An automatic braking system for power-off of linear motors

Abstract

The invention relates to the technical field of motor brakes, and discloses an automatic brake system for linear motors when power is cut off, wherein a brake mechanism is arranged between a secondary transfer block and a linear rail; the brake mechanism comprises a base block and a slider, a magnetic attraction component is arranged between the base block and the slider, and a hydraulic brake component for braking is arranged on the slider; the hydraulic brake component for braking is driven by the magnetic attraction component, that is, after the linear motor is powered off, the coil is automatically energized and magnetized, and a magnetic attraction sheet is attracted toward the base block, and the magnetic attraction sheet then drives the piston to move through a connecting rod, and drives a contour push block to extend through hydraulic action to hold the linear rail, thereby realizing a braking function, and after the coil is powered off, the piston and the contour push block are retracted and reset under the action of external atmospheric pressure; the system has a sophisticated structural design, fast response speed, low space requirement, and easy installation, which greatly reduces costs and occupies less space.

Description

Technical Field

[0001] The present invention relates to the technical field of motor brakes, and particularly relates to an automatic brake system for power-off of a linear motor. Background Art

[0002] A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. Its working principle is to generate a traveling wave magnetic field in the stator, interact with the magnetic field in the mover, thereby generating a thrust in the linear direction, causing the mover to perform linear motion along the stator; similar to the radial section of a rotary motor, converting rotary motion into linear motion. It can be understood as the most primitive linear motor obtained by cutting a rotary motor along the radial direction and unfolding the circumference of the motor into a straight line. The side evolved from the stator is called the primary or primary side, and the side evolved from the rotor is called the secondary or secondary side.

[0003] For some devices that require high-precision positioning, the accidental movement of the linear motor after power-off will damage the positioning accuracy of the device and affect subsequent production or experiments; moreover, in many application scenarios, the device driven by the linear motor may be in a dangerous position or carry an important load. If there is no braking device after power-off, the linear motor may continue to move due to inertia, resulting in equipment collision and damage; therefore, the braking device can ensure that the device remains stable after power-off and does not shift in position.

[0004] However, most of the existing linear motor braking devices on the market currently adopt the method of pneumatic or hydraulic caliper braking. This braking method requires the installation of a gas / hydraulic pump, which not only has high costs and occupies a large space, but also has a slow braking response speed, and is prone to the aforementioned accuracy and safety problems. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an automatic brake system for power-off of a linear motor. The hydraulic link piston is driven by electromagnetic force, so that the piston pushes the push block through hydraulic pressure to achieve caliper braking; this system uses the method of electromagnetic drive of the hydraulic piston push block for caliper braking to ensure that the linear motor can accurately and quickly respond to braking and stop.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] An automatic braking system for power-off of a linear motor, comprising a secondary transplanting block slidably mounted on a linear guide rail, and a braking mechanism is arranged between the secondary transplanting block and the linear guide rail; the braking mechanism includes a base block connected to the secondary transplanting block, a slider is connected to one side of the base block, a chute is formed on the slider, and the linear guide rail is slidably embedded in the chute; a magnetic attraction assembly is arranged between the base block and the slider, and a hydraulic brake assembly for braking is arranged on the slider; the magnetic attraction assembly includes a coil that is electrified and magnetized, the coil is installed on the base block, and a magnetic attraction piece that can be adsorbed by the magnetized coil is further arranged between the base block and the slider; the hydraulic brake assembly includes a hydraulic chamber and a profiling push block arranged on the slider, the rear end of the profiling push block is located in the hydraulic chamber, and the front end extends into the chute, and the front end of the profiling push block can abut against the linear guide rail; a piston capable of driving the profiling push block to extend out by hydraulic pressure is installed in the hydraulic chamber, and the piston is connected to the magnetic attraction piece through a connecting rod.

[0008] Optionally, a fluid medium is arranged in the hydraulic chamber, the fluid medium is located on the rod side of the piston, and the rear end of the profiling push block is immersed in the fluid medium.

[0009] Optionally, the base block is fixedly connected to the slider through a fastener, and a gap interval for the movement of the magnetic attraction piece is arranged between the base block and the slider.

[0010] Optionally, the magnetic attraction piece is slidably sleeved on the fastener, and a bushing is further sleeved on the fastener, and the bushing is located between the magnetic attraction piece and the fastener.

[0011] Optionally, the connecting rod movably penetrates through the slider, one end of the connecting rod is fixedly connected to the magnetic attraction piece, and the other end extends into the hydraulic chamber and is fixedly connected to the piston.

[0012] Optionally, a friction plate for increasing friction is fixedly installed at the front end of the profiling push block, and the friction plate abuts against the linear guide rail during braking.

[0013] Optionally, a plurality of coils are arranged, and the plurality of coils are linearly and equidistantly spaced on one side of the base block close to the magnetic attraction piece.

[0014] Optionally, the magnetic attraction assembly is located above the linear guide rail, and two sets of hydraulic brake assemblies are arranged, symmetrically distributed on both sides of the linear guide rail.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] (1) The hydraulic brake assembly for braking is driven by a magnetic attraction assembly. That is, after the linear motor is powered off, the coil is automatically powered on and magnetized, attracting the magnetic attraction plate towards the base block. The magnetic attraction plate then drives the piston to move through a connecting rod, and drives the profiling push block to extend through hydraulic action to hold the linear guide tightly, thereby achieving the braking function. After the coil is powered off, under the action of the external atmospheric pressure, the piston and the profiling push block retract and reset. The structure of this system is exquisitely designed, with a fast response speed, low space requirements, easy installation, and no need to be equipped with an air pump or a hydraulic pump additionally, greatly reducing the cost and occupying less space.

[0017] (2) In order to increase the friction between the profiling push block and the linear guide, a friction plate is also provided at the front end of the profiling push block. Brief Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the automatic braking system for power-off of the linear motor in the embodiment of the present invention;

[0019] Figure 2 is a top view structural diagram of the automatic braking system for power-off of the linear motor in the embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of the braking mechanism in the embodiment of the present invention;

[0021] Figure 4 is a side view structural diagram of the braking mechanism in the embodiment of the present invention;

[0022] Figure 5 is Figure 4 the sectional view structural diagram of the A-A section in (in the non-braking state);

[0023] Figure 6 is Figure 4 the sectional view structural diagram of the B-B section in;

[0024] Figure 7 is a position structural diagram of the profiling push block and the linear guide in the braking state in the embodiment of the present invention;

[0025] Among them, 1. Base; 2. Linear guide;

[0026] 3. Braking mechanism; 31. Base block; 32. Slide block; 33. Magnetic attraction plate; 34. Chute; 35. Connecting rod; 36. Piston; 37. Profiling push block; 38. Friction plate;

[0027] 4. Secondary transplanting block; 5. Cover plate; 6. Fastener; 7. Bushing; 8. Coil. Detailed Embodiment

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0029] Embodiment 1, as Figures 1 - 2 shown, an automatic braking system for a linear motor powered off includes a base 1, a linear guide 2 fixedly installed on the base 1, a secondary transplanting block 4 slidably installed on the linear guide 2, a cover plate 5 is further provided above the linear guide 2, the cover plate 5 is fixedly connected to the base 1, and both ends of the secondary transplanting block 4 extend upward around the cover plate 5 to its outside for facilitating the installation of components to be driven, and a braking mechanism 3 is provided between the secondary transplanting block 4 and the linear guide 2.

[0030] As described above, under the drive of the magnetic field, the secondary transplanting block 4 of the linear motor can perform reciprocating linear motion along the linear guide 2. When the linear motor is powered off, the braking mechanism 3 is immediately powered on to brake the secondary transplanting block 4 to ensure its stability and no position offset after power-off; for this purpose, a separate 24V DC power supply independent of the device circuit is required to supply power to the braking mechanism 3 alone when the device is powered off; when the main device is powered off, in order to enable the transplanting block with high-speed movement and extremely large inertia to respond quickly and brake precisely, the 24V DC power supply is connected to the power-on drive control switch and incorporated into the main circuit, that is, when the main device loses power for the first time, the braking mechanism 3 can achieve a quick response.

[0031] Embodiment 2, on the basis of Embodiment 1, the present invention also proposes the specific structure of the above-mentioned braking mechanism 3.

[0032] As Figures 3 - 7 shown, the braking mechanism 3 includes a base block 31, a slider 32, a magnetic attraction component, and a hydraulic brake component. The base block 31 is fixedly connected to the secondary transplanting block 4, the slider 32 is fixedly connected to the base block 31 through a fastener 6, a chute 34 is opened on the slider 32, and the linear guide 2 is slidably embedded in the chute 34; and the magnetic attraction component is arranged between the base block 31 and the slider 32, and the hydraulic brake component is arranged on the slider 32.

[0033] Among them, the base block 31, the slider 32, and the secondary transplanting block 4 can achieve synchronous movement along the linear guide 2. The hydraulic brake component is used for braking the secondary transplanting block 4, and the magnetic attraction component is used to drive the hydraulic brake component to work.

[0034] As described above, the magnetic attraction component includes a coil 8 and a magnetic attraction piece 33. The coil 8 is fixedly installed on the base block 31, and the magnetic attraction piece 33 is arranged between the base block 31 and the slider 32; when the coil 8 is powered on, it has magnetism, and the generated magnetic field energy can adsorb the magnetic attraction piece 33 to move it from the initial position to the adsorption position.

[0035] The hydraulic brake assembly includes a hydraulic chamber and a profiling push block 37. The former is opened inside the slider 32, and the latter is movably inserted through the slider 32. The rear end of the profiling push block 37 is located inside the hydraulic chamber, and the front end extends into the chute 34. After the front end of the profiling push block 37 extends out, it can abut against the linear guide 2, and the braking of the secondary transplanting block 4 is realized through the frictional force generated by the brake structure.

[0036] A piston 36 is installed inside the hydraulic chamber. The piston 36 is connected to the magnetic attraction sheet 33 through a connecting rod 35, and a fluid medium is provided inside the hydraulic chamber. The fluid medium is located on the rod side of the piston 36, and the rear end of the profiling push block 37 is immersed in the fluid medium; the connecting rod 35 is movably inserted through the slider 32, and one end of the connecting rod 35 is fixedly connected to the magnetic attraction sheet 33, and the other end extends into the hydraulic chamber and is fixedly connected to the piston 36.

[0037] Specifically, both the fluid medium and the profiling push block 37 are located on the rod chamber side of the hydraulic chamber. After the coil 8 is energized, it adsorbs the magnetic attraction sheet 33, causing it to move from the initial position to the adsorption position. Then, through the connecting rod 35, the piston 36 is driven to move upward inside the hydraulic chamber, squeezing the enclosed fluid medium in the hydraulic chamber to generate a strong hydraulic pressure. Under the action of the strong hydraulic pressure, the profiling push block 37 moves horizontally outward in the hydraulic chamber, that is, the front end extends until it fits with the linear guide 2. At this time, the braking mechanism 3 is in the braking state (as Figure 7 shown). The structure of this system is exquisitely designed, with a fast response speed, low space requirements, easy installation, and no need to be equipped with an additional air pressure pump or hydraulic pump, greatly reducing costs and occupying less space.

[0038] Among them, the fluid medium uses common hydraulic oil, and the hydraulic oil does not completely fill the rod chamber of the hydraulic chamber to facilitate the movement of the piston 36 inside the hydraulic chamber; guide grooves are usually opened on the side of the linear guide 2, and the shape of the front end of the profiling push block 37 is similar to the inner contour of the groove to facilitate close fitting.

[0039] After the linear motor is re-energized, the 24V DC power supply incorporated into the main circuit is powered off, that is, the magnetic attraction component loses power, and the magnetic force generated by the coil 8 disappears; since the rodless chamber of the hydraulic chamber is in a negative pressure state under the braking state, after the magnetic attraction force disappears, under the action of the external atmospheric pressure, the magnetic attraction sheet 33 drives the piston 36 to reset through the connecting rod 35, and the profiling push block 37 also resets under the same action, and then the braking mechanism 3 returns to the non-braking state (as Figure 5 shown).

[0040] Furthermore, the fastener 6 preferably uses a screw. The screw passes through the base block 31 and is connected to the slider 32 from top to bottom, and a gap is provided between the base block 31 and the slider 32 to ensure that the magnetic attraction sheet 33 has a moving space, can move close to the base block 31 when the magnetic force is generated, and move close to the slider 32 after the magnetic force disappears.

[0041] Among them, the fastener 6 also passes through the magnetic attraction sheet 33, that is, the magnetic attraction sheet 33 is slidably sleeved on the fastener 6. A bushing 7 is also sleeved on the fastener 6, and the bushing 7 is located between the magnetic attraction sheet 33 and the fastener 6. The bushing 7 can not only reduce the friction and wear between the magnetic attraction sheet 33 and the fastener 6, but also play a guiding role; and both ends of the bushing 7 are respectively in contact with the base block 31 and the slider 32, which can play a supporting role, so as to reserve enough space for the magnetic attraction sheet 33 to move between the base block 31 and the slider 32.

[0042] In order to increase the friction between the profiling push block 37 and the linear guide 2 to ensure the braking effect, a friction plate 38 is fixedly installed at the front end of the profiling push block 37, which can play a role in increasing the friction force and can move synchronously with the profiling push block 37. In the braking state, the friction plate 38 presses against the linear guide 2.

[0043] The magnetic attraction assembly is located above the linear guide 2. In order to improve the effect of the holding brake, multiple hydraulic holding brake assemblies are evenly divided into two groups and symmetrically distributed on both sides of the linear guide 2, which can ensure that the thrusts received by the linear guide 2 during braking are balanced with each other, the braking mechanism 3 can operate stably, and the braking effect can be improved. The more the hydraulic holding brake assemblies are, the greater the total friction force generated during braking, and the better the braking effect on the secondary transplanting block 4.

[0044] In order to ensure that multiple hydraulic holding brake assemblies can work synchronously, that is, the magnetic attraction sheet 33 can rise horizontally, multiple coils 8 are arranged at equal intervals in a straight line on one side of the base block 31 close to the magnetic attraction sheet 33. On the premise of a constant power supply, the more coils 8 are, the stronger the total magnetic force generated after being energized, the stronger the adsorption effect on the magnetic attraction sheet 33, and the shorter the response time.

[0045] After the linear motor is powered off, the magnetic attraction assembly of the braking mechanism 3 is immediately powered on. The coil 8 generates a strong magnetic attraction force under the action of the current. The magnetic attraction sheet 33 drives the piston 36 to move upward through the connecting rod 35 under the action of the magnetic attraction force until the magnetic attraction sheet 33 is completely attached to the base surface of the coil 8; at this time, the piston 36 moves upward to squeeze the enclosed hydraulic oil in the rod chamber to generate a strong hydraulic pressure. Under the action of the hydraulic pressure, the profiling push block 37 moves horizontally outward in the hydraulic chamber until the friction plate 38 fixed to the front end surface of the profiling push block 37 is tightly attached to the linear guide 2, generating a strong extrusion force and friction force, thereby realizing the braking work of the braking mechanism 3 on the secondary transplanting block 4.

[0046] After the linear motor is re-energized, the 24V DC power supply incorporated into the main circuit is powered off, that is, the magnetic attraction assembly loses power, and the magnetic attraction force disappears after the coil 8 loses power; due to the previous actions, the rodless chamber of the hydraulic chamber is in a negative pressure state. Therefore, after the magnetic force disappears, under the action of the external atmospheric pressure, the magnetic attraction piece 33 pushes the piston 36 downward through the connecting rod 35 until the piston 36 fits against the bottom of the rodless chamber; similarly, the profiling push block 37 also drives the friction plate 38 to disengage from the fitting linear guide 2 under the action of the external atmospheric pressure until the profiling push block 37 fits against the inner side surface of the sliding groove 34, and then the braking mechanism 3 returns to the non-braking state.

[0047] Embodiment 3, based on Embodiment 1 and Embodiment 2, the present invention also proposes an automatic braking method for the power-off of a linear motor, including the following steps.

[0048] Step S1: After the linear motor is powered off, the braking mechanism 3 is immediately powered on.

[0049] This system is independently equipped with a 24V DC power supply independent of the equipment circuit, which is used to supply power to the braking mechanism 3 alone when the equipment is powered off, and the 24V DC power supply is connected to the main circuit through a power-on drive control switch; when the main equipment loses power for the first time, the braking mechanism 3 can achieve a rapid response, enabling the transplanting block moving at high speed and with a large inertia to respond quickly and brake precisely.

[0050] Step S2: After the coil 8 of the magnetic attraction assembly is powered on, it generates a magnetic attraction force, causing the magnetic attraction piece 33 to move closer to the base block 31 until the magnetic attraction piece 33 is completely fitted against the base surface of the coil 8.

[0051] The coil 8 generates a strong magnetic attraction force under the action of the current, and this magnetic attraction force can attract the magnetic attraction piece 33 to move between the base block 31 and the slider 32.

[0052] Step S3: During the movement of the magnetic attraction piece 33, it drives the piston 36 to move upward through the connecting rod 35 to squeeze the enclosed fluid medium in the rod chamber to generate a strong hydraulic pressure.

[0053] The connecting rod 35 is movably inserted through the slider 32, and one end of the connecting rod 35 is fixedly connected to the magnetic attraction piece 33, and the other end extends into the hydraulic chamber and is fixedly connected to the piston 36. Therefore, the magnetic attraction piece 33 can drive the piston 36 to move through the connecting rod 35; the fluid medium uses common hydraulic oil, and the hydraulic oil does not completely fill the rod chamber of the hydraulic chamber to facilitate the movement of the piston 36 in the hydraulic chamber and squeeze the hydraulic oil to generate a strong hydraulic pressure.

[0054] Step S4: Under the action of the hydraulic pressure, the profiling push block 37 moves horizontally outward in the hydraulic chamber until the friction plate 38 fixed to the front end surface of the profiling push block 37 is in close contact with the linear guide 2.

[0055] Since the profiling push block 37 is inserted through the slider 32, with its rear end located in the hydraulic chamber and its front end extending into the sliding groove 34, the front end of the profiling push block 37 can protrude outward under the action of hydraulic pressure. After the friction plate 38 is in contact with the linear guide 2, a strong extrusion force and frictional force are generated to achieve frictional braking.

[0056] Step S5: After the linear motor is powered on again, the magnetic attraction assembly loses power, and the magnetic attraction force of the coil 8 disappears. Under the action of the external atmospheric pressure, the magnetic attraction assembly and the hydraulic brake assembly are reset.

[0057] Since the rodless chamber of the hydraulic chamber was in a negative pressure state in the early stage, after the magnetic force disappears, under the action of the external atmospheric pressure, the magnetic attraction plate 33 pushes the piston 36 downward through the connecting rod 35 until the piston 36 fits against the bottom of the rodless chamber. The profiling push block 37 drives the friction plate 38 to disengage from the contacting linear guide 2 until the profiling push block 37 fits against the inner side surface of the sliding groove 34.

[0058] In summary, the structure of the automatic braking system proposed by the present invention is exquisitely designed, has a fast response speed, requires little space, is easy to install, does not require an additional air pressure pump or hydraulic pump, greatly reduces costs, and reduces the occupied space.

[0059] The braking mechanism 3 is assembled on the secondary transplanting block 4 and is assembled onto the linear guide 2 of the linear motor together with the secondary transplanting block 4 to achieve synchronous movement with the secondary transplanting block 4. The braking mechanism 3 is also separately equipped with a 24V DC power supply independent of the equipment circuit, which is used to supply power to the braking mechanism 3 alone when the equipment is powered off, and the 24V DC power supply is connected to the main circuit through the power-on drive control switch. When the main equipment loses power immediately, the braking mechanism 3 can achieve a fast response and can quickly and accurately brake the transplanting block that is moving at high speed and has a large inertia.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0061] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0062] Based on the ideal embodiments of the present invention as the inspiration, through the above description, relevant personnel can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. An automatic braking system for a linear motor power failure, comprising a secondary transfer block (4) slidably mounted on a linear rail (2), characterized in that: A braking mechanism (3) is provided between the secondary transplanting block (4) and the linear rail (2); The braking mechanism (3) comprises a base block (31) connected to the secondary transfer block (4); a slider (32) is connected to one side of the base block (31); a slide groove (34) is provided on the slide groove (32); and the linear rail (2) is slidably embedded in the slide groove (34); A magnetic attraction component is provided between the base block (31) and the slider (32), and a hydraulic brake component for braking is provided on the slider (32); The magnetic attraction component comprises a coil (8) that is energized and magnetic, the coil (8) being mounted on the base block (31), and a magnetic attraction sheet (33) that can be attracted by the magnetic coil (8) being arranged between the base block (31) and the slider (32); The hydraulic brake assembly comprises a hydraulic chamber and a contoured push block (37) arranged on the slider (32); the rear end of the contoured push block (37) is located in the hydraulic chamber, the front end extends into the slide groove (34), and the front end of the contoured push block (37) can abut against the linear rail (2); A piston (36) capable of driving the contoured push block (37) to extend out through hydraulic pressure is installed in the hydraulic chamber, and the piston (36) is connected to the magnetic attraction sheet (33) through a connecting rod (35).

2. The automatic braking system for linear motor power failure according to claim 1, characterized in that: A fluid medium is arranged in the hydraulic chamber, the fluid medium is located on the rod side of the piston (36), and the rear end of the contoured push block (37) is immersed in the fluid medium.

3. The automatic braking system for linear motor power failure according to claim 1, characterized in that: The base block (31) is fixedly connected to the slider (32) via a fastener (6), and a gap for the magnetic attraction sheet (33) to move is provided between the base block (31) and the slider (32).

4. The automatic braking system for linear motor power failure according to claim 3, characterized in that: The magnetic attraction sheet (33) is slidably sleeved on the fastener (6), and a bushing (7) is also sleeved on the fastener (6), and the bushing (7) is located between the magnetic attraction sheet (33) and the fastener (6).

5. The automatic braking system for linear motor power failure according to claim 1, characterized in that: The connecting rod (35) is movably mounted on the slider (32), and one end of the connecting rod (35) is fixedly connected to the magnetic sheet (33), while the other end extends into the hydraulic chamber and is fixedly connected to the piston (36).

6. The automatic braking system for linear motor power failure according to claim 1, characterized in that: A friction plate (38) for increasing friction force is fixedly mounted on the front end of the contoured push block (37), and the friction plate (38) is pressed against the linear rail (2) during braking.

7. The automatic braking system for linear motor power failure according to claim 1, characterized in that: A plurality of the coils (8) are provided, and the plurality of coils (8) are distributed in a straight line and at equal intervals on a side of the base block (31) close to the magnetic attraction sheet (33).

8. The automatic braking system for linear motor power failure according to claim 1, characterized in that: The magnetic attraction component is located above the linear rail (2), and two groups of hydraulic brake components are provided, which are symmetrically distributed on both sides of the linear rail (2).

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