A linear motion device based on friction drive and control method

Abstract

The present invention belongs to the field of electromechanical transmission technology, and specifically relates to a friction-driven linear motion device and a control method. The linear motion device includes a housing, a power output rod, a synchronous clamping mechanism and a friction transmission mechanism. The synchronous clamping mechanism is used to clamp the power output rod, and the static friction between the friction wheel and the power output rod is used to drive the power output rod to output power outward to complete the linear motion. The transmission efficiency is high and the device has an overload protection function.

Description

Technical Field

[0001] The present invention relates to the field of electromechanical transmission technology, and specifically to a friction-driven linear motion device and a control method. Background Art

[0002] The driving modes of linear motion mainly include electric actuators and linear reciprocating motion. Electric actuators are driving devices that can provide linear or rotary motion. They use a certain driving energy and convert it into driving action through motors, cylinders or other devices. They are widely used, including the application of liquids, gases, electricity or other energy sources. Devices for linear reciprocating motion include linear motors, trapezoidal screws and ball screws. These devices provide different motion characteristics, such as speed, accuracy and efficiency, according to specific application requirements. Trapezoidal screws are more common in industrial applications due to their simple structure and low cost, but their transmission efficiency is low and they need to be cleaned and lubricated regularly to maintain their performance. Ball screws are known for their high transmission efficiency and accuracy. They achieve efficient energy conversion through the rolling motion of the balls and are suitable for occasions that require high precision and high efficiency. Linear motors are devices that directly convert electrical energy into mechanical energy for linear motion without any intermediate conversion mechanism. They have the characteristics of high efficiency and direct drive. Linear motors are usually divided into flat plate type, U-groove type and tubular type, which are suitable for high-speed and high-precision linear motion requirements.

[0003] In summary, there are many ways to drive linear motion, and there are also shortcomings in the application process. For example, the drive transmission efficiency of electric actuators is too low. Some require the use of oil as the working medium. Not only does it require the working medium to be kept clean at all times, resulting in high maintenance costs, but oil leakage will also cause environmental pollution and pose a greater fire hazard. For example, the ball screw in the linear reciprocating motion mode is expensive and cannot withstand large rigid impact loads. For example, the worm gear transmission efficiency in the linear reciprocating motion mode is low, and there is also a problem of high heat generation. Summary of the invention

[0004] The purpose of the present invention is to provide a linear motion device based on friction drive. After relying on the output torque of the motor, the power is transmitted to the friction wheel through the deceleration and torque-increasing effect of the reducer. The friction wheel drives the actuator to complete the linear motion. The transmission efficiency is high and it has an overload protection function.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A friction-driven linear motion device comprises a housing 01, a power output rod 02, a synchronous clamping mechanism 03 and a friction transmission mechanism 04;

[0007] The synchronous clamping mechanism 03 includes a power input module 0301 and a first clamping module 0302; the power input module 0301 includes a stepper motor 030101, a transmission shaft 030110 and a first clamping pinion 030106; the stepper motor 030101 and the transmission shaft 030110 are connected by a coupling 030102, and the first clamping pinion 030106 is fixedly sleeved on the transmission shaft 030110; the power output rod 02 is parallel to the transmission shaft 030110, and the transmission shaft 030110 is connected to the housing 01 by a bearing; the first clamping module 0302 includes a large gear 030201, a groove pin 030202, a pressure rod 030203, a support frame 030208 and a friction wheel 030207; the support frame 030208 is connected by a bearing 0 30108 is installed on the transmission shaft 030110; the large gear 030201 is meshed with the first clamping pinion 030106, and the surface of the support frame 030208 is provided with a track groove for the sliding of the pressure rod 030203; four identical arc grooves are provided on the large gear 030201, one end of the groove pin 030202 is located in the arc groove, and the other end is located in the track groove, one end of the pressure rod 030203 is fixedly connected to the end face of the groove pin 030202, and the other end is connected to the friction wheel support 030206, the friction wheel 030207 is rotatably installed on the friction wheel support 030206 through a bearing, and the support frame 030208 is fixedly installed on the housing 01; the centers of the circular holes on the large gear 030201 and the support frame 030208 are on the straight line where the power output rod 02 is located;

[0008] The friction transmission mechanism 04 includes a driving motor 0401, a first long gear shaft 0403, a driving wheel 040801, a bevel gear 040802 and a gear shaft 040803. One end of the first long gear shaft 0403 is connected to the output shaft of the driving motor 0401, and the other end is fixedly connected to the driving wheel 040801. The friction wheel 030207 is fixedly connected to the gear shaft 040803. Both ends of the gear shaft 040803 are fixedly connected to the bevel gear 040802. The bevel gear 040802 is meshed with the driving wheel 040801. The first long gear shaft 0403 is perpendicular to the power output rod 02.

[0009] As a more optimal technical solution of the present invention, the linear motion device also includes a second long gear shaft 0407 and a second clamping module 0303, the second clamping module 0303 is the same as the first clamping module 0302, and the second long gear shaft 0407 is chain-drivenly connected to the first long gear shaft 0403.

[0010] As a more optimal technical solution of the present invention, the chain drive includes a first sprocket 0404, a chain 0405 and a second sprocket 0406. The first sprocket 0404 is fixedly connected to the first long gear shaft 0403. The first sprocket 0404 is connected to the second sprocket 0406 through the chain 0405 and rotates synchronously.

[0011] As a more optimal technical solution of the present invention, the number of the groove pin 030202, the pressure rod 030203, the friction wheel 030207, the track groove and the arc groove are all four, and the track groove is located on two mutually perpendicular lines passing through the center of the circular hole on the surface of the support frame 030208; one end of the arc groove is located on the same circle, and the circle is concentric with the large gear 030201, and the other end of the arc groove is located on another concentric circle, and the bevel gears 040802 on both sides of the adjacent friction wheel 030207 are meshed.

[0012] As a more optimal technical solution of the present invention, the first clamping module 0302 also includes a clamping plate 030204 and a spring 030205. The clamping plate 030204 is fixedly connected to the end of the pressure rod 030203 and is connected to the friction wheel support 030206 through three springs 030205.

[0013] As a more optimal technical solution of the present invention, the first clamping module 0302 also includes a lifting lug 030209 fixedly connected to the support frame 030208, and the lifting lug 030209 is fixedly connected to the shell 01.

[0014] As a better technical solution of the present invention, the shell 01 includes a hexahedral frame, a reinforcing plate 0107 and a base 0108, the hexahedral frame top plate 0101 includes a top plate 0101, a rear plate 0102, a first side plate 0103, a second side plate 0104, a bottom plate 0105 and a front plate 0106, the top plate 0101 can be detachably mounted on the side plate, the two ends of the reinforcing plate 0107 are fixedly connected to the inner walls of the first side plate 0103 and the second side plate 0104, and the outer surface of the front plate 0106 is fixedly connected to the base 0108.

[0015] As a more optimal technical solution of the present invention, the power output rod 02 includes a square rod 0201, a rod head 0202 and a limit block 0203, the rod head 0202 is installed at the end of the square rod 0201, and four limit blocks 0203 are welded to the end of the rod head 0202.

[0016] As a more optimal technical solution of the present invention, the front end of the rod head 0202 is a threaded column.

[0017] As a more optimal technical solution of the present invention, the surface of the square rod 0201 has a coating or texture.

[0018] Another object of the present invention is to provide a control method for the above linear motion device, comprising the following steps:

[0019] Input signals enter the controller, including extension requirements and retraction requirements:

[0020] Step 1: The stepper motor 030101 rotates forward, driving the first clamping pinion 030106 to rotate through the transmission shaft 030110, and the first clamping pinion 030106 drives the large gear 030201 to rotate, and the groove pin 030202 slides along the arc groove of the large gear 030201, driving the pressure rod 030203 to slide along the track groove of the support frame 030208 toward the center of the large gear 030201, and the first clamping module 0302 presses the square rod 0201; the pressure rod 030203 transmits the pressure to the friction wheel 030207, so that the friction wheel 030207 has a positive pressure on the square rod 0201;

[0021] Step 2: If there is a demand to extend, the driving motor 0401 rotates forward to drive the first long gear shaft 0403 to rotate. If there is a demand to retract, the driving motor 0401 rotates in the reverse direction. The driving motor 0401 drives the first long gear shaft 0403 to rotate, and the driving wheel 040801 at its end drives the bevel gear 040802 to rotate, and the friction wheel 030207 installed on the gear shaft 040803 rotates. When the friction wheel 030207 starts to rotate, if the square rod 0201 is driven, the stepper motor 030101 stops rotating. If the square rod 0201 is not driven, the stepper motor 030101 continues to rotate, and the driving motor 0401 runs the power output rod 02 to the target position and then closes, and the friction wheel 030207 stops rotating.

[0022] The beneficial effects are as follows:

[0023] The linear motion device of the present invention has a motor output torque that is decelerated and torque-increased by a reducer, and a friction wheel drives an actuator to complete a linear motion action. Compared with a hydraulic drive method, the linear motion device has high transmission efficiency, is green and environmentally friendly, and will not cause oil leakage to pollute the environment.

[0024] The working scenarios in which the linear motion device of the present invention can be applied include but are not limited to the lifting device of the working arm of a pure electric skid steer loader, which effectively promotes the electrification development of the skid steer loader.

[0025] The linear motion device of the present invention relies on the static friction between the friction wheel and the power output rod to drive the power output rod to output power outward. When the power output rod encounters huge resistance and cannot continue to work normally, the friction wheel and the power output rod will change from being relatively static to sliding against each other to unload the load. Compared with the linear motion device driven by the ball screw, it can provide safety protection when the device is overloaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural diagram of the linear motion device of the present invention.

[0027] Figure 2 It is a structural diagram of the housing in the linear motion device of the present invention.

[0028] Figure 3 It is a structural diagram of a power output rod in the linear motion device of the present invention.

[0029] Figure 4 It is a structural diagram of the synchronous clamping mechanism in the linear motion device of the present invention.

[0030] Figure 5 It is a structural diagram of a power input module in the linear motion device of the present invention.

[0031] Figure 6 It is a structural diagram of a clamping module in the linear motion device of the present invention.

[0032] Figure 7 It is a structural diagram of the friction transmission mechanism in the linear motion device of the present invention.

[0033] Figure 8 It is a structural diagram of a transmission module in the linear motion device of the present invention.

[0034] Fig. 9 It is a front view of the clamping plate of the linear motion device of the present invention.

[0035] Fig.10 It is a top view of the clamping plate of the linear motion device of the present invention.

[0036] Fig.11 It is a flow chart of the control method of the linear motion device of the present invention. In the figure: housing 01: top plate 0101, rear plate 0102, first side plate 0103, second side plate 0104, bottom plate 0105, front plate 0106, reinforcing plate 0107, base 0108, connecting piece 0109;

[0037] Power output rod 02: square rod 0201, rod head 0202, limit block 0203;

[0038] Synchronous clamping mechanism 03: power input module 0301, first clamping module 0302, second clamping module 0303;

[0039] Power input module 0301: stepper motor 030101, coupling 030102, coupling plate 030103, bearing 030104, long spacer 030105, first clamping pinion 030106, short spacer 030107, bearing 030108, bearing end cover 030109, transmission shaft 030110, second clamping pinion 030111, short spacer 030112, bearing 030113, bearing end cover II 030114;

[0040] The first clamping module 0302: a large gear 030201, a groove pin 030202, a pressure rod 030203, a clamping plate 030204, a spring 030205, a friction wheel support 030206, a friction wheel 030207, a support frame 030208, and a lifting lug 030209;

[0041] Friction transmission mechanism 04: drive motor 0401, reducer 0402), first long gear shaft 0403, first sprocket 0404, chain 0405, second sprocket 0406, second long gear shaft 0407, first transmission module 0408, second transmission module 0409;

[0042] The first transmission module 0408: driving wheel 040801, bevel gear 040802, gear shaft 040803. DETAILED DESCRIPTION

[0043] The embodiments of the present invention will be described in detail below, and the relevant contents of the embodiments are shown in the accompanying drawings. The same numbers in all the drawings represent the same or functionally equivalent elements. The embodiments described below by the accompanying drawings are exemplary and do not completely represent all implementation methods consistent with the disclosure of the present invention, and cannot be understood as limitations on the invention. Based on this embodiment, other embodiments obtained by ordinary technicians in this field without making creative work are all within the scope of protection of the present invention.

[0044] In an embodiment of the present invention, a friction-driven linear motion device is provided. Figure 1 As shown, it specifically includes a housing 01, a power output rod 02, a synchronous clamping mechanism 03, and a friction transmission mechanism 04. The synchronous clamping mechanism 03 realizes the clamping action of the power output rod 02, and the friction transmission mechanism 04 drives the power output rod 02 by friction. The specific structure is as follows:

[0045] The synchronous clamping mechanism 03 includes a power input module 0301 and a first clamping module 0302; the power input module 0301 includes a stepper motor 030101, a transmission shaft 030110, and a first clamping pinion 030106, the stepper motor 030101 and the transmission shaft 030110 are connected by a coupling 030102, and the first clamping pinion 030106 is fixedly sleeved on the transmission shaft 030110; the power output rod 02 is parallel to the transmission shaft 030110, and the transmission shaft 030110 can The first clamping module 0302 comprises a large gear 030201, a groove pin 030202, a pressure rod 030203, a clamping plate 030204, a support frame 030208 and a friction wheel 030207; the support frame 030208 is mounted on the transmission shaft 030110 through a bearing 030108; the large gear 030201 is meshed with the first clamping pinion 030106, and a track groove for the sliding of the pressure rod 030203 is provided on the surface of the support frame 030208; the large gear 030201 is meshed with the first clamping pinion 030106, and a track groove for the sliding of the pressure rod 030203 is provided on the surface of the support frame 030208; The wheel 030201 is provided with four identical arc grooves, one end of the groove pin 030202 is located in the arc groove, and the other end is located in the track groove, one end of the pressure rod 030203 is fixedly connected to the end face of the groove pin 030202, and the other end is connected to the clamping plate 030204, the friction wheel 030207 is rotatably mounted on the friction wheel support 030206, and the support frame 030208 is fixedly mounted on the housing 01; the friction transmission mechanism 04 includes a driving motor 0401, a reducer 0402, and a first long gear Shaft 0403, driving wheel 040801, bevel gear 040802 and gear shaft 040803, one end of the first long gear shaft 0403 is connected to the output shaft of the reducer 0402, and the other end is fixedly connected to the driving wheel 040801, the friction wheel 030207 is fixedly connected to the gear shaft 040803, both ends of the gear shaft 040803 are fixedly connected to the bevel gear 040802, and the bevel gear 040802 is meshed with the driving wheel 040801; the first long gear shaft 0403 is perpendicular to the power output rod 02.

[0046] In some embodiments, Figure 2As shown, the housing 01 includes a top plate 0101, a rear plate 0102, a first side plate 0103, a second side plate 0104, a bottom plate 0105, a front plate 0106, a reinforcing plate 0107, a base 0108, and a connecting piece 0109. The housing 01 frame is a hexahedral structure assembled by the top plate 0101, the rear plate 0102, the first side plate 0103, the second side plate 0104, the bottom plate 0105, and the front plate 0106. The top plate 0101 can be flexibly disassembled to facilitate the installation of the sprocket, chain, etc. of the power input module. The two ends of the reinforcing plate 0107 are welded and installed on the inner wall of the first side plate 0103 and the second side plate 0104. The front plate 0106 is installed with a thickened steel plate base 0108, and the base 0108 is welded with a connecting piece 0109 for easy connection and installation.

[0047] In some embodiments, Figure 3 As shown, the power output rod 02 includes a square rod 0201, a rod head 0202, and a limit block 0203. The rod head 0202 is installed at the end of the square rod 0201, and four limit blocks 0203 are welded to the ends of the limit blocks 0203. The rod head 0202 is designed as a cylindrical shape with threads, which can be connected with a variety of devices to achieve different uses. The cross section of the square rod 0201 is square, and the surface of the square rod 0201 can be processed with a surface coating or a surface pattern, etc., to increase the adhesion coefficient and improve the power transmission effect. The limit blocks 0203 can play a limiting role to prevent the square rod 0201 from extending too much under the action of the friction wheel 030207 and falling off.

[0048] In some embodiments, an anti-collision pad is provided at the bottom end of the power output rod 02 to prevent wear between the square rod 0201 and the shell 01 due to friction.

[0049] like Figure 4 As shown, the synchronous clamping mechanism 03 includes a power input module 0301, a first clamping module 0302, and a second clamping module 0303. The power input module 0301 provides power for the first clamping module 0302 and the second clamping module 0303. The first clamping module 0302 and the second clamping module 0303 are completely consistent in composition, structure, material, and function, and synchronously clamp the square rod 0201 under the drive of the power input module 0301 to ensure sufficient positive pressure.

[0050] In some embodiments, Figure 5As shown, the power input module 0301 includes a stepper motor 030101, a coupling 030102, a coupling plate 030103, a bearing 030104, a long spacer 030105, a first clamping pinion 030106, a short spacer 030107, a bearing 030108, a bearing end cover 030109, a transmission shaft 030110, a second clamping pinion 030111, a short spacer 030112, a bearing 030113, and a bearing end cover 030114. The coupling 030102 fastens the stepper motor 030101 to the transmission shaft 030110, and the stepper motor 030101 and the coupling 030102 are fixed to the housing of the rear plate 0102 through the coupling plate 030103. The outer ring of bearing 030104 is installed on the housing of rear plate 0102, and the inner ring is connected to transmission shaft 030110. The left side of bearing 030104 is limited by coupling plate 030103, and the right side is limited by long spacer 030105. The first clamping pinion 030106 is connected and fixed to transmission shaft 030110 through a spline shaft, the short spacer 030107 limits the displacement of the first clamping pinion 030106 on the left side, and limits the inner ring of bearing 030108 on the right side, the bearing end cover 030109 limits the outer ring of bearing 030108, and transmission shaft 030110 is also connected to the inner ring of bearing 030108. The left side of the second clamping pinion 030111 is close to the boss of the transmission shaft 030110, and the right side is limited by the short spacer 030112. The other side of the short spacer 030112 limits the inner ring of the bearing 030113, and the bearing end cover 030114 limits the outer ring of the bearing 030113, so that the positions of all parts are fixed. The first clamping pinion 030106 is fixedly connected to the output shaft of the stepper motor 030101. The stepper motor 030101 not only drives the first clamping pinion 030106 and the second clamping pinion 030111 to rotate to provide a clamping force, but also has a self-locking function, so that the provided clamping force can remain unchanged.

[0051] In some embodiments, Figure 6 , 7As shown in Figure 8, the first clamping module 0302 includes a large gear 030201, a groove pin 030202, a pressure rod 030203, a clamping plate 030204, a spring 030205, a friction wheel support 030206, a friction wheel 030207, a support frame 030208, and a lifting lug 030209. The large gear 030201 is mounted on the support frame 030208, the groove pin 030202 is welded on the pressure rod 030203 and extends from the arc sliding groove of the large gear 030201, and the pressure rod 030203 is mounted in the track groove of the support frame 030208. The clamping plate 030204 is mounted on the end of the pressure rod 030203 and is connected to the friction wheel support 030206 through three springs 030205. The friction wheel 030207 is mounted on the friction wheel support 030206. Four lifting ears 030209 are welded on the support frame 030208, which can be bolted together with the reinforcing plate 0107 on the shell 01, and the ends are installed on the bearing 030108. The large gear 030201 rotates under the drive of the first clamping pinion 030106, and the groove pin 030202 slides along the arc-shaped sliding groove of the large gear 030201, driving the pressure rod 030203 to move toward the center of the circle along the track groove of the support frame 030208, and finally transmits the pressure to the friction wheel 030207 through the clamping plate 030204, the spring 030205, and the friction wheel support 030206, so that the four friction wheels 030207 can clamp the square rod 0201.

[0052] In some embodiments, the surface of the friction wheel 030207 is coated with a special material, including but not limited to polyurethane, to better increase the maximum static friction coefficient of the surface of the friction wheel 030207 and improve the static friction force.

[0053] In some embodiments, the first clamping pinion 030106 and the large gear 030201 are both spur gears, and the first clamping pinion 030106 and the large gear 030201 are meshed with each other. The first clamping pinion 030106 rotates to drive the large gear 030201 to rotate. A worm gear transmission can also be used, and the rotation of the worm drives the worm wheel to rotate, thereby increasing the self-locking performance of the mechanism.

[0054] In some embodiments, the four arc-shaped sliding grooves on the large gear 030201 are distributed in an array; the four track grooves of the support frame 030208 are distributed in an array.

[0055] In some embodiments, Fig. 9As shown, the friction transmission mechanism 04 includes a driving motor 0401, a reducer 0402, a first long gear shaft 0403, a first sprocket 0404, a chain 0405, a second sprocket 0406, a second long gear shaft 0407, a first transmission module 0408, and a second transmission module 0409. The driving motor 0401 is mounted on the top plate 0101 and connected to the reducer 0402 through a coupling. The output shaft of the reducer 0402 is connected to the first long gear shaft 0403. The first sprocket 0404 is fixed on the first long gear shaft 0403, and the first sprocket 0404 is connected to the second sprocket 0406 through the chain 0405 and rotates synchronously. The second sprocket 0406 is fixed on the second long gear shaft 0407. The first transmission module 0408 and the second transmission module 0409 are completely consistent in composition, structure, material, and function, and the compressed square rod 0201 is frictionally driven at the same time.

[0056] In some embodiments, Fig.10 As shown, the first transmission module 0408 includes a driving wheel 040801, a bevel gear 040802, and a gear shaft 040803. The driving wheel 040801 is installed at the end of the first long gear shaft 0403, and the gear shaft 040803 is fixed on the friction wheel 030207. The four gear shafts 040803 are meshed with each other through the bevel gear 040802 at the end, and are connected end to end at 90 degrees to form a closed square shape. Under the drive of the driving wheel 040801, the bevel gear 040802 drives the four gear shafts 040803 to rotate synchronously, so that the four friction wheels 030207 perform friction driving on the compressed square rod 0201.

[0057] In some embodiments, the bevel gears 040802 connected at both ends of the gear shaft 040803 include but are not limited to bevel gears.

[0058] In some embodiments, the friction wheel support 030206 provides sufficient clamping force to the friction wheel 030207 through the gear shaft 040803 to ensure that there is sufficient static friction between the friction wheel 030207 and the power output rod 02 during normal operation of the device, and no relative sliding occurs.

[0059] like Fig.11 As shown, the present application also provides a control method for a linear motion device based on the above friction drive, comprising the following steps:

[0060] An input signal enters the controller, the input signal including a request for extension and a request for retraction;

[0061] Synchronous clamping requirements: The stepper motor 030101 rotates forward, driving the first clamping pinion 030106 and the second clamping pinion 030111 to rotate through the transmission shaft 030110. The first clamping module 0302 and the second clamping module 0303 are completely consistent in composition and structure, and the square rod 0201 is clamped synchronously. Taking the first clamping module 0302 as an example, the second clamping pinion 030111 drives the large gear 030201 to rotate; the groove pin 030202 slides along the circular sliding groove of the large gear 030201, driving the pressure rod 030203) to slide along the track groove of the support frame 030208 toward the center of the circle; the pressure rod 030203 finally transfers the pressure to the friction wheel 030207 through the clamping plate 030204, the spring 030205, and the friction wheel support 030206, so that the friction wheel 030207 has a certain positive pressure on the square rod 0201.

[0062] When the extension requirement is raised, the driving motor 0401 rotates forward, driving the first long gear shaft 0403 to rotate;

[0063] When a retraction request is made, the driving motor 0401 is reversed to drive the first long gear shaft 0403 to rotate;

[0064] The first sprocket 0404 is fixed on the first long gear shaft 0403, and the first sprocket 0404 is connected to the second sprocket 0406 through the chain 0405, and rotates synchronously. The second sprocket 0406 is fixed on the second long gear shaft 0407. The first transmission module 0408 and the second transmission module 0409 are completely consistent in composition, structure, material, and function, and the compressed square rod 0201 is frictionally driven by the first long gear shaft 0403 and the second long gear shaft 0407 respectively; taking the first transmission module 0408 as an example, the first long gear shaft 0403 rotates, and the driving wheel 040801 drives the bevel gear 040802 to rotate, and through the transmission of power, the four gear shafts 040803 rotate synchronously;

[0065] The friction wheel 030207 mounted on the gear shaft 040803 rotates.

[0066] When the friction wheel 030207 starts to rotate, if the square rod 0201 is driven, the stepper motor 030101 stops rotating and moves the power output rod 02 to the target position; if the square rod 0201 is not driven, the stepper motor 030101 continues to rotate. When the power output rod 02 reaches the specified position, the drive motor 0401 is turned off and the friction wheel 030207 stops rotating.

[0067] When the end demand is raised, the power output rod 02 is retracted to the initial position by raising a retraction demand, and the stepper motor 030101 rotates in the opposite direction until the synchronous clamping module 03 returns to the initial position, and the stepper motor 030101 stops rotating.

[0068] In the present invention, the terms "first" and "second" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In addition, the terms "including" and "having" and any of their variations are intended to cover exclusive inclusions.

[0069] In the present invention, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0071] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A linear motion device based on friction drive, Features: It includes a housing, a power output rod, a synchronous pressing mechanism and a friction transmission mechanism; The synchronous clamping mechanism includes a power input module and a first clamping module; the power input module includes a stepper motor, a transmission shaft, and a first clamping pinion; the stepper motor and the transmission shaft are connected by a coupling; the first clamping pinion is fixedly sleeved on the transmission shaft; the power output rod is parallel to the transmission shaft, and the transmission shaft is connected to the housing through a bearing; The first clamping module includes a large gear, a groove pin, a pressure rod, a support frame and a friction wheel; the support frame is installed on the transmission shaft through a bearing; the large gear is meshed with the first clamping pinion, and a track groove for the groove pin to slide is provided on the surface of the support frame; four identical arc grooves are provided on the large gear, one end of the groove pin is located in the arc groove, and the other end is located in the track groove; one end of the pressure rod is fixedly connected to the end face of the groove pin, and the other end is connected to the friction wheel support; the friction wheel is rotatably installed on the friction wheel support, and the support frame is fixedly connected to the shell; the center of the circular holes on the large gear and the support frame is on the straight line where the power output rod is located; The friction transmission mechanism includes a driving motor, a first long gear shaft, a driving wheel, a bevel gear and a gear shaft; one end of the first long gear shaft is connected to the output shaft of the driving motor, and the other end is fixedly connected to the driving wheel; the friction wheel is fixedly connected to the middle part of the gear shaft, and both ends of the gear shaft are fixedly connected to the bevel gear, and the bevel gear is meshed with the driving wheel; the first long gear shaft is perpendicular to the power output rod.

2. The friction-driven linear motion device according to claim 1, Features: The linear motion device also includes a second long gear shaft and a second clamping module, the second clamping module is the same as the first clamping module, and the second long gear shaft is chain-drivenly connected to the first long gear shaft.

3. According to the friction-driven linear motion device of claim 2, Features: The chain drive includes a first sprocket, a chain and a second sprocket. The first sprocket is fixedly connected to the first long gear shaft, and the second sprocket is fixedly connected to the second long gear shaft. The first sprocket is connected to the second sprocket through the chain and rotates synchronously.

4. The friction-driven linear motion device according to claim 1, Features: The number of the groove pin, pressure rod, friction wheel, track groove and arc groove are all four. The track groove is located on two mutually perpendicular lines passing through the center of the circular hole on the surface of the support frame; one end of the arc groove is located on the same circle, and the circle is concentric with the large gear. The other end of the arc groove is located on another concentric circle, and the bevel gears on both sides of the adjacent friction wheels are meshed.

5. The friction-driven linear motion device according to claim 1, Features: The first pressing module also includes a pressing plate and a spring. The pressing plate is fixedly connected to the end of the pressing rod and is connected to the friction wheel support through three springs.

6. The friction-driven linear motion device according to claim 1, Features: The first pressing module further comprises a lifting lug fixedly connected to the supporting frame, and the lifting lug is fixedly connected to the shell.

7. The friction-driven linear motion device according to claim 1, Features: The shell includes a hexahedral frame, a reinforcement plate and a base. The hexahedral frame includes a top plate, a back plate, a first side plate, a second side plate, a bottom plate and a front plate. The top plate is detachably mounted on the side plates. Both ends of the reinforcement plate are fixedly connected to the inner walls of the first side plate and the second side plate. The outer surface of the front plate is fixedly connected to the base.

8. The friction-driven linear motion device according to claim 1, Features: The power output rod comprises a square rod, a rod head and a limit block. The rod head is installed at the end of the square rod, and four limit blocks are welded to the end of the rod head.

9. The friction-driven linear motion device according to claim 8, Features: The front end of the rod head is a threaded column.

10. The control method of the friction-driven linear motion device according to claim 1, It is characterized in that The following steps are involved: Input signals enter the controller, including extension requirements, retraction requirements and end requirements: Step 1: The stepper motor rotates forward, driving the first clamping pinion to rotate through the transmission shaft, the first clamping pinion drives the large gear to rotate, the groove pin slides along the arc groove of the large gear, driving the pressure rod to slide along the track groove of the support frame toward the center of the large gear, and the first clamping module presses the rod; the pressure rod transmits the pressure to the friction wheel, so that the friction wheel has a positive pressure on the rod; Step 2: If there is a demand for extension, the drive motor rotates forward to drive the first long gear shaft to rotate. If there is a demand for retraction, the drive motor rotates reversely. The drive motor drives the first long gear shaft to rotate, and the driving wheel at its end drives the bevel gear to rotate, and the friction wheel installed on the gear shaft rotates. When the friction wheel starts to rotate, if the rod is driven, the stepper motor stops rotating. If the rod is not driven, the stepper motor continues to rotate. The drive motor runs the power output rod to the target position and then closes, and the friction wheel stops rotating.

Images