Multi-degree-of-freedom linear drive module

Abstract

The application discloses a multi-freedom linear driving module which supports each other, comprising a driving base (101), a first coupling (102a), a second coupling (102b), a first linear guide rail (103a), a second linear guide rail (103b), a first driving lead screw (104a), a second driving lead screw (104b), a first driving slide plate module (105a), a second driving slide plate module (105b), a first servo motor (106a), a second servo motor (106b) and a lead screw support base (109). The application can satisfy the working condition of double slide plate driving during the operation of the module, save the installation space of the driving module and enable the slide plate to realize different movements. The design that the driving lead screws support each other ensures that the lead screws will not have safety hazards due to excessive speed or excessive load during the operation, and improves the installation and stability of the driving module movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving, in particular to a multi-degree-of-freedom linear driving module that supports each other. BACKGROUND

[0002] The linear driving mode has the advantages of simple structure, easy manufacturing, reliable operation, long transmission distance, constant transmission ratio, large load transmission, stable movement, and low noise. The existing transmission methods mainly include various types of linear driving methods such as approximate linear motion mechanisms (such as the Poulie-Lipkin linear motion mechanism, the Hooke linear mechanism), gear and rack transmission mechanisms, cam mechanisms, synchronous belt type linear modules, lead screw type linear modules, electric cylinder type linear modules, and linear motor type modules.

[0003] The existing linear motion design methods have some disadvantages in movement and use, including complex mechanical components, limited use conditions, large space occupation, difficulty in achieving high-speed driving, and limited movement load.

[0004] It can be seen that the traditional driving module is restricted by space, load, and running efficiency, and cannot be effectively applied to different scenes. In some cases, a linear driving module needs to be specially customized for the project, which is high in cost and complex in process. When facing different movement conditions, multiple linear modules or different types of linear modules need to be matched to achieve the movement design of the platform, workpiece, etc. SUMMARY

[0005] The purpose of the present application is to provide a multi-degree-of-freedom linear driving module that supports each other, which includes a driving base, a first coupling, a second coupling, a first linear guide rail, a second linear guide rail, a first driving lead screw, a second driving lead screw, a first driving slide plate module, a second driving slide plate module, a first servo motor, a second servo motor, and a lead screw support seat.

[0006] One end of the first coupling is connected to the first servo motor, and the other end is connected to the first driving lead screw.

[0007] One end of the second coupling is connected to the second servo motor, and the other end is connected to the second driving lead screw.

[0008] The first linear guide rail and the second linear guide rail are installed on the driving base.

[0009] The first driving lead screw is used to drive the first driving slide plate module to move along the first linear guide rail.

[0010] The second driving lead screw is used to drive the second driving slide plate module to move along the second linear guide rail.

[0011] The first driving slide plate module and the second driving slide plate module are structurally identical, and each comprises a driving slide plate, a sliding block, a screw nut mounting seat, a loose nut mounting seat, a screw nut, and a loose nut.

[0012] The sliding block cooperates with the guide rail, and the sliding block can move along the guide rail.

[0013] The driving slide plate is mounted on the linear guide rail and can slide on the linear guide rail.

[0014] The sliding block, the screw nut mounting seat, and the loose nut mounting seat are arranged on the driving slide plate.

[0015] The screw nut is mounted on the screw nut mounting seat by bolts.

[0016] The screw nut cooperates with the driving screw to drive the driving slide plate to move.

[0017] The loose nut is mounted on the loose nut mounting seat by bolts.

[0018] The loose nut cooperates with the gap of another branch chain in the module to support the operation of the screw in the branch chain.

[0019] The first servo motor and the second servo motor are mounted on the driving base.

[0020] The first servo motor drives the first driving screw to move through the first coupling.

[0021] The second servo motor drives the second driving screw to move through the second coupling.

[0022] The screw support seat is mounted on the driving base to support the first driving screw and the second driving screw.

[0023] Further, the first mechanical stopper and the second mechanical stopper are further included.

[0024] The first mechanical stopper and the second mechanical stopper are mounted on the driving base to limit the movement limit position of the driving slide plate.

[0025] Further, the first limit switch and the second limit switch are further included.

[0026] The first limit switch and the second limit switch are mounted on the driving base to limit the movement limit position of the driving slide plate.

[0027] Further, a speed reducer is further included.

[0028] The speed reducer is mounted on the driving base.

[0029] The speed reducer is connected with the servo motor, reduces the output of the servo motor, and further reduces the movement speed of the first driving slide plate module and the second driving slide plate module.

[0030] Further, the effective stroke d of the first driving lead screw and the second driving lead screw is as follows:

[0031] d=L-2l (1)

[0032] In the formula, L is the stroke of the driving lead screw; and l is the linear distance from the driving slide plate to the axis of the lead screw.

[0033] Further, the buckling load of the multi-degree-of-freedom linear driving module is as follows:

[0034]

[0035] In the formula, P1 is the buckling load; l a is the mounting spacing; E is the Young's modulus; is the minimum sectional second moment of the lead screw; d1 is the minor diameter of the thread of the lead screw shaft; and η1, η w are the mounting method coefficients.

[0036] Further, the allowable tensile and compressive load of the multi-degree-of-freedom linear driving module is as follows:

[0037] In the formula, P2 is the allowable tensile and compressive load; σ is the allowable tensile and compressive stress; and d1 is the minor diameter of the thread of the lead screw shaft.

[0038] Further, the first coupling, the first driving lead screw and the first servo motor form a first driving module;

[0039] The second coupling, the second driving lead screw and the second servo motor form a second driving module;

[0040] The first driving module and the second driving module support each other;

[0041] The first driving module drives the first driving slide plate module to move;

[0042] The second driving module drives the second driving slide plate module to move.

[0043] The technical effects of the present application are self-evident. The present application can satisfy the working conditions of double slide plate driving during the operation of the module, save the installation space of the driving module, and enable the slide plate to realize different movements. The design that the driving lead screws support each other ensures that the lead screws will not have safety hazards due to excessive speed or excessive load during operation, and improves the installation and stability of the movement of the driving module. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is the overall structure diagram of the mutual supporting linear drive module.

[0045] Figure 2a 、 Figure 2b is the overall structure diagram of the driving slide plate of the application;

[0046] Figure 3 is the overall structure diagram when the driving grinding tool has three-axis movement in the application I;

[0047] Figure 4 is the overall structure diagram when the driving grinding tool has three-axis movement in the application II;

[0048] In the figure, the driving base 101, the first coupling 102a, the second coupling 102b, the first linear guide rail 103a, the second linear guide rail 103b, the first driving lead screw 104a, the second driving lead screw 104b, the first driving slide plate module 105a, the second driving slide plate module 105b, the first servo motor 106a, the second servo motor 106b, the lead screw support seat 109, the driving slide plate 201, the slide block 202, the lead screw nut mounting seat 203, the empty sleeve nut mounting seat 204, the empty sleeve nut 205, and the lead screw nut 206. DETAILED DESCRIPTION

[0049] The application will be further described below in conjunction with the embodiments, but should not be understood as limiting the above-mentioned subject matter of the application to the following embodiments. According to the ordinary technical knowledge and conventional means in the art, various substitutions and changes can be made without departing from the above-mentioned technical idea of the application, and all should be included in the protection scope of the application.

[0050] Example 1:

[0051] Referring to Figures 1 to 4 , the multi-degree-of-freedom linear drive module that supports each other includes a driving base 101, a first coupling 102a, a second coupling 102b, a first linear guide rail 103a, a second linear guide rail 103b, a first driving lead screw 104a, a second driving lead screw 104b, a first driving slide plate module 105a, a second driving slide plate module 105b, a first servo motor 106a, a second servo motor 106b, and a lead screw support seat 109.

[0052] One end of the first coupling 102a is connected with the first servo motor 106a, and the other end is connected with the first driving lead screw 104a.

[0053] One end of the second coupling 102b is connected with the second servo motor 106b, and the other end is connected with the second driving lead screw 104b.

[0054] The first linear guide rail 103a and the second linear guide rail 103b are installed on the driving base 101.

[0055] The first driving lead screw 104a is used to drive the first driving slide plate module 105a to move along the first linear guide rail 103a.

[0056] The second driving lead screw 104b is used to drive the second driving slide plate module 105b to move along the second linear guide rail 103b.

[0057] The first driving slide plate module 105a and the second driving slide plate module 105b are the same in structure, and each includes a driving slide plate 201, a slide block 202, a lead screw nut mounting seat 203, a loose nut mounting seat 204, a lead screw nut, and a loose nut.

[0058] The driving slide plate 201 is installed on the linear guide rail and can slide on the linear guide rail.

[0059] The slide block 202, the lead screw nut mounting seat 203, and the loose nut mounting seat 204 are arranged on the driving slide plate 201.

[0060] The slide block 202 cooperates with the guide rail 103, and the slide block can move along the guide rail;

[0061] The lead screw nut 206 is bolted on the lead screw nut mounting seat 203.

[0062] The lead screw nut 206 cooperates with the driving lead screw to drive the driving slide plate 201 to move.

[0063] The loose nut 205 is bolted on the loose nut mounting seat 204.

[0064] The loose nut cooperates with the gap of another branch chain in the module to support the operation of the lead screw in the branch chain.

[0065] The first servo motor 106a and the second servo motor 106b are carried on the driving base 101.

[0066] The first servo motor 106a drives the first driving lead screw 104a to move through the first coupling 102a.

[0067] The second servo motor 106b drives the second driving lead screw 104b to move through the second coupling 102b.

[0068] The lead screw support seat 109 is installed on the driving base 101 and is used to support the first driving lead screw 104a and the second driving lead screw 104b.

[0069] The multi-degree-of-freedom linear driving module further includes a first mechanical stop block 107a and a second mechanical stop block 107b.

[0070] The first mechanical stop 107a and the second mechanical stop 107b are installed on the driving base 101, and are used to limit the movement limit position of the driving slide plate 201.

[0071] The multi-degree-of-freedom linear driving module further comprises a first limit switch 108a and a second limit switch 108b.

[0072] The first limit switch 108a and the second limit switch 108b are installed on the driving base 101, and are used to limit the movement limit position of the driving slide plate 201.

[0073] The multi-degree-of-freedom linear driving module further comprises a speed reducer 110.

[0074] The speed reducer 110 is installed on the driving base 101.

[0075] The speed reducer 110 is connected with the servo motor, reduces the output of the servo motor, and further reduces the movement speed of the first driving slide plate module 105a and the second driving slide plate module 105b.

[0076] The effective stroke d of the first driving lead screw 104a and the second driving lead screw 104b is as follows:

[0077] d = L - 2l (1)

[0078] In the formula, L is the stroke of the driving lead screw; as shown in the figure, l is the linear distance from the driving slide plate to the axis of the lead screw. Figure 4

[0079] The buckling load of the multi-degree-of-freedom linear driving module is as follows:

[0080]

[0081] In the formula, P1 is the buckling load; l a is the installation spacing; E is the Young's modulus; is the minimum sectional second moment of the lead screw; d1 is the minor diameter of the lead screw thread; η1 and η2 are installation method coefficients.

[0082] The allowable tensile and compressive load of the multi-degree-of-freedom linear driving module is as follows:

[0083]

[0084] In the formula, P2 is the allowable tensile and compressive load; σ is the allowable tensile and compressive stress; d1 is the minor diameter of the lead screw thread.

[0085] The first coupling 102a, the first driving lead screw 104a, and the first servo motor 106a constitute a first driving module; ​

[0086] The second coupling 102b, the second drive lead screw 104b, and the second servo motor 106b form a second drive module.

[0087] The first drive module and the second drive module support each other.

[0088] The first drive module drives the first drive sliding plate module 105a to move.

[0089] The second drive module drives the second drive sliding plate module 105b to move.

[0090] Embodiment 2:

[0091] Referring to Figures 1 to 3 , the multi-freedom degree linear drive module that supports each other includes a drive base 101, a first coupling 102a, a second coupling 102b, a first linear guide rail 103a, a second linear guide rail 103b, a first drive lead screw 104a, a second drive lead screw 104b, a first drive sliding plate module 105a, a second drive sliding plate module 105b, a first servo motor 106a, a second servo motor 106b, and a lead screw support seat 109.

[0092] The coupling, the linear guide rail, the drive lead screw, and the servo motor cooperate with each other on the entire base to form the basic components of the linear drive module.

[0093] The entire drive base can be processed in various ways such as welded pipe, integral molding, etc.

[0094] The servo motor, the coupling, the drive lead screw, and the lead screw support seat in the entire module form a branch chain, and the module adopts a double-lead screw driving form driven by the servo motor. In order to ensure the coaxiality between the lead screw and the motor shaft, the coupling is used to connect between the two components. The single branch chain adopts lead screw support seats on both sides, which can effectively improve the carrying capacity of the module during operation. Moreover, the lead screw support seat can support the lead screws of the two branch chains in the module at the same time after design modification.

[0095] The double branch chains drive double sliding plates in the module, which can effectively improve the operation efficiency, reduce the installation space, and improve the motion load.

[0096] Mechanical stops and limit switches are installed on the drive base. Through double limit setting, the sliding plate motion limit position is effectively limited to avoid the sliding plate from colliding with the guide rail or sliding block during operation, thereby damaging the module.

[0097] Referring to Fig. 2, the slide block, the screw nut mounting seat, the empty sleeve nut mounting seat are arranged on the slide plate in cooperation with the slide plate as the mounting reference, and the screw nut and the empty sleeve nut are mounted on the screw nut mounting seat and the empty sleeve nut mounting seat through bolt connection. Considering the installation adjustment problem, the empty sleeve nut mounting seat is connected to the driving slide plate through a hexagonal bolt, wherein the screw nut cooperates with the screw to drive the slide plate to move, and the empty sleeve nut cooperates with another branch gap in the module to support the operation of the screw in the branch, which is beneficial to support and limit the module in the high-speed heavy-load working environment.

[0098] Working principle: the driving module of the design is centrally symmetrically arranged at both ends, driven by a servo motor, and the size of the driving base can be reserved for installation. A servo motor with a brake is used to improve the safety of the entire driving module during operation. The effective stroke of the module needs to be checked under different operation requirements. Assuming that the stroke of the driving screw 104 is L, and the distance of the driving slide plate 201 in the screw axis direction is l, then the effective stroke of the driving module is:

[0099] d = L - 2l

[0100] The overall size of the driving module is related to the effective stroke, and is also related to the stress in the working condition and its service life. The size of the driving force affects the selection of the screw, considering the analysis of the deflection, deformation, service life and other related checks of the screw and the tension and compression.

[0101]

[0102] P1: deflection load (N); l a : mounting distance (mm); E: Young's modulus (2.06 x 10 4 N / mm); I: minimum sectional second moment of screw (mm 4 ); d1 is the screw shaft thread minor diameter; η1, η2: installation method coefficient, see relevant brand sample book;

[0103]

[0104] P2: allowable tensile and compressive load (N); σ: allowable tensile and compressive stress (147 MPa); d1: screw shaft thread minor diameter;

[0105] Determine the shaft end mounting method, and after checking the driving screw 204 according to the use requirements, bending calculation, tension and compression calculation, service life calculation and other checks, determine the general use requirements of the screw, and select the driving module that meets the working condition.

[0106] Example 3:

[0107] The multi-degree-of-freedom linear driving module includes a driving base 101, a first coupling 102a, a second coupling 102b, a first linear guide rail 103a, a second linear guide rail 103b, a first driving lead screw 104a, a second driving lead screw 104b, a first driving sliding plate module 105a, a second driving sliding plate module 105b, a first servo motor 106a, a second servo motor 106b, and a lead screw support seat 109.

[0108] One end of the first coupling 102a is connected with the first servo motor 106a, and the other end is connected with the first driving lead screw 104a.

[0109] One end of the second coupling 102b is connected with the second servo motor 106b, and the other end is connected with the second driving lead screw 104b.

[0110] The first linear guide rail 103a and the second linear guide rail 103b are installed on the driving base 101.

[0111] The first driving lead screw 104a is used to drive the first driving sliding plate module 105a to move along the first linear guide rail 103a.

[0112] The second driving lead screw 104b is used to drive the second driving sliding plate module 105b to move along the second linear guide rail 103b.

[0113] The first driving sliding plate module 105a and the second driving sliding plate module 105b are the same in structure and each include a driving sliding plate 201, a sliding block 202, a lead screw nut 206 mounting seat 203, a hollow nut 205 mounting seat 204, a lead screw nut 206, and a hollow nut 205.

[0114] The driving sliding plate 201 is a main moving component of the mechanism, is installed on the linear guide rail, and can slide on the linear guide rail.

[0115] The sliding block 202, the lead screw nut 206 mounting seat 203, and the hollow nut 205 mounting seat 204 are arranged on the driving sliding plate 201.

[0116] The sliding block 202 cooperates with the guide rail 103, and the sliding block can move along the guide rail.

[0117] The lead screw nut 206 is installed on the lead screw nut 206 mounting seat 203 through bolts.

[0118] The lead screw nut 206 cooperates with the driving lead screw to drive the driving sliding plate 201 to move.

[0119] The hollow nut 205 is installed on the hollow nut 205 mounting seat 204 through bolts.

[0120] The empty nut 205 cooperates with another branch gap in the module to support the screw rod in the branch to run;

[0121] The first servo motor 106a and the second servo motor 106b are carried on the driving base 101;

[0122] The first servo motor 106a drives the first driving screw rod 104a to move through the first coupling 102a;

[0123] The second servo motor 106b drives the second driving screw rod 104b to move through the second coupling 102b;

[0124] The screw rod support seat 109 is installed on the driving base 101 to support the first driving screw rod 104a and the second driving screw rod 104b.

[0125] Embodiment 4:

[0126] The multi-degree-of-freedom linear driving module supporting each other, the technical content is the same as that of embodiment 3, further comprising a first mechanical stop block 107a and a second mechanical stop block 107b;

[0127] The first mechanical stop block 107a and the second mechanical stop block 107b are installed on the driving base 101 to limit the movement limit position of the driving slide plate 201.

[0128] Embodiment 5:

[0129] The multi-degree-of-freedom linear driving module supporting each other, the technical content is the same as that of any one of embodiments 3-4, further comprising a first limit switch 108a and a second limit switch 108b;

[0130] The first limit switch 108a and the second limit switch 108b are installed on the driving base 101 to limit the movement limit position of the driving slide plate 201.

[0131] Embodiment 6:

[0132] The multi-degree-of-freedom linear driving module supporting each other, the technical content is the same as that of any one of embodiments 3-5, further comprising a speed reducer 110;

[0133] The speed reducer 110 is installed on the driving base 101;

[0134] The speed reducer 110 is connected with the servo motor to reduce the output of the servo motor, and further reduce the movement speed of the first driving slide plate module 105a and the second driving slide plate module 105b.

[0135] Embodiment 7:

[0136] The multi-degree-of-freedom linear drive module is supported by each other, the technical content is same to any one of embodiments 3-6, further, the effective stroke d of the first drive lead screw 104a and the second drive lead screw 104b is as follows:

[0137] d=L-2l (1)

[0138] In the formula, L is the stroke of the drive lead screw; and l is the linear distance of the drive slide along the lead screw axis.

[0139] Embodiment 8:

[0140] The multi-degree-of-freedom linear drive module is supported by each other, the technical content is same to any one of embodiments 3-7, further, the buckling load of the multi-degree-of-freedom linear drive module is as follows:

[0141]

[0142] In the formula, P1 is the buckling load; l a is the installation spacing; E is the Young's modulus; is the minimum sectional second moment of the lead screw; d1 is the minor diameter of the lead screw shaft thread; η n , and η2 are installation method coefficients.

[0143] Embodiment 9:

[0144] The multi-degree-of-freedom linear drive module is supported by each other, the technical content is same to any one of embodiments 3-8, further, the allowable tensile and compressive load of the multi-degree-of-freedom linear drive module is as follows:

[0145]

[0146] In the formula, P2 is the allowable tensile and compressive load; σ is the allowable tensile and compressive stress; and d1 is the minor diameter of the lead screw shaft thread.

[0147] Embodiment 10:

[0148] The multi-degree-of-freedom linear drive module is supported by each other, the technical content is same to any one of embodiments 3-9, further, the first coupling 102a, the first drive lead screw 104a, and the first servo motor 106a form a first drive module;

[0149] The second coupling 102b, the second drive lead screw 104b, and the second servo motor 106b form a second drive module;

[0150] The first drive module and the second drive module are supported by each other;

[0151] The first drive module drives the first drive slide plate module 105a to move;

[0152] The second driving module drives the second driving slide plate module 105b to move.

Claims

1. Mutually supporting multi-degree-of-freedom linear drive module, characterized in that: The driving base (101), the first coupling (102a), the second coupling (102b), the first linear guide rail (103a), the second linear guide rail (103b), the first driving lead screw (104a), the second driving lead screw (104b), the first driving slide plate module (105a), the second driving slide plate module (105b), the first servo motor (106a), the second servo motor (106b), and the lead screw support base (109) are included. One end of the first coupling (102a) is connected with the first servo motor (106a), and the other end is connected with the first driving lead screw (104a). One end of the second coupling (102b) is connected with the second servo motor (106b), and the other end is connected with the second driving lead screw (104b). The first linear guide rail (103a) and the second linear guide rail (103b) are installed on the driving base (101). The first driving lead screw (104a) is used for driving the first driving slide plate module (105a) to move along the first linear guide rail (103a). The second driving lead screw (104b) is used for driving the second driving slide plate module (105b) to move along the second linear guide rail (103b). The first driving slide plate module (105a) and the second driving slide plate module (105b) are the same in structure and each include a driving slide plate (201), a slide block (202), a lead screw nut (206) mounting seat (203), a hollow nut (205) mounting seat (204), a lead screw nut (206), and a hollow nut (205). The driving slide plate (201) is a main moving component of the mechanism, is installed on the linear guide rail, and can slide on the linear guide rail. The slide block (202), the lead screw nut (206) mounting seat (203), and the hollow nut (205) mounting seat (204) are arranged on the driving slide plate (201). The slide block (202) cooperates with the guide rail (103), and the slide block can move along the guide rail. The lead screw nut (206) is installed on the lead screw nut (206) mounting seat (203) through bolts. The lead screw nut (206) cooperates with the driving lead screw to drive the driving slide plate (201) to move. The hollow nut (205) is installed on the hollow nut (205) mounting seat (204) through bolts. The hollow nut (205) cooperates with the gap of another branch in the module to support the operation of the lead screw in the branch. The first servo motor (106a) and the second servo motor (106b) are carried on the driving base (101). The first servo motor (106a) drives the first driving lead screw (104a) to move through the first coupling (102a). The second servo motor (106b) drives the second driving lead screw (104b) to move through the second coupling (102b). The lead screw support base (109) is installed on the driving base (101) and is used for supporting the first driving lead screw (104a) and the second driving lead screw (104b). The buckling load of the multi-degree-of-freedom linear driving module is as follows: In the formula, P1 is the buckling load; l a is the installation distance; E is the Young's modulus; is the minimum cross-sectional second moment of the screw; d1 is the small diameter of the screw shaft thread; η1, η2 are installation method coefficients; The allowable tensile and compressive load of the multi-degree-of-freedom linear drive module is as follows: In the formula, P2 is the allowable tensile and compressive load; σ is the allowable tensile and compressive stress; d1 is the small diameter of the screw shaft thread.

2. The self-bracing multi-degree-of-freedom linear drive module according to claim 1, characterized in that: Further comprising a first mechanical stop block (107a) and a second mechanical stop block (107b); The first mechanical stop block (107a) and the second mechanical stop block (107b) are installed on the drive base (101) and are used to limit the movement limit position of the drive slide plate (201).

3. The self-bracing multi-degree-of-freedom linear drive module according to claim 1, characterized in that: Further comprising a first limit switch (108a) and a second limit switch (108b); The first limit switch (108a) and the second limit switch (108b) are installed on the drive base (101) and are used to limit the movement limit position of the drive slide plate (201).

4. The self-bracing multi-degree-of-freedom linear drive module according to claim 1, characterized in that: Further comprising a speed reducer (110); The speed reducer (110) is installed on the drive base (101); The speed reducer (110) is connected with the servo motor, reduces the output of the servo motor, and further reduces the movement speed of the first drive slide plate module (105a) and the second drive slide plate module (105b).

5. The self-bracing multi-degree-of-freedom linear drive module according to claim 1, wherein, The effective stroke d of the first drive screw (104a) and the second drive screw (104b) is as follows: d = L - 2l (1) In the formula, L is the stroke of the drive screw; and l is the linear distance of the drive slide plate along the screw axis.

6. The self-bracing multi-degree-of-freedom linear drive module according to claim 1, wherein, The first coupling (102a), the first drive screw (104a), and the first servo motor (106a) constitute a first drive module; The second coupling (102b), the second drive screw (104b), and the second servo motor (106b) constitute a second drive module; The first drive module and the second drive module support each other; The first drive module drives the first drive slide plate module (105a) to move; The second drive module drives the second drive slide plate module (105b) to move.

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