Linear motion module and execution device

Abstract

The invention belongs to the technical field of machining equipment, and discloses a linear motion module and an execution device. The linear motion module comprises a linear driving mechanism, a load mounting piece and an elastic assembly, and the output end of the linear driving mechanism can reciprocate in the first direction; the load mounting piece is slidably arranged at the output end of the linear driving mechanism in the first direction; the elastic assembly is arranged at the output end of the linear driving mechanism and used for applying elastic force to the load mounting piece in the first direction and the direction opposite to the first direction so that the load mounting piece can automatically and flexibly adjust the position in the first direction by means of the elastic assembly. The linear motion module can relieve impact, improve the error-tolerant rate and guarantee smooth proceeding of procedures.

Description

Technical Field

[0001] The present invention relates to the technical field of processing equipment, and in particular to a linear motion module and an execution device. Background Art

[0002] During the production process, the actuators that complete various processes need to be moved to the working position so that the work object can cooperate with the corresponding operation. The fault tolerance rate of existing actuators is low. The position deviation between the actuator and the work object, the size deviation of the work object, etc. will affect the normal operation of the actuator, the smooth progress of the process and the work efficiency.

[0003] In addition, the actuator is in rigid contact with the work object, and the impact when the two are in contact is large, which can easily cause damage to the actuator or the work object. Summary of the invention

[0004] The object of the present invention is to provide a linear motion module and an actuator, which can improve the actuator's low tolerance to position deviation, dimensional deviation of a work object, and large contact impact.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Linear motion module, including:

[0007] A linear drive mechanism, wherein an output end of the linear drive mechanism can reciprocate along a first direction;

[0008] A load mounting member, slidably disposed at an output end of the linear drive mechanism along the first direction;

[0009] An elastic component is arranged at the output end of the linear drive mechanism, and is used to apply elastic force to the load mounting member along the first direction and the opposite direction of the first direction, so that the load mounting member can automatically and flexibly adjust its position along the first direction by relying on the elastic component.

[0010] As an optional solution of the above-mentioned linear motion module, the linear motion module also includes a guide assembly, and the guide assembly includes a first guide member and a second guide member that are slidably connected, the first guide member is connected to the load mounting member, and the second guide member is connected to the output end of the linear drive mechanism.

[0011] As an optional solution of the above-mentioned linear motion module, the linear drive mechanism includes a linear drive component and a module mounting component, the linear drive component is connected to the module mounting component, the linear drive component is used to drive the module mounting component to move linearly, and the load mounting component and the elastic component are arranged on the module mounting component.

[0012] As an optional solution of the above linear motion module, the module mounting part includes:

[0013] A fixed plate connected to the linear drive assembly, wherein the second guide member is disposed on the fixed plate;

[0014] A support member is arranged on the fixed plate, and a receiving cavity is formed between the support member and the fixed plate. The second guide member is located in the receiving cavity. A sliding groove extending along the first direction is provided on the support member. The load mounting member is located on the side of the support member away from the fixed plate. The second guide member passes through the sliding groove and slidably cooperates with the second guide member.

[0015] As an optional solution of the above-mentioned linear motion module, the elastic component is arranged in the slide groove.

[0016] As an optional solution for the above-mentioned linear motion module, the elastic component includes two elastic parts, the load mounting part is arranged between the two elastic parts, the side walls at both ends of the slide groove along the first direction are provided with guide grooves, each of the guide grooves is provided with the elastic part, and the elastic part is connected to the first guide part or the load mounting part.

[0017] As an optional solution of the above-mentioned linear motion module, the elastic member is a spring.

[0018] As an optional solution of the above-mentioned linear motion module, the module mounting member further includes a rolling member, the rolling member is rotatably disposed on the support member, and the rolling member is in rolling contact with the load mounting member.

[0019] As an optional solution of the above-mentioned linear motion module, there are multiple load mounting parts, and the multiple load mounting parts are arranged along the second direction. Each load mounting part is provided with an elastic component, and the second direction is set at an angle with the first direction.

[0020] The actuator comprises an actuator and the above-mentioned linear motion module, wherein the actuator is arranged on the load mounting member.

[0021] Beneficial effects of the present invention:

[0022] In the linear motion module provided by the present invention, the elastic component provides elastic force to the load mounting part, which can reduce the rigid impact between the actuator and the working object, and the load mounting part can automatically and flexibly adjust its position along the first direction by relying on the elastic component. When the load mounting part has a position deviation along the first direction or the size of the working object has a deviation in the first direction, the actuator can be used normally and can adapt to the size or position changes of the working object along the first direction during the working process, thereby improving the fault tolerance rate and ensuring the normal execution of the process.

[0023] The execution device provided by the present invention adopts the above-mentioned linear motion module, which can reduce impact, improve fault tolerance, and ensure smooth progress of the process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The structure of the linear motion module provided by the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 It is a front view of a part of the structure of the linear motion module provided by the present invention when the linear drive assembly is not assembled;

[0026] Figure 3 yes Figure 2 Schematic diagram of the local structure;

[0027] Figure 4 yes Figure 2 Middle AA section view;

[0028] Figure 5 It is a schematic diagram of the principle of the linear motion module provided by the present invention;

[0029] Figure 6 The structure of the linear motion module provided by the present invention is shown in FIG. Figure 2 ;

[0030] Figure 7 It is a structural schematic diagram of an execution device provided by the present invention;

[0031] Figure 8 It is a structural schematic diagram of another execution device provided by the present invention.

[0032] In the figure:

[0033] 10. Linear drive mechanism; 11. Linear drive assembly; 12. Module mounting member; 121. Fixed plate; 122. Support member; 1221. Slide groove; 1222. Guide groove; 123. Rolling member; 20. Load mounting member; 31. Elastic member; 40. Guide assembly; 41. First guide member; 411. Guide fitting portion; 412. Slider body; 42. Second guide member; 50. Mounting frame; 60. Actuator; 61. Main body; 62. Clamping assembly; 63. Suction cup assembly. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0038] like Figure 1 and Figure 2As shown, this embodiment provides a linear motion module, including a linear drive mechanism 10, a load mounting member 20 and an elastic component. The output end of the linear drive mechanism 10 can reciprocate along the first direction, and the load mounting member 20 is slidably arranged at the output end of the linear drive mechanism 10 along the first direction. The load mounting member 20 is used to connect the load, and the load can be an actuator 60, and the actuator 60 is used to perform corresponding operations on the work object, such as carrying; the elastic component is arranged at the output end of the linear drive mechanism 10, and the elastic component is used to apply elastic force to the load mounting member 20 along the first direction and the opposite direction of the first direction. The linear drive mechanism 10 can drive the load mounting member 20 to move along the first direction, and the elastic component provides elastic force to the load mounting member 20, which can reduce the rigid impact between the actuator 60 and the work object; and the load mounting member 20 can automatically and flexibly adjust the position along the first direction by relying on the elastic component. When the load mounting member 20 has a position deviation along the first direction or the size of the work object has a deviation in the first direction, the actuator 60 can be ensured to be used normally, and can adapt to the size or position changes of the work object along the first direction during the work process, thereby improving the fault tolerance rate and ensuring the normal execution of the process.

[0039] like Figure 2 As shown, in order to avoid jamming during the sliding process of the load mounting member 20, the linear motion module further includes a guide assembly 40, which includes a first guide member 41 and a second guide member 42 that are slidably connected, the first guide member 41 is connected to the load mounting member 20, and the second guide member 42 is connected to the output end of the linear drive mechanism 10. By providing the guide assembly 40, a guiding effect can be provided for the sliding of the load mounting member 20 relative to the output end of the linear motion mechanism, thereby ensuring that the moving direction of the load mounting member 20 is accurate and jamming is avoided.

[0040] In this embodiment, the first guide member 41 is a slider, and the second guide member 42 is a slide rail extending in the first direction, and the slider slides with the slide rail to play a guiding role. In other embodiments, one of the first guide member 41 and the second guide member 42 can be a guide rod, and the other can be a guide block slidably mounted on the guide rod, or one of the first guide member 41 and the second guide member 42 can be a guide groove, and the other can be a sliding member that can slide along the guide groove, which can also play a guiding role.

[0041] like Figure 1 As shown, the linear drive mechanism 10 includes a linear drive component 11 and a module mounting member 12, the module mounting member 12 is arranged at the output end of the linear drive component 11, so that the module mounting member 12 can move along the first direction, and the load mounting member 20 and the elastic component are arranged on the module mounting member 12. By arranging the module mounting member 12, an installation position can be provided for the installation of the load mounting member 20 and the elastic component, which facilitates the assembly of the load mounting member 20 and the elastic component.

[0042] like Figure 2 and Figure 3 As shown, the module mounting member 12 includes a fixing plate 121 and a supporting member 122. The fixing plate 121 is connected to the linear drive assembly 11, and the second guide member 42 is arranged on the fixing plate 121; the supporting member 122 is arranged on the fixing plate 121, and a receiving cavity is formed between the supporting member 122 and the fixing plate 121, and the second guide member 42 is located in the receiving cavity, and a slide groove 1221 extending along the first direction is arranged on the supporting member 122, and the load mounting member 20 is located on the side of the supporting member 122 away from the fixing plate 121, and the first guide member 41 passes through the slide groove 1221 and slidably cooperates with the second guide member 42. By providing the fixing plate 121 and the support member 122, a receiving cavity can be formed between the fixing plate 121 and the support member 122, so that the first guide member 41 and the second guide member 42 are both located in the receiving cavity, which can protect the first guide member 41 and the second guide member 42; in addition, the load mounting member 20 slides on the support member 122, and the support member 122 can support the load mounting member 20, thereby reducing the load directly borne by the guide assembly 40 and avoiding damage to the guide assembly 40.

[0043] like Figure 3 As shown, the first guide member 41 includes a slider body 412 and a guide matching portion 411 arranged on the slider body 412, the slider body 412 and the guide matching portion 411 are roughly T-shaped, the guide matching portion 411 is slidably arranged in the slide groove 1221, the slider body 412 is slidably matched with the slide rail, and the dimension of the slider body 412 along the direction perpendicular to the slide groove 1221 is larger than the dimension of the guide matching portion 411 along the direction perpendicular to the slide groove 1221, so that the slider body 412 can abut against the side of the support member 122 facing the fixed plate 121, thereby preventing the first guide member 411 from escaping from the accommodating cavity.

[0044] In order to make the load mounting member 20 more stable when adjusting its position along the first direction under the action of the elastic component, the elastic component is arranged in the slide groove 1221 to guide the elastic component through the slide groove 1221 to avoid bending of the elastic component causing the direction of the elastic force to shift, thereby avoiding jamming of the load mounting member 20 during sliding.

[0045] like Figure 4 As shown, the elastic component includes two elastic members 31, and the load mounting member 20 is arranged between the two elastic members 31. One of the elastic members 31 applies an elastic force along a first direction to the load mounting member 20, and the other elastic member 31 applies an elastic force in the opposite direction to the first direction to the load mounting frame 50. Through the cooperation of the two elastic forces in opposite directions, the position of the load mounting frame 50 relative to the module mounting member along the first direction can be automatically adjusted.

[0046] In order to guide the deformation direction of the elastic member 31, Figure 3and Figure 4 As shown, guide grooves 1222 are provided on both end side walls of the slide groove 1221 along the first direction, one end of each elastic member 31 extends into the corresponding guide groove 1222 and can abut against the inner wall of the guide groove 1222, and the deformation direction of the elastic member 31 is guided by the guide groove 1222 to ensure that the direction of the elastic force is accurate; the other end of the elastic member 31 is connected to the first guide member 41 or the load mounting member 20 to apply elastic force to the load mounting member 20.

[0047] In this embodiment, the elastic member 31 is a spring. Both springs can be compression springs to always apply elastic force to the load mounting member 20 to automatically adjust the position of the load mounting member 20.

[0048] Furthermore, the parameters of the two springs in the elastic assembly are the same, that is, the wire diameter, outer diameter, free length and total number of coils of the two springs are the same. Two springs of the same specification are used to act on the same load mounting member 20. In the absence of external force, the two elastic forces on the load mounting member 20 are equal in magnitude and opposite in direction, and can offset each other, thereby determining the initial position of the load mounting member 20 on the module mounting member 12 along the first direction.

[0049] In other embodiments, the parameters of the two springs in the elastic assembly may also be different.

[0050] Since the load mounting member 20 moves along the first direction relative to the support member 122, in order to reduce the friction between the load mounting member 20 and the support member 122 and reduce the wear of the load mounting member 20 and the support member 122, the module mounting member 12 further includes a rolling member 123, which is rotatably arranged on the support member 122, and the rolling member 123 is in rolling contact with the load mounting member 20. Through the contact between the rolling member 123 and the load mounting member 20, the friction force to which the load mounting member 20 is subjected during the movement can be rolling friction, and the rolling friction force is small, which is conducive to reducing wear and resistance.

[0051] Optionally, the rolling element 123 may be a ball or a roller. One, two or more rolling elements 123 may be disposed on the support member 122 to further reduce friction.

[0052] Furthermore, the rolling member 123 protrudes from the side surface of the support member 122 facing away from the fixed plate 121, so that a gap is formed between the load mounting member 20 and the support member 122. The support member 122 only contacts the rolling member 123, thereby reducing the contact area of ​​the support member 122, which is beneficial to further reduce the wear and resistance of the support member 122.

[0053] Combination Figure 1 and Figure 2As shown, in this embodiment, a plurality of support members 122 are arranged on the fixed plate 121, each support member 122 is provided with a load mounting member 20, and each load mounting frame 50 is provided with an elastic component, so that the linear motion module can be connected to multiple actuators 60 (i.e., loads) at the same time, so as to increase the number of single working objects and improve work efficiency. Among them, the plurality of load mounting members 20 are arranged along the second direction, and the second direction is disposed with the first direction. In other embodiments, the first direction and the second direction can also be arranged at an acute angle.

[0054] like Figure 5 As shown, the linear motion module in this embodiment can output vertical motion, that is, the first direction is the vertical direction. The load mounting member 20 is used to mount the load. When the load moves in the vertical direction and there is a certain deviation range, the load mounting member 20 is constrained by two elastic members 31 and can be adjusted within a certain range to allow a certain deviation. When the load faces work objects of different heights or changes in height during the work process, the load can be adjusted to a suitable position under the action of the two elastic members 31.

[0055] In addition, when the linear motion module is working, under the action of the elastic component, the linear motion of the load mounting member 20 becomes a flexible motion, which is helpful to reduce the impact. When the working positions of multiple load mounting members 20 have different heights, the elastic component corresponding to each load mounting member 20 can make up for the height difference, improve the fault tolerance rate, and have high flexibility and a wide range of applications, ensuring the normal operation of the process.

[0056] In this embodiment, the linear drive assembly 11 can be a screw nut drive assembly, a gear rack drive assembly, a pulley drive assembly, a linear motor or a slide cylinder, etc.

[0057] To facilitate installation of the linear drive module at a desired position or module, the linear drive module further includes a mounting frame 50, on which the linear drive mechanism 10 is disposed, and the mounting frame 50 is used to be fixed to a desired position or module by fasteners such as bolts.

[0058] This embodiment further provides an execution device, including an execution mechanism 60 and the above-mentioned linear motion module. The execution mechanism 60 serves as a load. The execution mechanism 60 is arranged on the load mounting member 20 and is used to perform corresponding operations on a work object.

[0059] like Figure 7As shown, the actuator 60 includes a main body 61 and a clamping assembly 62. The main body 61 is arranged on the load mounting member 20. The main body 61 is connected to the clamping assembly 62 through a rotating shaft. The clamping assembly 62 can rotate relative to the main body 61 around the axis of the rotating shaft, wherein the rotating shaft extends along a first direction. The actuator 60 can be used as a cover opening and closing manipulator. The cover body cooperates with the bottle body through the rotation direction. When the clamping assembly 62 clamps the bottle cap and drives the bottle cap to rotate, the height of the bottle cap relative to the bottle body changes. At this time, the load mounting member 20 adjusts its height adaptively through the mutual cooperation of the two elastic members 31, so that the clamping assembly 62 can move with the height change of the bottle cap to complete the cover opening and closing action.

[0060] The clamping assembly 62 can be an electric clamp or a finger cylinder. The clamping assembly 62 can be adapted to bottle caps of different sizes, and the load mounting member 20 can be adapted to bottles of different heights, thereby increasing the scope of application.

[0061] In some embodiments, Figure 7 The actuator 60 shown can also be used for transporting work objects.

[0062] In some embodiments, such as Figure 8 As shown, the actuator 60 includes a main body 61 and a suction cup assembly 63. The suction cup assembly 63 can be a negative pressure vacuum suction cup assembly 63 or an electromagnetic suction cup assembly 63. The suction cup assembly 63 can be used to carry a work object. During the carrying process, the height of the load mounting member 20 can be adjusted by the cooperation of the two elastic members 31, so as to carry work objects of different thicknesses (such as 3C panels or metal panels). The elastic member can also provide a buffer for the contact between the suction cup assembly 63 and the work object to reduce the impact and avoid damage to the work object.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Linear motion module, characterized in that: include: A linear drive mechanism (10), wherein an output end of the linear drive mechanism (10) is capable of reciprocating along a first direction; A load mounting member (20) is slidably disposed at an output end of the linear drive mechanism (10) along the first direction; An elastic component is arranged at the output end of the linear drive mechanism (10), and is used to apply elastic force to the load mounting member (20) along the first direction and the direction opposite to the first direction, so that the load mounting member (20) can automatically and flexibly adjust its position along the first direction by relying on the elastic component.

2. The linear motion module according to claim 1, characterized in that: The linear motion module further comprises a guide assembly (40), wherein the guide assembly (40) comprises a first guide member (41) and a second guide member (42) which are slidably connected, wherein the first guide member (41) is connected to the load mounting member (20), and the second guide member (42) is connected to the output end of the linear drive mechanism (10).

3. The linear motion module according to claim 2, characterized in that: The linear drive mechanism (10) comprises a linear drive component (11) and a module mounting component (12); the linear drive component (11) is connected to the module mounting component (12); the linear drive component (11) is used to drive the module mounting component (12) to move linearly; the load mounting component (20) and the elastic component are arranged on the module mounting component (12).

4. The linear motion module according to claim 3, characterized in that: The module mounting member (12) comprises: A fixed plate (121) connected to the linear drive assembly (11), wherein the second guide member (42) is arranged on the fixed plate (121); The support member (122) is arranged on the fixing plate (121), and an accommodating cavity is formed between the support member (122) and the fixing plate (121). The second guide member (42) is located in the accommodating cavity. The support member (122) is provided with a sliding groove (1221) extending along the first direction. The load mounting member (20) is located on a side of the support member (122) away from the fixing plate (121), and the second guide member (42) passes through the sliding groove (1221) and slidably cooperates with the second guide member (42).

5. The linear motion module according to claim 4, characterized in that: The elastic component is arranged in the slide groove (1221).

6. The linear motion module according to claim 5, characterized in that: The elastic component comprises two elastic members (31), the load mounting member (20) is arranged between the two elastic members (31), the side walls at both ends of the slide groove (1221) along the first direction are provided with guide grooves (1222), each guide groove (1222) is provided with the elastic member (31), and the elastic member (31) is connected to the first guide member (41) or the load mounting member (20).

7. The linear motion module according to claim 6, characterized in that: The elastic member (31) is a spring.

8. The linear motion module according to claim 4, characterized in that: The module mounting member (12) further comprises a rolling member (123), wherein the rolling member (123) is rotatably disposed on the supporting member (122), and the rolling member (123) is in rolling contact with the load mounting member (20).

9. The linear motion module according to any one of claims 1 to 8, characterized in that: The load mounting members (20) are arranged in a plurality, the plurality of load mounting members (20) are arranged along a second direction, each of the load mounting members (20) is provided with an elastic component, and the second direction is arranged at an angle to the first direction.

10. An execution device, characterized in that It comprises an actuator (60) and a linear motion module as claimed in any one of claims 1 to 9, wherein the actuator (60) is arranged on the load mounting member (20).

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