present invention;

[0019] Figure 3 It is a three-dimensional schematic diagram of the present invention;

[0020] Figure 4 This is a schematic diagram of the appearance of the driving component of the present invention;

[0021] Figure 5 This is a schematic diagram of the interior of the driving component of the present invention;

[0022] Figure 6 It is a schematic diagram of the force controlled by PID of the present invention;

[0023] Figure 7 It is the flow chart of PID control principle of the present invention;

[0024] Figure 8 The rear-mounted mechanical arm mechanism of the present invention is shown in FIG. Figure 1 ;

[0025] Fig. 9 The rear-mounted mechanical arm mechanism of the present invention is shown in FIG. Figure 2 ;

[0026] Fig.10 It is a schematic diagram of the front-mounted posture-maintaining mechanical arm mechanism of the present invention;

[0027] Fig.11 This is a schematic diagram of the rear-mounted posture-maintaining mechanical arm mechanism of the present invention.

[0028] In the figure: 1-encoder, 2-first driver rear shell, 3-frameless motor stator, 4-frameless motor rotor, 5-screw, 6-bearing 7-nut, 8-guide sleeve, 9-driver housing, 10-screw graphite sleeve, 11-guide cylinder graphite copper sleeve 12-second driver rear shell, 13-stud bolt, 14-first fisheye bearing, 15-cylinder guide rod, 16-cylinder housing 17-bearing flange 18-pressure sensor, 19-driver fixed bearing, 20-balance cylinder fixed Bearing, 21-second fisheye bearing, 22-mechanical arm mechanism, 2201-mechanical arm base, 2202-balancing cylinder, 2203-linear drive one, 2204-mechanical arm waist, 2205-mechanical arm upper arm, 2206-linear drive two, 2207-mechanical arm forearm, 2208-forearm posture control rod, 2209-forearm posture rod, 2210-end posture control rod, 2211-end posture rod, 2212-upper arm posture control rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-11 The present invention provides a technical solution: a linear drive, including a lead screw 5, the bottom end of the lead screw 5 is connected to a frameless motor rotor 4 through a flange, the outer surface of the frameless motor rotor 4 is sleeved with a frameless motor stator 3, the outer surface of the bottom end of the lead screw 5 is sleeved with a first drive rear shell 2, and the frameless motor stator 3 is bolted to the inside of the first drive rear shell 2, the bottom end of the frameless motor stator 3 is riveted to an encoder 1, the bottom surface of the first drive rear shell 2 is fixedly connected to a drive fixed bearing 19, the top of the first drive rear shell 2 is fixedly connected to a drive housing 9, and the lead screw 5 is located at the drive Inside the shell 9, a bearing 6 is fixedly embedded inside the bottom end of the driver shell 9, and the inner ring of the bearing 6 is fixedly connected to the outer surface of the optical axis at the bottom end of the screw 5. The robot arm mechanism 22 includes a robot arm base 2201, a balancing cylinder 2202, a linear drive 1 2203, a robot arm waist 2204, a robot arm upper arm 2205, a linear drive 2206, a robot arm forearm 2207, a forearm posture control rod 2208, a forearm posture rod 2209, an end posture control rod 2210, an end posture rod 2211 and an upper arm posture control rod 2212.

[0031] The outer surface of the lead screw 5 is threadedly connected with a nut 7 that matches the lead screw 5, and the top of the nut 7 is fixedly connected with a guide sleeve 8, and the guide sleeve 8 and the nut 7 are both located inside the driver housing 9. A lead screw graphite sleeve 10 that matches the guide sleeve 8 is sleeved at the optical axis of the top of the lead screw 5, and the lead screw graphite sleeve 10 is slidably connected to the inside of the guide sleeve 8. By providing the lead screw graphite sleeve 10, a guiding effect can be played on the lead screw 5 to prevent the lead screw 5 from tilting inside the guide sleeve 8. The top of the driver housing 9 The second end of the guide sleeve 8 is fixedly connected with a second driver rear shell 12, and the second driver rear shell 12 is sleeved on the outer surface of the guide sleeve 8. The interior of the second driver rear shell 12 is fixedly inlaid with a guide tube graphite copper sleeve 11, and the guide tube graphite copper sleeve 11 is adapted to the guide sleeve 8. By arranging the guide tube graphite copper sleeve 11, not only the friction between the second driver rear shell 12 and the guide sleeve 8 can be reduced, but also the guiding effect of the guide tube graphite copper sleeve 11 can minimize the occurrence of the inclination of the guide sleeve 8.

[0032] The top end of the guide sleeve 8 is threadedly connected with a stud bolt 13, and the other end of the stud bolt 13 is threadedly connected with a first fisheye bearing 14, a bearing flange 17 is arranged on the outside of the first fisheye bearing 14, the top end of the bearing flange 17 is fixedly connected with two symmetrical second fisheye bearings 21, and the two second fisheye bearings 21 are hinged to the first fisheye bearing 14, the bottom of the bearing flange 17 is threadedly connected with a cylinder guide rod 15, and the outer surface of the cylinder guide rod 15 is sleeved with a cylinder housing 16 adapted to the cylinder guide rod 15, and a balancing cylinder fixed bearing 20 is fixedly connected to the bottom end of the cylinder housing 16, and pressure sensors 18 are arranged between the bearing flange 17 and the cylinder guide rod 15 and between the stud bolt 13 and the first fisheye bearing 14. By arranging the pressure sensor 18, the output can be feedback-adjusted to avoid excessive damage to the equipment caused by excessive movement.

[0033] like Figure 6 As shown in the figure, through the PID control of the cylinder, the linear actuator is maintained in the best working state to output F1, and at the same time, it can output the resultant force F that can meet the working requirements. S , using PID control to make the cylinder self-adjust the output F according to the working conditions:

[0034] F s =F1 cos b+F cos a

[0035]

[0036] like Figure 7 As shown, the expected F is determined according to the working state, such as position, etc. The sensor obtains the current output value through detection, and calculates the output force F through the PID control algorithm. outThe actuator controls the controlled object to move according to the requirements. The sensor measures the data again and feeds it back to the input end, which makes adjustments again to achieve accurate control.

[0037] The formula of position PID control algorithm is:

[0038]

[0039]

[0040]

[0041] E k =FF k

[0042]

[0043] Where: K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, E k is the deviation value, T is the PID calculation cycle, T i is the integration time, T d is the differential time.

[0044] The formula for the incremental PID control algorithm is:

[0045]

[0046]

[0047]

[0048] E k =FF k

[0049]

[0050]

[0051]

[0052] ΔF out =K p (E k -E k-1 )+K i E k +K d (E k -2E k-1 +E k-2 )

[0053] Where: K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, E k is the deviation value, T is the PID calculation cycle, T i is the integration time, T d is the differential time, ΔF out It is the increment between two adjacent outputs (can be positive or negative).

[0054] like Figure 8 As shown, with this implementation, the robot arm waist 2204 is installed on the robot arm base 2201, the robot arm upper arm 2205 is hinged to the robot arm waist 2204, the balancing cylinder 2202 and the linear driver 1 2203 are hinged to the robot arm base 2201, the linear driver 2206 is hinged to the robot arm waist 2204, and the robot arm forearm 2207 is hinged to the robot arm upper arm 2205. The balancing cylinder 2202 and the linear driver 1 2203 work together to drive the robot arm upper arm 2205 to rotate, and the linear driver 2206 drives the robot arm forearm 2207 to rotate. The balancing cylinder 2202 can be used in a variety of ways: such as mechanical tension springs, constant force springs, magnetic springs, nitrogen balance bars, air bearing cylinders, rope cylinders, etc.

[0055] like Fig. 9 As shown, with this implementation mode, the robot waist 2204 and the upper arm posture control rod 2212 are hinged on the robot arm base 2201, the robot arm upper arm 2205 is hinged to the robot waist 2204, the balancing cylinder 2202 and the linear driver 1 2203 are hinged on the robot arm base 2201, the linear driver 2206 is hinged on the robot waist 2204, and the robot arm forearm 2207 is hinged on the robot arm upper arm 2205. The balancing cylinder 2202 and the linear driver 1 2203 work together to drive the robot waist 2204 to rotate, the upper arm posture control rod 2212 rotates synchronously, the robot arm upper arm 2205 maintains posture movement, and the linear driver 2 2206 drives the robot arm forearm 2207 to rotate. The balancing cylinder 2202 can be used in a variety of ways: such as mechanical tension springs, constant force springs, magnetic springs, nitrogen balance bars, air bearing cylinders, rope cylinders, etc.

[0056] like Fig.10As shown, in this embodiment, the robot waist 2204 is installed on the robot base 2201, the robot arm big arm 2205 and the small arm posture control rod 2208 are hinged on the robot waist 2204, and the other end is hinged on the small arm posture rod 2209 to form a parallelogram to ensure the posture of the small arm posture rod 2209, the balance cylinder 2202 and the linear drive 1 2203 are hinged on the robot base 2201, the linear drive 2206 and the small arm posture control rod 2208 are hinged on the robot waist 2204, and the robot arm small arm 2207 is hinged on the robot On the arm 2205, the robot arm forearm 2207 and the forearm posture rod 2209, the terminal posture control rod 2210, and the terminal posture rod 2211 are hinged to form a parallelogram to ensure the posture of the terminal posture rod 2211. The robot arm 2205 is driven to rotate by the balancing cylinder 2202 and the linear driver 1 2203, and the linear driver 2206 drives the robot arm forearm 2207 to rotate. The balancing cylinder 2202 can be used in various ways: such as mechanical tension springs, constant force springs, magnetic springs, nitrogen balance bars, air bearing cylinders, rope cylinders, etc.

[0057] like Fig.11 As shown, in this embodiment, the robot waist 2204 is installed on the robot base 2201, the robot arm big arm 2205 and the small arm posture control rod 2208 are hinged on the robot waist 2204, and the other end is hinged on the small arm posture rod 2209 to form a parallelogram to ensure the posture of the small arm posture rod 2209, the balance cylinder 2202 and the linear drive 1 2203 are hinged on the robot base 2201, the linear drive 2206 and the small arm posture control rod 2208 are hinged on the robot waist 2204, and the robot arm small arm 2207 is hinged on the robot On the arm 2205, the robot arm forearm 2207 and the forearm posture rod 2209, the terminal posture control rod 2210, and the terminal posture rod 2211 are hinged to form a parallelogram to ensure the posture of the terminal posture rod 2211. The robot arm 2205 is driven to rotate by the balancing cylinder 2202 and the linear driver 1 2203, and the linear driver 2206 drives the robot arm forearm 2207 to rotate. The balancing cylinder 2202 can be used in various ways: such as mechanical tension springs, constant force springs, magnetic springs, nitrogen balance bars, air bearing cylinders, rope cylinders, etc.

[0058] Working principle: The frameless motor stator 3 is controlled by the encoder 1, so that the frameless motor rotor 4 rotates a certain number of times at a certain speed as required, driving the lead screw 5 fastened to the frameless motor stator 3 to rotate, pushing the nut 7 on the lead screw 5 to move axially on the lead screw 5, and the guide sleeve 8 connected to the lead screw nut 7 is extended and retracted, and the power is transmitted to the stud 13 and the first fisheye bearing 14, and the shaft of the target part is applied with power. At the same time, the balancing cylinder transmits the power to the fisheye bearing flange 17 and the second fisheye bearing 21 through the cylinder guide rod 15, and the power is applied to the shaft of the target part through the second fisheye bearing 21, so as to reduce the load on the driver, so that the whole system can increase the load capacity. Two pressure sensors 18 are placed at appropriate positions outside the driver housing 9 for feedback adjustment to avoid excessive damage to the equipment caused by excessive movement. The device can form PID control through a linear driver, a cylinder and a sensor, so that the cylinder of the driver can self-adjust the output size according to the working conditions, and finally achieve the purpose of accurate control.

[0059] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linear drive, comprising a lead screw (5), a PID control and a mechanical arm mechanism (22), characterized in that: The bottom end of the lead screw (5) is connected to a frameless motor rotor (4) via a flange, the frameless motor rotor (4) is sleeved with a frameless motor stator (3) on its exterior, the bottom end of the lead screw (5) is sleeved with a first driver rear shell (2) on its exterior surface, and the frameless motor stator (3) is bolted to the interior of the first driver rear shell (2), the bottom end of the frameless motor stator (3) is riveted to an encoder (1), the bottom surface of the first driver rear shell (2) is fixedly connected to a driver fixed bearing (19), the top end of the first driver rear shell (2) is fixedly connected to a driver housing (9), and the lead screw (5) is located inside the driver housing (9), the driver A bearing (6) is fixedly embedded inside the bottom end of the actuator housing (9), and the inner ring of the bearing (6) is fixedly connected to the outer surface of the optical axis at the bottom end of the lead screw (5), and the mechanical arm mechanism (22) comprises a mechanical arm base (2201), a balancing cylinder (2202), a linear drive 1 (2203), a mechanical arm waist (2204), a mechanical arm upper arm (2205), a linear drive 2 (2206), a mechanical arm forearm (2207), a forearm posture control rod (2208), a forearm posture rod (2209), an end posture control rod (2210), an end posture rod (2211) and an upper arm posture control rod (2212); The outer surface of the lead screw (5) is threadedly connected to a nut (7) matched with the lead screw (5), the top end of the nut (7) is fixedly connected to a guide sleeve (8), and the guide sleeve (8) and the nut (7) are both located inside a driver housing (9), the top end of the driver housing (9) is fixedly connected to a second driver rear shell (12), and the second driver rear shell (12) is sleeved on the outer surface of the guide sleeve (8), the top end of the guide sleeve (8) is threadedly connected to a stud bolt (13), and the other end of the stud bolt (13) is threadedly connected to a first fisheye bearing ( 14), the first fisheye bearing (14) is provided with a bearing flange (17) on the outside, the top of the bearing flange (17) is fixedly connected with two symmetrical second fisheye bearings (21), and the two second fisheye bearings (21) are hinged to the first fisheye bearing (14), the bottom of the bearing flange (17) is threadedly connected with a cylinder guide rod (15), and the outer surface of the cylinder guide rod (15) is sleeved with a cylinder housing (16) adapted to the cylinder guide rod (15), and the bottom end of the cylinder housing (16) is fixedly connected with a balancing cylinder fixed bearing (20); A guide tube graphite copper sleeve (11) is fixedly embedded inside the second driver rear housing (12), and the guide tube graphite copper sleeve (11) is matched with the guide sleeve (8); a lead screw graphite sleeve (10) matched with the guide sleeve (8) is sleeved at the optical axis of the top end of the lead screw (5), and the lead screw graphite sleeve (10) is slidably connected to the inside of the guide sleeve (8); Pressure sensors (18) are provided between the bearing flange (17) and the cylinder guide rod (15) and between the stud bolt (13) and the first fisheye bearing (14); PID control includes position PID control algorithm and incremental PID control algorithm; The formula of the position PID control algorithm is: E k =F-F k Where: K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, E k is the deviation value, T is the PID calculation cycle, T i is the integration time, T d is the differential time; The formula of the incremental PID control algorithm is: E k =F-F k ΔF out =K p (E k -E k-1 )+K i E k +K d (E k -2E k-1 +E k-2 ) Where: K p is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient, E k is the deviation value, T is the PID calculation cycle, T i is the integration time, T d is the differential time, ΔF out It is the increment between two adjacent outputs.

2. A linear actuator according to claim 1, characterized in that: The mechanical arm waist (2204) and the upper arm posture control rod (2212) are hinged on the mechanical arm base (2201); the mechanical arm upper arm (2205) and the lower arm posture control rod (2208) are hinged on the mechanical arm waist (2204), and the other end is hinged on the lower arm posture rod (2209) to form a parallelogram; the balancing cylinder (2202) and the linear drive 1 (2203) are hinged on the mechanical arm base (2 201), the second linear drive (2206) is hinged on the waist (2204) of the robot arm, the forearm (2207) of the robot arm is hinged on the upper arm (2205) of the robot arm, and the forearm (2207) of the robot arm, the forearm posture rod (2209), the terminal posture control rod (2210), and the terminal posture rod (2211) are hinged to form a parallelogram to ensure the posture of the terminal posture rod (2211).

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