Guide rail of linear transmission device, design method of guide rail and linear transmission device

Abstract

The invention relates to a guide rail of a linear transmission device, a design method of the guide rail and the linear transmission device. The guide rail design method comprises the following steps: when an inner roller of a mover assembly moves along a first inner side surface, determining a pre-movement track of an outer roller of the mover assembly on a first outer side surface; determining the contour line of the first outer side surface based on the pre-movement track of the outer roller; and creating a three-dimensional geometric model of the arc section based on the contour line of the first outer side surface. According to the guide rail design method, the contour line of the first outer side face is determined by simulating the pre-movement track of the outer roller of the mover assembly on the first outer side face when the inner roller of the mover assembly moves along the first inner side face, and then the three-dimensional geometric model of the guide rail is determined based on the contour line of the first outer side face. And when the rotor assembly moves from the linear section to the arc section, the outer roller of the rotor assembly can always move along the arc section and is in constant pre-pressing contact with the guide rail, so that the rigidity and the stability of the device are improved, and the noise can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of conveying devices, and in particular to a guide rail of a linear transmission device and a design method thereof, and a linear transmission device. Background Art

[0002] As manufacturing technology develops towards high yield and high precision, traditional linear transmission devices that use rotary motors as driving components and gears, chains, belts, etc. as transmission components are gradually replaced by new linear transmission devices. Compared with traditional linear transmission devices, new linear transmission devices can directly use the electromagnetic thrust generated by linear motors (also called stators) to drive moving parts (also called movers) to drive the load to move along the guide rail, eliminating the intermediate transmission link, reducing structural complexity, and improving response speed and motion accuracy.

[0003] The guide rails used in traditional linear transmission devices are often composed of straight segments and circular arc segments. When the mover moves from the straight segment to the circular arc segment, the rollers on the mover tend to deviate from the track due to the action of centrifugal force until they completely enter the circular arc segment and contact the track again, causing the device to produce excessive vibration and noise. Summary of the invention

[0004] Based on this, it is necessary to provide a guide rail of a linear transmission device and a design method thereof, and a linear transmission device to address the above technical problems.

[0005] A guide rail design method for a linear transmission device, the guide rail comprising a straight line segment and an arc segment connected to each other, the arc segment having a first inner side surface and a first outer side surface; the guide rail design method comprises:

[0006] When the inner roller of the movable subassembly moves along the first inner side surface, determining a pre-movement trajectory of the outer roller of the movable subassembly on the first outer side surface;

[0007] Determining a contour line of the first outer side surface based on the pre-motion trajectory of the outer roller;

[0008] A three-dimensional geometric model of the arc segment is created based on the contour line of the first outer side surface.

[0009] In one embodiment, the first outer side has a first guide portion adjacent to the straight line segment and a second guide portion away from the straight line segment;

[0010] The step of determining the pre-motion trajectory of the outer roller of the movable subassembly on the first outer side surface comprises: when part of the inner rollers move along the first inner side surface and the remaining part of the inner rollers move along the inner side surface of the straight line segment, determining the first pre-motion trajectory of the outer roller on the first guide portion; when all the inner rollers move along the first inner side surface, determining the second pre-motion trajectory of the outer roller on the second guide portion;

[0011] The determining of the contour line of the first outer side surface includes: determining the contour line of the first guide portion based on the first pre-motion trajectory; and determining the contour line of the second guide portion based on the second pre-motion trajectory.

[0012] In one embodiment, the first pre-motion trajectory and / or the second pre-motion trajectory are determined by:

[0013] Selecting the center of the center line of the first inner surface as the origin, and constructing an xy coordinate system with the plane where the first inner surface is located;

[0014] Determining the coordinates of the projection center of the inner roller on the first inner side surface;

[0015] Based on the coordinates of the projection center of the inner roller, the coordinates of the contact point between the outer roller and the first outer side surface are determined, and based on the coordinates of the contact point, the first pre-motion trajectory and / or the second pre-motion trajectory are determined.

[0016] In one embodiment, the first outer side surface and the first inner side surface are both inclined and a connecting surface is provided between the two, two inner rollers are provided along the moving direction of the mover assembly, one outer roller is provided, and the lines connecting the projection centers of the two inner rollers on the first inner side surface and the contact points between the outer rollers and the first outer side surface are arranged to form an isosceles triangle;

[0017] Determining the coordinates of the projection center of the inner roller on the first inner side surface comprises: obtaining the height of the isosceles triangle, the length of the base of the isosceles triangle, the radius of the center line of the first inner side surface, the projection radius of the inner roller on the first inner side surface, and the angle between the line connecting the projection center of the inner roller that first moves to the first inner side surface and the center of the circle and the coordinate axis, to calculate the coordinates of the projection center of the inner roller on two first inner side surfaces;

[0018] Determining the coordinates of the contact point between the outer roller and the first outer side surface includes: calculating the coordinates of the contact point based on the height of the isosceles triangle, the projection radius of the inner roller on the first inner side surface and the coordinates of the two inner rollers.

[0019] In one embodiment, when part of the inner roller moves along the first inner side surface and the remaining part of the inner roller moves along the inner side surface of the straight line segment, the coordinates of the contact point between the outer roller and the first outer side surface are calculated by the following formula:

[0020]

[0021] Where: p(x p ,y p ) is the coordinate of the contact point, p1(x p1 ,y p1 ) is the coordinate of the projection center of the inner roller that first moves to the first inner side surface, p2(x p2 ,y p2 ) is the coordinate of the projection center of the inner roller that moves to the first inner side surface later, h is the height of the isosceles triangle, D is the length of the base of the isosceles triangle, R is the radius of the center line of the first inner side surface, r is the projection radius of the inner roller on the first inner side surface, θ is the angle between the line from the projection center of the inner roller that moves to the first inner side surface first to the center of the circle and the coordinate axis,

[0022] In one embodiment, when all the inner rollers move along the first inner side surface, the coordinates of the contact points between the outer rollers and the first outer side surface are calculated by the following formula:

[0023]

[0024] In the formula,

[0025] In one of the embodiments, the guide rail design method further includes: obtaining a radius of a center line of the first inner side surface, and determining a contour line of the first inner side surface based on the radius of the center line of the first inner side surface;

[0026] The creating of the three-dimensional geometric model of the arc segment includes: determining the three-dimensional geometric model of the arc segment based on a contour line of the first inner side surface and a contour line of the first outer side surface.

[0027] A guide rail of a linear transmission device, the guide rail comprising a straight line segment and an arc segment connected to each other, the three-dimensional geometric model of the arc segment being determined by the guide rail design method as described in any one of the above items.

[0028] A linear transmission device comprises a stator assembly, a mover assembly and a guide rail as described above, wherein the stator assembly can generate electromagnetic thrust to the mover assembly, thereby driving the inner and outer rollers of the mover assembly to move along the guide rail, wherein the inner and outer rollers of the mover assembly are in constant pressure contact with the guide rail during movement.

[0029] In one embodiment, the upper and lower ends of the circular arc segment of the guide rail are respectively provided with a first inner side surface and a first outer side surface, the first inner side surface and the first outer side surface at the same end are arranged obliquely and a connecting surface is provided between the two, and the first inner side surfaces at the upper and lower ends and the first outer side surfaces at the upper and upper ends are symmetrically distributed on both sides of the central axis of the mover assembly; and / or,

[0030] Two inner rollers are provided at the same end of the power assembly along the movement direction of the movable assembly, and one outer roller is provided, and the lines connecting the projection centers of the two inner rollers on the corresponding first inner side surfaces and the contact points of the outer rollers with the corresponding first outer side surfaces form an isosceles triangle.

[0031] The guide rail of the above-mentioned linear transmission device and its design method, as well as the linear transmission device, determine the contour line of the first outer side surface by simulating the pre-motion trajectory of the outer roller of the movable component on the first outer side surface when the inner roller of the movable component moves along the first inner side surface, and then determine the three-dimensional geometric model of the guide rail based on the contour line of the first outer side surface. In this way, when the movable component moves from a straight segment to an arc segment, the outer roller of the movable component can also move along the first outer side surface of the arc segment all the time and does not leave the arc segment due to centrifugal force, so that the inner and outer rollers of the movable component are in constant pre-pressure contact with the first inner and outer side surfaces of the guide rail respectively, thereby improving the rigidity and stability of the device and effectively reducing noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of a linear transmission device provided in one embodiment of the present application.

[0033] Figure 2 for Figure 1 A top view of the guide rail of the linear transmission device is provided.

[0034] Figure 3 for Figure 2 A schematic diagram of the cross-sectional structure of the circular arc segment of the guide rail is provided.

[0035] Figure 4 for Figure 2 A schematic diagram of the cross-sectional structure of the arc straight line segment of the guide rail is provided.

[0036] Figure 5 A schematic diagram of a flow chart of a guide rail design method provided in one embodiment of the present application;

[0037] Figure 6 for Figure 1 A schematic diagram of the cooperation between the guide rail and the mover assembly of the linear transmission device is provided.

[0038] Figure 7 for Figure 1 A schematic diagram of the three-dimensional structure of a mover assembly of a linear transmission device is provided.

[0039] Figure 8 for Figure 1 A side view of a mover assembly of a linear transmission device is provided.

[0040] Fig. 9 for Figure 1 Provided is a schematic diagram of the design of the guide rail of the linear transmission device.

[0041] Fig.10 for Figure 2 A side view of a circular arc segment of a guide rail is provided.

[0042] Fig.11 for Figure 1 A schematic structural diagram of a linear stator unit of a linear transmission device is provided.

[0043] Fig.12 for Figure 1 A schematic structural diagram of a circular arc stator unit of a linear transmission device is provided.

[0044] The reference numerals in the accompanying drawings are described as follows:

[0045] 10. Linear transmission device; 100. Guide rail; 110. Straight line segment; 111. Second inner side surface; 112. Second outer side surface; 120. Arc segment; 121. First inner side surface; 122. First outer side surface; 123. Connecting surface; 200. Moving element assembly; 210. Inner roller; 220. Outer roller; 230. Base; 231. First mounting portion; 231a. First notch; 232. Second mounting portion; 232a. Second notch; 233. Connecting portion; 240. Upper magnetic member; 2 41. First back iron; 242. First permanent magnet array; 250. Lower magnetic part; 251. Second back iron; 252. Second permanent magnet array; 260. Anti-collision part; 270. Sensor; 300. Stator assembly; 310. Linear stator unit; 311. Coil base; 312. Coil structure; 313. Cover plate; 314. Drive control circuit; 315. Sensor control circuit; 320. Arc stator unit; 400. Stator base; 500. Guide rail base; M, center axis. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0047] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0048] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0049] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0050] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0051] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0052] The new linear transmission device directly uses the electromagnetic thrust generated by the linear motor (also known as the stator assembly) to drive the moving parts (also known as the mover assembly) to drive the load to move along the guide rail. Therefore, it has the characteristics of simple structure, fast response speed and high motion accuracy. It is widely used in automated production lines, packaging and transportation, assembly automation, screen printing and other industries.

[0053] The guide rail, as a guide structure of the linear transmission device, mainly guides the movement of the moving subassembly. The guide rail usually has an inner side surface for the inner roller of the moving subassembly to move and an outer side surface for the outer roller of the moving subassembly to move.

[0054] Existing guide rails are often made up of straight segments and arc segments, for example, they are made into a runway structure. In order to facilitate production and processing, the cross-sectional dimensions of the arc segment are usually designed to be the same as the cross-sectional dimensions of the straight segment, that is, the two share a cross-sectional area, which makes the inner and outer sides of the arc segment both arc surfaces with a constant diameter (radius is a constant value). However, when the mover assembly moves from the straight segment to the arc segment, due to the centrifugal force, the outer roller of the mover assembly often detaches from the outer side of the arc segment until the mover assembly completely enters the arc segment and contacts the arc segment again, causing the device to produce excessive vibration and noise.

[0055] In this regard, on the one hand, the present application provides a guide rail design method, which is used to Figure 1The dimensions of the guide rail 100 of the linear transmission device 10 shown are designed, and the arc segment 120 of the guide rail 100 is specifically designed, so that when the mover assembly 200 moves from the straight segment 110 of the guide rail 100 to the arc segment 120, the inner and outer rollers 220 of the mover assembly 200 both move along the guide rail 100 and are in constant pressure contact with the guide rail 100. Figure 2 As shown, the guide rail 100 includes a straight segment 110 and an arc segment 120 connected to each other, and the straight segment 110 has a second inner side surface 111 and a second outer side surface 112 (see Figure 4 ), the arc segment 120 has a first inner side surface 121 and a first outer side surface 122 (see Figure 3 ), the second inner side surface 111 and the first inner side surface 121 enable the inner roller 210 of the subassembly 200 to move, and the second outer side surface 112 and the first outer side surface 122 enable the outer roller 220 of the subassembly 200 to move.

[0056] Specifically, in some embodiments of the present application, Figure 5 As shown, the guide rail design method includes:

[0057] Step S100 : when the inner roller 210 of the movable subassembly 200 moves along the first inner side surface 121 , a pre-movement trajectory of the outer roller 220 of the movable subassembly 200 on the first outer side surface 122 is determined.

[0058] Step S200 : determining a contour line of the first outer side surface 122 based on the pre-movement trajectory of the outer roller 220 .

[0059] Step S300 : creating a three-dimensional geometric model of the arc segment 120 based on the contour line of the first outer side surface 122 .

[0060] The guide rail design method determines the contour line of the first outer side surface 122 by simulating the pre-motion trajectory of the outer roller 220 of the movable subassembly 200 on the first outer side surface 122 when the inner roller 210 of the movable subassembly 200 moves along the first inner side surface 121, and then determines the three-dimensional geometric model of the guide rail 100 based on the contour line of the first outer side surface 122. In this way, when the movable subassembly 200 moves from the straight segment 110 to the arc segment 120, the outer roller 220 of the movable subassembly 200 can also move along the first outer side surface 122 of the arc segment 120 all the time, and does not leave the arc segment 120 due to centrifugal force, so that the inner and outer rollers 220 of the movable subassembly 200 are in constant pre-pressure contact with the first inner and outer side surfaces of the guide rail 100, respectively, thereby improving the rigidity and stability of the device and effectively reducing noise.

[0061] In order to facilitate the stator assembly 300 to apply electromagnetic thrust to the mover assembly 200, as shown in FIG. Figure 1As shown, the edge of the stator assembly 300 can extend between the upper magnetic member 240 and the lower magnetic member 250 of the mover assembly 200. When the magnetic excitation current is passed through the stator assembly 300, it can generate a magnetic excitation magnetic field, which interacts with the permanent magnetic field generated by the permanent magnet arrays of the upper and lower magnetic members to form an electromagnetic thrust, thereby driving the mover assembly 200 to move. Figures 6 to 8 As shown, the upper and lower ends of the mover assembly 200 are provided with inner rollers 210 and outer rollers 220, the inner rollers 210 and outer rollers 220 at the upper end can move along the upper end of the guide rail 100, and the inner rollers 210 and outer rollers 220 at the lower end can move along the lower end of the guide rail 100, so that the stator assembly 300 can move along the guide rail 100 more labor-saving and more smoothly. It can be understood that the upper end of the guide rail 100 is provided with a first inner side surface 121 and a first outer side surface 122, and the lower end of the guide rail 100 is provided with a first inner side surface 121 and a first outer side surface 122.

[0062] Among them, Figure 7 As shown, the number of the inner rollers 210 and the outer rollers 220 on the same end of the movable subassembly 200 can be set to three in total, and the three inner rollers 210 are arranged in a generally triangular shape. Specifically, two inner rollers 210 are provided along the moving direction of the movable subassembly 200, one outer roller 220 is provided, and the outer roller 220 is located between the two inner rollers 210; or, the number of the inner rollers 210 and the outer rollers 220 on the same end of the movable subassembly 200 can be set to four in total, and the four inner rollers 210 are arranged in a generally trapezoidal shape. Specifically, two inner rollers 210 are provided along the moving direction of the movable subassembly 200, one outer roller 220 is provided along the moving direction of the movable subassembly 200, and the spacing between the two outer rollers 220 is smaller than the spacing between the two inner rollers 210. Optionally, as Figure 8 As shown, the inner roller 210 at the upper end and the inner roller 210 at the lower end are symmetrically distributed about the central axis M of the movable subassembly 200 , and the outer roller 220 at the upper end and the outer roller 220 at the lower end are symmetrically distributed about the central axis M of the movable subassembly 200 .

[0063] No matter the inner roller 210 and the outer roller 220 on the same end of the movable subassembly 200 are arranged in a triangle or a trapezoid, one of the inner rollers 210 first moves from the straight segment 110 to the circular arc segment 120, followed by the outer roller 220, and finally the other inner roller 210. That is, when the movable subassembly 200 moves from the straight segment 110 to the circular arc segment 120, the entire movement process can be divided into two stages. The first stage is that one of the inner rollers 210 enters the circular arc segment 120, and the other inner roller 210 does not enter the circular arc segment 120. At this time, the outer roller 220 moves on the first guide portion of the first outer side surface 122 of the circular arc segment 120 adjacent to the straight segment 110; the second stage is that both inner rollers 210 enter the circular arc segment 120. At this time, the outer roller 220 moves on the second guide portion of the first outer side surface 122 of the circular arc segment 120 away from the straight segment 110. It should be noted that the first outer side surface 122 has a first guiding portion adjacent to the straight segment 110 and a second guiding portion away from the straight segment 110 .

[0064] In order to accurately determine the pre-motion trajectory of the outer roller 220 on the first outer side surface 122 of the guide rail 100, the present application determines the pre-motion trajectory of the outer roller 220 in each movement stage one by one. Specifically, in some embodiments, step S100 may include: step S110, when part of the inner roller 210 moves along the first inner side surface 121, and the remaining part of the inner roller 210 moves along the second inner side surface 111 of the straight segment 110, determine the first pre-motion trajectory of the outer roller 220 on the first guide portion; step S120, when all the inner rollers 210 move along the first inner side surface 121, determine the second pre-motion trajectory of the outer roller 220 on the second guide portion; correspondingly, step S200 may include: step S210, based on the first pre-motion trajectory, determine the contour line of the first guide portion; step S220, based on the second pre-motion trajectory, determine the contour line of the second guide portion. In this way, the contour line of the first outer side surface 122 of the guide rail 100 can be accurately obtained, so that the outer roller 220 can be in constant pre-pressure contact with the first outer side surface 122 of the guide rail 100 in both the first movement stage and the second movement stage. It should be noted that step 210 can be interchanged with the execution order of step 120, and can also be interchanged with the execution order of step 220.

[0065] In one embodiment, the first pre-motion trajectory may be determined as follows:

[0066] Step S211, selecting the center of the first inner side surface 121 as the origin, and constructing an xy coordinate system with the plane where the first inner side surface 121 is located;

[0067] Step S212, determining the coordinates of the projection center of the inner roller 210 on the first inner side surface 121;

[0068] Step S213 , based on the coordinates of the projection center of the inner roller 210 , determine the coordinates of the contact point between the outer roller 220 and the first outer side surface 122 , and determine the first pre-motion trajectory based on the coordinates of the contact point.

[0069] This method can determine the coordinates of the contact point between the outer roller 220 and the first outer side surface 122 based on the coordinates of the projection center of the inner roller 210, and then obtain the first pre-motion trajectory. The whole determination method is relatively simple. The determination method of the second pre-motion trajectory is the same as the determination method of the first pre-motion trajectory.

[0070] Regarding step S211, considering that the inner roller 210 will not fall off the first inner side surface 121 of the guide rail 100 due to the centrifugal force when the movable subassembly 200 moves from the straight segment 110 to the arc segment 120, the first inner side surface 121 of the guide rail 100 can be set to an arc surface structure with equal diameter, that is, the center line of the first inner side surface 121 has the center of the circle. This can simplify the entire design method. When creating a three-dimensional geometric model of the guide rail 100, it is only necessary to determine the contour line of the first outer side surface 122.

[0071] Alternatively, if Fig. 9 As shown, the direction of the x-axis in the xy coordinate system is consistent with the direction of the center line of the first inner side surface 121 , and the direction of the y-axis is consistent with the direction of the boundary line between the first inner side surface 121 and the second inner side surface 111 .

[0072] For step S212, the positional relationship between the first inner side surface 121 and the first outer side surface 122 of the arc segment 120 and the positional relationship between the second inner side surface 111 and the second outer side surface 112 of the straight segment 110 can be determined according to the positional relationship between the inner roller 210 and the outer roller 220, such as Figure 8 As shown, as an example, the axles of the inner roller 210 and the outer roller 220 at the same end of the moving subassembly 200 are both inclined, and correspondingly, the first inner side surface 121 and the first outer side surface 122 at the same end of the arc segment 120 are both arranged obliquely. Preferably, the axles of the inner roller 210 and the outer roller 220 at the same end of the moving subassembly 200 are vertically arranged, and the first inner side surface 121 and the first outer side surface 122 at the same end of the arc segment 120 are also vertically arranged, so that the projection center of the inner roller 210 on the first inner side surface 121 and the contact point of the outer roller 220 with the first outer side surface 122 are just located in the same plane, that is, they are both located in the xy coordinate system, and the positional relationship between the projection center of the inner roller 210 on the first inner side surface 121 and the contact point of the outer roller 220 with the first outer side surface 122 can be directly used to determine the coordinates of the contact point of the outer roller 220 with the first outer side surface 122, and then the first pre-motion trajectory can be determined.

[0073] Compared with the method of setting two outer rollers 220, the method of setting one outer roller 220 at the same end of the moving subassembly 200 can not only simplify the structure of the entire transport device 10, but also reduce the difficulty of determining the contour line of the first outer side surface 122. In this regard, in some embodiments, such as Figure 6 and Figure 7 As shown, the same end of the moving subassembly 200 is preferably provided with one outer roller 220, that is, the inner roller 210 is provided with two in the moving direction of the moving subassembly 200, and the outer roller 220 is provided with one; in addition, in order to facilitate the determination of the coordinates of the contact point between the outer roller 220 and the first outer side surface 122 based on the positional relationship between the projection center of the inner roller 210 on the first inner side surface 121 and the contact point between the outer roller 220 and the first outer side surface 122, as shown in FIG. Fig. 9 As shown, the lines connecting the projection centers of the two inner rollers 210 on the first inner side surface 121 (i.e., point p1 and point p12) and the contact points of the outer roller 220 and the first outer side surface 122 (i.e., point p) are arranged to form an isosceles triangle, wherein the line connecting the projection centers of the two inner rollers 210 on the first inner side surface 121 (i.e., straight line p1p2) constitutes the base of the isosceles triangle.

[0074] Correspondingly, step S212 may include: obtaining the height of the isosceles triangle, the length of the base of the isosceles triangle, the radius of the center line of the first inner side surface 121, the projection radius of the inner roller 210 on the first inner side surface 121, and the line connecting the projection center of the inner roller 210 that first moves to the first inner side surface 121 to the center of the circle and the coordinate axis (for example Fig. 9 The coordinates of the projection center of the inner roller 210 of the two first inner sides 121 are calculated by using the angle between the two first inner sides 121 and the y-axis.

[0075] Among them, Fig. 9 As shown, when part of the inner roller 210 moves along the first inner side surface 121 and the remaining part of the inner roller 210 moves along the second inner side surface 111 of the straight segment 110, the coordinates of the projection center of the inner roller 210 on the two first inner side surfaces 121 are:

[0076]

[0077] In the above formula: p1(x p1 ,y p1 ) is the coordinate of the projection center of the inner roller 210 that first moves to the first inner side surface 121, p2(x p2 ,y p2) is the coordinate of the projection center of the inner roller 210 that moves to the first inner side surface 121 later, h is the height of the isosceles triangle, D is the length of the base of the isosceles triangle, R is the radius of the center line of the first inner side surface 121, r is the projection radius of the inner roller 210 on the first inner side surface 121, θ is the angle between the line from the projection center of the inner roller 210 that moves to the first inner side surface 121 first to the center of the circle and the coordinate axis, wherein,

[0078]

[0079] Among them, the height h of the isosceles triangle and the length D of the base of the isosceles triangle can be determined according to the positional relationship between the inner roller 210 and the outer roller 220 and the inclination angle (for example, 45°) of the first inner side surface 121. It should be noted that the constraint condition for the above formula to be valid is that when the upper and lower ends of the arc segment 120 are both provided with the first outer side surface 122 and the first side surface 121, the first inner side surface 121 and the first outer side surface 122 at the same end of the arc segment 120 are both arranged obliquely and a connecting surface 123 is provided between the two, and the first inner side surfaces 121 at the upper and lower ends and the first outer side surfaces 122 at the upper and upper ends are symmetrically distributed on both sides of the central axis M of the mover assembly 200.

[0080] Correspondingly, the coordinates of the contact point between the outer roller 220 and the first outer side surface 122 can be:

[0081]

[0082] In the above formula: p(x p ,y p ) are the coordinates of the contact point.

[0083] According to the coordinates of the contact point p(x p ,y p ) can determine the first pre-motion trajectory of the outer roller 220 on the first guide portion of the first outer side surface 122, and then determine the contour line of the first guide portion of the first outer side surface 122, that is, the contour line equation of the first guide portion can be obtained by the coordinate p(x p ,y p ) to indicate.

[0084] When all the inner rollers 210 move along the first inner side surface 121, the coordinates of the projection centers of the inner rollers 210 on the two first inner side surfaces 121 are:

[0085]

[0086] In the formula,

[0087] Correspondingly, the coordinates of the contact point between the outer roller 220 and the first outer side surface 122 are:

[0088]

[0089] It should also be noted that the constraint condition for the above formula to be valid is that when the upper and lower ends of the arc segment 120 are both provided with a first outer side surface 122 and a first side surface 121, the first inner side surface 121 and the first outer side surface 122 at the same end of the arc segment 120 are both arranged at an angle and a connecting surface 123 is provided therebetween, and the first inner side surfaces 121 at the upper and lower ends and the first outer side surfaces 122 at the upper and lower ends are both symmetrically distributed on both sides of the central axis M of the movable subassembly 200.

[0090] In some embodiments of the present application, the guide rail design method further includes step S400: obtaining the radius of the center line of the first inner side surface 121, and determining the contour line of the first inner side surface 121 based on the radius of the center line of the first inner side surface 121; correspondingly, step S300 includes: determining the three-dimensional geometric model of the guide rail 100 based on the contour line of the first inner side surface 121 and the contour line of the first outer side surface 122. Step S300 can be specifically, based on the contour line of the first inner side surface 121 and the contour line of the first outer side surface 122, scanning a cross section of a preset size to obtain a three-dimensional geometric model of the arc segment 120. Among them, the shape and size of the cross-section may be related to the arrangement of the inner roller 210 and the outer roller 220 on the movable assembly 200. For example, if the upper and lower ends of the movable assembly 200 are provided with inclined inner rollers 210 and outer rollers 220, the cross-section may be an octagonal structure, and the angle between two adjacent oblique sides is 90°, that is, the angle between the first inner side surface 121 and the first outer side surface 122 at the same end, the angle between the two first inner side surfaces 121 on the same side, and the angle between the two first outer side surfaces 122 on the same side are all 90°.

[0091] The contour line of the first outer side surface 122 obtained by the above method is as follows: Fig.10 As shown, the bending diameter of the center line of the first outer side surface 122 changes first and then tends to be stable along the direction away from the straight segment 110, that is, it decreases from R1 to R2. This makes the arc segment 120 a non-uniform cross-sectional structure, that is, it includes a transition zone with a changing bending diameter and a fixed arc zone with a constant bending diameter. In this way, when the movable subassembly 200 moves from the straight segment 110 to the arc segment 120, the outer roller 220 of the movable subassembly 200 can also move along the first outer side surface 122 of the arc segment 120 and be in constant pre-pressure contact with the first outer side surface 122 of the arc segment 120.

[0092] In some embodiments, the guide rail design method further includes: scanning a cross section of a preset size along a straight line direction to obtain a three-dimensional geometric model of the straight line segment 110 .

[0093] On the other hand, Figure 1As shown, an embodiment of the present application provides a guide rail 100 of a linear transmission device 10, and a three-dimensional geometric model of a circular arc segment 120 of the guide rail 100 is determined by any of the guide rail design methods described above.

[0094] The arc segment 120 of the guide rail 100 obtained by the above guide rail design method, when the movable subassembly 200 moves from the straight segment 110 to the arc segment 120, the outer roller 220 of the movable subassembly 200 can also move along the first outer side surface 122 of the arc segment 120, and does not leave the arc segment 120 due to centrifugal force, so that the inner and outer rollers 220 of the movable subassembly 200 are in constant pre-pressure contact with the first inner and outer sides of the guide rail 100, thereby improving the rigidity and stability of the device and effectively reducing noise.

[0095] On the other hand, Figure 1 As shown, an embodiment of the present application further provides a linear transmission device 10, which includes a stator assembly 300, a movable assembly 200 and the guide rail 100 as described above, wherein the stator assembly 300 can generate an electromagnetic thrust to the movable assembly 200, thereby driving the inner and outer rollers 220 of the movable assembly 200 to move along the guide rail 100, wherein the inner and outer rollers 220 of the movable assembly 200 are in constant pressure contact with the guide rail 100 during movement.

[0096] The linear transmission device 10, by setting the arc segment 120 to a non-uniform cross-sectional structure, enables the outer roller 220 of the movable subassembly 200 to move along the first outer side surface 122 of the arc segment 120 when the movable subassembly 200 moves from the straight segment 110 to the arc segment 120, and does not leave the arc segment 120 due to centrifugal force, so that the inner and outer rollers 220 of the movable subassembly 200 are in constant pre-pressure contact with the first inner and outer side surfaces of the guide rail 100, thereby improving the rigidity and stability of the device and effectively reducing noise.

[0097] In one embodiment, if Figure 8 As shown, the moving subassembly 200 may include a base 230, an upper magnetic member 240 and a lower magnetic member 250. The base 230 serves as a supporting member of the moving subassembly 200. Figure 8 As shown, it can be generally a U-shaped structure, including a first mounting portion 231, a second mounting portion 232 and a connecting portion 233, the first mounting portion 231 and the second mounting portion 232 are arranged opposite to each other and both have a first end away from the stator assembly 300 and a second end close to the stator assembly 300, the connecting portion 233 is connected to the first end of the first mounting portion 231 and the first end of the second mounting portion 232, the inner roller 210 and the outer roller 220 at the upper end are arranged between the first end and the second end of the first mounting portion 231, and the inner roller 210 and the outer roller 220 at the lower end are arranged between the first end and the second end of the second mounting portion 232. Optionally, as Figure 8 As shown, the first end and the second end of the first mounting portion 231 are both provided with a first notch 231a to correspond to the installation of the inclined outer roller 220 and the inner roller 210; the first end and the second end of the second mounting portion 232 are both provided with a second notch 232a to correspond to the installation of the inclined outer roller 220 and the inner roller 210.

[0098] The base 230 may be made of a metal material with certain strength and hardness, such as aluminum alloy. Optionally, the connecting portion 233 is integrally formed with the first mounting portion 231 and the second mounting portion 232 .

[0099] like Figure 8 As shown, the upper magnetic member 240 is disposed on the second end of the first mounting portion 231, and the lower magnetic member 250 is disposed on the second end of the second mounting portion 232 and faces the upper magnetic member 240. As an example, Figure 8 As shown, the upper magnetic component 240 may include a first back iron 241 disposed on the surface of the first mounting portion 231 facing the second mounting portion 232 and a first permanent magnet array 242 disposed on the surface of the first back iron 241 facing the second mounting portion 232, and the lower magnetic component may include a second back iron 251 disposed on the surface of the second mounting portion 232 facing the first mounting portion 231 and a second permanent magnet array 252 disposed on the surface of the second back iron 251 facing the first mounting portion 231.

[0100] In one embodiment, if Figure 8 As shown, the mover assembly 200 further includes an anti-collision portion 260, which is disposed on at least one of the second end of the first mounting portion 231 and the second end of the second mounting portion 232. As an example, the second end of the first mounting portion 231 and the second end of the second mounting portion 232 are both provided with an anti-collision portion 260. When the linear transmission device 10 is provided with a plurality of mover assemblies 200, the anti-collision portion 260 on the mover assembly 200 can absorb the energy generated by the impact by deformation when a collision occurs between mover assemblies 200, thereby reducing the impact force and protecting the safety of the assembly and the load.

[0101] Optionally, the anti-collision portion 260 may be made of an elastic material such as rubber, and may be fixed by bonding or other methods.

[0102] When the movable subassembly 200 moves unidirectionally along the guide rail 100, the anti-collision portion 260 may be provided only on one side of the first mounting portion 231 or the second mounting portion 232 along the direction of movement; when the movable subassembly 200 moves bidirectionally along the guide rail 100, the anti-collision portion 260 must be provided on both sides of the first mounting portion 231 or the second mounting portion 232 along the direction of movement.

[0103] In one embodiment, if Figure 8As shown, the mover assembly 200 further includes a position sensor 270, which is disposed on the second end of the first mounting portion 231. When the stator assembly 300 is composed of a plurality of stator units sequentially spliced ​​along the direction of the guide rail 100, the position sensor 270 can be used to determine the position of the mover assembly 200, so as to determine the area where the next stator unit of the mover assembly 200 is to be operated, and the stator unit is pre-energized to ensure the continuous movement of the mover assembly 200.

[0104] Optionally, the position sensor 270 may be a position encoder and may include a mounting seat and a reader. The mounting seat may be mounted on a surface of the first mounting portion 231 away from the second mounting portion 232 using screws or other threaded parts, and the reader extends above the stator assembly 300 .

[0105] like Figure 1 As shown, in one embodiment, the linear transmission device 10 further includes a stator base 400 and a guide rail base 500, the stator base 400 is used to install the stator assembly 300 and is connected to the guide rail base 500, and the guide rail base 500 is used to install the guide rail 100. Optionally, the guide rail base 500 is connected to the guide rail base 500 by means of screws or the like.

[0106] In one embodiment, the stator assembly 300 may include a plurality of stator units, which can be sequentially spliced ​​along the direction of the guide rail 100 and located inside the guide rail 100. The plurality of stator units can be freely spliced ​​and expanded to meet the application requirements of any length of customers.

[0107] The guide rail 100 is formed by splicing a straight segment 110 and an arc segment 120 . Correspondingly, a portion of the stator units are straight stator units 310 , and another portion of the stator units are arc stator units 320 .

[0108] In order to reduce the splicing error of the guide rail 100, the straight section 110 of the guide rail 100 is an integral whole, not spliced ​​together, which makes the length of the straight section 110 greater than the length of the linear stator unit 310. For example, Figure 1 For the linear transport device shown, the length of the straight section 110 is twice that of the linear stator unit 310. At this time, the stator base 400 can be arranged in the middle of the area surrounded by the guide rail 100, so as to be connected with each stator unit.

[0109] like Fig.11As shown, in one embodiment, the linear stator unit 310 includes a cover plate 313, a coil base 311, a coil structure 312, a drive control circuit 314 and a sensor control circuit 315; the coil base 311 is connected to the stator base 400; the coil structure 312 is arranged on the side of the coil base 311 away from the stator base 400, and may include a stator core and a coil winding wound on the stator core; the drive control circuit 314 is arranged on the side of the coil base 311 facing the guide rail 100, and is used to drive the coil The excitation current passed into the structure 312 causes the coil structure 312 winding to generate an excitation magnetic field; the cover plate 313 is arranged on the side of the coil base 311 away from the guide rail 100, and is mainly used to protect the stator module; the sensor control circuit 315 is arranged between the cover plate 313 and the coil base 311, and interacts with the position sensor 270 of the mover assembly 200 to determine the area where the next stator unit of the mover assembly 200 is about to run is located, and pre-energizes the stator unit to ensure continuous movement of the mover assembly 200.

[0110] Optionally, the center line of the coil structure 312 is aligned with the center line of the straight segment 110 , which can prevent the electromagnetic thrust from forming a magnetic bias torque in the movement direction of the mover assembly 200 , thereby extending the service life of the roller and guide rail 100 of the mover assembly 200 .

[0111] The structure of the arc-shaped stator unit 320 is the same as that of the linear stator unit 310. Fig.12 The center radius R1 of the coil structure 312 assembly of the curved stator unit 320 is the same as the starting radius R1 of the center line of the circular arc segment 120 of the guide rail 100 (see Fig.10 ).

[0112] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A guide rail design method for a linear transmission device, characterized in that: The guide rail includes a straight line segment and an arc segment connected to each other, and the arc segment has a first inner side surface and a first outer side surface; the guide rail design method includes: When the inner roller of the movable subassembly moves along the first inner side surface, determining a pre-movement trajectory of the outer roller of the movable subassembly on the first outer side surface; Determining a contour line of the first outer side surface based on the pre-motion trajectory of the outer roller; A three-dimensional geometric model of the arc segment is created based on the contour line of the first outer side surface.

2. The guide rail design method according to claim 1, characterized in that: The first outer side surface has a first guide portion adjacent to the straight line segment and a second guide portion away from the straight line segment; The step of determining the pre-motion trajectory of the outer roller of the movable subassembly on the first outer side surface comprises: when part of the inner rollers move along the first inner side surface and the remaining part of the inner rollers move along the inner side surface of the straight line segment, determining the first pre-motion trajectory of the outer roller on the first guide portion; when all the inner rollers move along the first inner side surface, determining the second pre-motion trajectory of the outer roller on the second guide portion; The determining of the contour line of the first outer side surface includes: determining the contour line of the first guide portion based on the first pre-motion trajectory; and determining the contour line of the second guide portion based on the second pre-motion trajectory.

3. The guide rail design method according to claim 2, characterized in that: The first pre-motion trajectory and / or the second pre-motion trajectory are determined by: Selecting the center of the center line of the first inner surface as the origin, and constructing an xy coordinate system with the plane where the first inner surface is located; Determining the coordinates of the projection center of the inner roller on the first inner side surface; Based on the coordinates of the projection center of the inner roller, the coordinates of the contact point between the outer roller and the first outer side surface are determined, and based on the coordinates of the contact point, the first pre-motion trajectory and / or the second pre-motion trajectory are determined.

4. The guide rail design method according to claim 3, characterized in that: The first outer side surface and the first inner side surface are both inclined and a connecting surface is provided between the two, two inner rollers are provided along the moving direction of the mover assembly, one outer roller is provided, and the lines connecting the projection centers of the two inner rollers on the first inner side surface and the contact points between the outer rollers and the first outer side surface are arranged to form an isosceles triangle; Determining the coordinates of the projection center of the inner roller on the first inner side surface comprises: obtaining the height of the isosceles triangle, the length of the base of the isosceles triangle, the radius of the center line of the first inner side surface, the projection radius of the inner roller on the first inner side surface, and the angle between the line connecting the projection center of the inner roller that first moves to the first inner side surface and the center of the circle and the coordinate axis, to calculate the coordinates of the projection center of the inner roller on two first inner side surfaces; Determining the coordinates of the contact point between the outer roller and the first outer side surface includes: calculating the coordinates of the contact point based on the height of the isosceles triangle, the projection radius of the inner roller on the first inner side surface and the coordinates of the two inner rollers.

5. The guide rail design method according to claim 4, characterized in that: When part of the inner roller moves along the first inner side surface and the remaining part of the inner roller moves along the inner side surface of the straight line segment, the coordinates of the contact point between the outer roller and the first outer side surface are calculated by the following formula: Where: p(x p ,y p ) is the coordinate of the contact point, p1(x p1 ,y p1 ) is the coordinate of the projection center of the inner roller that first moves to the first inner side surface, p2(x p2 ,y p2 ) is the coordinate of the projection center of the inner roller that moves to the first inner side surface later, h is the height of the isosceles triangle, D is the length of the base of the isosceles triangle, R is the radius of the center line of the first inner side surface, r is the projection radius of the inner roller on the first inner side surface, θ is the angle between the line from the projection center of the inner roller that moves to the first inner side surface first to the center of the circle and the coordinate axis, 6. The guide rail design method according to claim 4, characterized in that: When all the inner rollers move along the first inner side surface, the coordinates of the contact points between the outer rollers and the first outer side surface are calculated by the following formula: In the formula, 7. The guide rail design method according to any one of claims 1 to 6, characterized in that: The guide rail design method further includes: acquiring a radius of a center line of the first inner side surface, and determining a contour line of the first inner side surface based on the radius of the center line of the first inner side surface; The creating of the three-dimensional geometric model of the arc segment includes: determining the three-dimensional geometric model of the arc segment based on a contour line of the first inner side surface and a contour line of the first outer side surface.

8. A guide rail of a linear transmission device, characterized in that: The guide rail includes connected straight line segments and circular arc segments, and the three-dimensional geometric model of the circular arc segment is determined by the guide rail design method according to any one of claims 1 to 7.

9. A linear transmission device, characterized in that: It comprises a stator assembly, a mover assembly and a guide rail as described in claim 8, wherein the stator assembly can generate electromagnetic thrust to the mover assembly, thereby driving the inner and outer rollers of the mover assembly to move along the guide rail, wherein the inner and outer rollers of the mover assembly are in constant pressure contact with the guide rail during movement.

10. The linear transmission device according to claim 9, characterized in that: The upper and lower ends of the circular arc segment of the guide rail are respectively provided with a first inner side surface and a first outer side surface, the first inner side surface and the first outer side surface at the same end are arranged obliquely and a connecting surface is provided between the two, and the first inner side surfaces at the upper and lower ends and the first outer side surfaces at the upper and upper ends are symmetrically distributed on both sides of the central axis of the mover assembly; and / or, Two inner rollers are provided at the same end of the power assembly along the movement direction of the movable assembly, and one outer roller is provided, and the lines connecting the projection centers of the two inner rollers on the corresponding first inner side surfaces and the contact points of the outer rollers with the corresponding first outer side surfaces form an isosceles triangle.

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