Plane circular hole positioning method and system

Abstract

The invention discloses a plane circular hole positioning method and system, and the method comprises the following steps: building an X-Y-Z three-dimensional coordinate system covering a part with a hole, and enabling a to-be-measured plane of the part with the hole to be parallel to an XOY plane of the three-dimensional coordinate system; in a three-dimensional coordinate system, a first range finder and a second range finder are controlled to synchronously move in the range of a to-be-detected plane in the X-axis direction and span a round hole in the detected plane of the part with the hole, and the two range finders continuously detect the distance between the two range finders and the part with the hole in the Z-axis direction or the axial direction of the round hole in the moving process; when the two range finders pass through the edge of the circular hole, the measured values can be suddenly changed; the first range finder sequentially records two distance abrupt change points f and g in the moving process in the X-axis direction; the second range finder sequentially records two distance abrupt change points d and e in the moving process in the X-axis direction. According to the plane round hole positioning method and system, the equipment cost and the technical cost of round hole positioning are reduced, meanwhile, high precision is achieved, and application and popularization are facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of circular hole positioning, and in particular to a planar circular hole positioning method and system. Background Art

[0002] Some parts have round holes on their planes. During processing or use, the precise position of the round hole is located and certain processing or actions are performed. There are two common methods for detecting round holes in the prior art.

[0003] The first is to use a 3D laser. The 3D laser emits a laser, which then reflects off an object to detect the distance. Since the laser beam emitted by the laser has an angle, the detection range can be determined based on the installation height, which is the detectable Y-axis length. The laser reflection time within the Y-axis range is different, so all coordinates on the Y-axis correspond to a height coordinate, which is the Z-axis. The 3D laser has a pan-tilt head and will swing in the horizontal direction, which is the X-axis. When the X-axis position changes, the Y-axis and Z-axis data will also change, thereby generating a 3D image, and then analyzing the center position of the circular hole based on the image. Lasers are expensive, require supporting software, and require high technical capabilities for maintenance, which will increase the cost of the entire equipment and maintenance costs a lot, and the cost performance is not high.

[0004] The second method is to use a 3D camera. The principle of 3D camera machine vision detection is based on triangulation and image processing technology. It obtains multiple perspective images of an object and uses the camera's parameters and geometric relationships to calculate the object's position and shape in three-dimensional space. However, 3D cameras are also very expensive, require supporting software, and require high technical capabilities for maintenance, which will increase the cost of the entire equipment and maintenance costs a lot, and the cost-effectiveness is not high. In addition, the camera will be affected by strong light and is not suitable for outdoor use.

[0005] In summary, the current method of detecting round holes is too costly and requires high technical skills from maintenance personnel, making it difficult to promote on a large scale. Summary of the invention

[0006] The purpose of the present invention is to provide a planar circular hole positioning method and system to reduce the cost of circular hole positioning equipment and technical costs, while having high accuracy and being easy to promote and use.

[0007] The technical solution adopted by the present invention is: a planar circular hole positioning method, comprising the following steps:

[0008] Establish an XYZ three-dimensional coordinate system covering the component with a hole, so that the plane to be measured of the component with a hole is parallel to the XOY plane of the three-dimensional coordinate system;

[0009] In the three-dimensional coordinate system, the No. 1 and No. 2 rangefinders are controlled to move synchronously along the X-axis direction within the range of the plane to be measured, and cross the circular hole on the plane to be measured of the hole component. During the movement, the two rangefinders continuously detect the distance between them and the hole component in the Z-axis direction or the axial direction of the circular hole, so that the magnitudes of the measured values ​​of the two rangefinders can produce a sudden change when passing the edge of the circular hole;

[0010] During the movement of rangefinder No. 1 in the X-axis direction, two distance mutation points f and g are recorded in sequence;

[0011] During the movement of rangefinder No. 2 in the X-axis direction, two distance mutation points d and e were recorded in sequence;

[0012] Monitor the X-axis coordinates of the two rangefinders in real time and obtain the coordinate positions of the four distance mutation points on the XOY plane;

[0013] According to the coordinate positions of the four distance mutation points, the center coordinates of the circular hole (X0, Y0) are obtained:

[0014]

[0015] Y0=(4E 2 -A 2 +D 2 ) / 8E+F

[0016] Wherein: D is the length of chord de; A is the length of chord fg; H is the X-axis coordinate value of distance mutation point f; G is the X-axis coordinate value of distance mutation point d; E is the distance between rangefinder No. 1 and rangefinder No. 2 in the Y-axis direction; F is the distance from rangefinder No. 1 to the X-axis, and the distance from rangefinder No. 1 to the X-axis is less than the distance from rangefinder No. 2 to the X-axis.

[0017] As a preferred solution, each distance meter obtains two values ​​of different sizes when measuring the distance of the component, and the smaller value is used as the Z-axis coordinate of the center of the circular hole surface, and the larger value is used as the Z-axis coordinate of the center of the circular hole bottom surface.

[0018] As a preferred solution, the Z-axis coordinate values ​​of the center of the circular hole measured by the two rangefinders are compared. If the difference is greater than the preset deviation value, the measurement is performed again; if the difference is less than the preset deviation value, the Z-axis coordinate value of one of the rangefinders is used as the valid coordinate value.

[0019] As a preferred solution, based on the coordinate positions of the four distance mutation points on the XOY plane, the X-axis coordinate value of the midpoint of the chord de and the X-axis coordinate value of the midpoint of the chord fg are calculated and compared. If the difference between the X-axis coordinate values ​​of the two midpoints is greater than the preset deviation value, re-measurement is performed; if the difference is less than the preset deviation value, the X-axis coordinate value of one of the midpoints is used as the X-axis coordinate of the center of the circular hole.

[0020] As a preferred solution, during the movement of the rangefinder in the X-axis direction, two groups of adjacent ranging values ​​of different sizes are recorded, and the midpoint of the line connecting the points where the two ranging values ​​in each group are located is taken as the distance mutation point.

[0021] As a preferred solution, the radius of the circular hole is or Among them, B is the distance from the center of the circular hole b to the chord fg.

[0022] A plane circular hole positioning system, comprising:

[0023] Guide rail: located above the part with holes, and the length direction of the guide rail is parallel to the X-axis;

[0024] A movable bracket is slidably arranged on the guide rail along the X-axis direction, and is used to drive the rangefinder to cross the circular hole on the measured plane of the perforated component along the X-axis direction;

[0025] Servo drive mechanism: used to connect and drive the mobile bracket to move along the guide rail, and can provide real-time feedback of the X-axis coordinate of the mobile bracket;

[0026] Distance measuring device: comprising a distance measuring device No. 1 and a distance measuring device No. 2 which are fixed on the moving bracket in sequence along the Y-axis direction, and are used to continuously measure the distance of the plane of the hole component along the Z-axis direction during the movement;

[0027] PLC cabinet;

[0028] Storage: at least one application program is built in the storage device, and the application program is configured to be used for the PLC cabinet to execute the above-mentioned circular hole positioning method.

[0029] As a preferred solution, the distance between the No. 1 rangefinder and the No. 2 rangefinder is smaller than the diameter of the circular hole, and the middle part of the paths of the No. 1 rangefinder and the No. 2 rangefinder is located directly above the circular hole.

[0030] As a preferred solution, the rangefinder is a reflective laser rangefinder sensor.

[0031] As a preferred solution, the servo drive mechanism is a linear motor, the stator guide rail of the linear motor is arranged along the length direction of the guide rail, and the mover of the linear motor is fixedly connected to the moving bracket.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention mainly utilizes two laser rangefinders and a set of servo drive mechanisms to locate the circular hole on the plane. Compared with other types of circle center recognition methods, such as 3D cameras, 3D lasers, etc., this method has faster measurement speed, lower hardware cost, and simpler installation. At the same time, no special supporting data analysis software is required. Only conventional PLC programming is used to complete the calculation of the spatial coordinates of the circle center, which is more conducive to user use and maintenance.

[0034] 2. The system of the present invention is deployed according to actual conditions, and the detection area can be large or small, which is relatively flexible.

[0035] 3. The method and system of the present invention can be used to automatically detect round holes, reduce manual labor intensity, and improve work efficiency; this method can be used for remote operation and used in toxic and harmful environments to ensure the health of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of a model of one state of the present invention;

[0038] Figure 2 A schematic diagram of a model of another state of the present invention;

[0039] Figure 3 It is a physical schematic diagram of the present invention.

[0040] Figure numerals: 1. guide rail, 2. movable bracket, 3. rangefinder No. 1, 4. rangefinder No. 2, 5. part with holes, 6. round hole, 7. servo drive mechanism. DETAILED DESCRIPTION

[0041] The present invention is described in detail below by way of exemplary embodiments. However, it should be understood that, without further description, elements, structures and features in one embodiment may also be beneficially combined in other embodiments.

[0042] It should be noted that: unless otherwise defined, the technical terms or scientific terms used in this document shall have the usual meanings understood by people with ordinary skills in the field to which the invention belongs. The words "one", "an" or "the" and the like used in the patent application specification and claims of the present invention do not express quantity restrictions, but indicate the existence of at least one; the words "first", "second" and "third" used in this document shall not be regarded as restrictions on the order of components, but are only used to distinguish different components; words such as "include" or "comprise" and the like indicate that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, but do not exclude other elements or objects with the same function.

[0043] In order to more clearly describe the planar circular hole positioning method and system, Figure 1-3 Description of the embodiment:

[0044] like Figure 1 and Figure 2 As shown, a planar circular hole positioning method comprises the following steps:

[0045] S1, establishing an XYZ three-dimensional coordinate system covering the component with a hole, so that the plane to be measured of the component with a hole 5 is parallel to the XOY plane of the three-dimensional coordinate system;

[0046] S2, in the three-dimensional coordinate system, controlling the No. 1 rangefinder 3 and the No. 2 rangefinder 4 to move synchronously along the X-axis direction within the range of the plane to be measured, and crossing the circular hole 6 on the plane to be measured of the hole component 5, the two rangefinders continuously detect the distance between them and the hole component 5 in the Z-axis direction or the axial direction of the circular hole during the movement, so that the magnitudes of the measured values ​​of the two rangefinders can produce a sudden change when passing the edge of the circular hole 6;

[0047] Both rangefinders are single-point distance measurement. For the convenience of detection, rangefinder No. 1 3 and rangefinder No. 2 4 are arranged in sequence along the Y-axis direction. The position of each rangefinder in the Y-axis direction is fixed. The spacing between the two is specifically adjusted according to the diameter of the circular hole during layout. The two rangefinders are numbered. During the movement of each rangefinder along the X-axis, its Y-axis coordinate remains unchanged. The rangefinder emits a light beam downward toward the plane to be measured of the hole component 5 to detect the distance from the plane below and the circular hole to the rangefinder, and the measured value is used as the Z-axis coordinate. The moving distance of the rangefinder on the X-axis is detected and used as the X-axis coordinate.

[0048] When the two rangefinders pass the edge of the circular hole 6, the measured values ​​suddenly change. The reason for the sudden change is that the height of the circular hole and the height of the plane to be measured around the circular hole are different. The value measured directly facing the circular hole 6 is greater than the value measured around the circular hole.

[0049] During the movement of the No. 1 rangefinder 3 in the X-axis direction, two distance mutation points f and g are recorded in sequence;

[0050] During the movement of the No. 2 rangefinder 4 in the X-axis direction, two distance mutation points d and e are recorded in sequence;

[0051] Monitor the X-axis coordinates of the two rangefinders in real time and obtain the coordinate positions of the four distance mutation points (f, g, d, e) on the XOY plane (the Y-axis coordinate value of the rangefinder is a fixed value, and only the distance of the rangefinder in the X-axis direction needs to be measured);

[0052] S3. Obtain the center coordinates (X0, Y0) of the circular hole on the XOY plane according to the positions of the four distance mutation points;

[0053] The X-axis coordinate of the center of the circle is:

[0054] or

[0055] The derivation process of the Y-axis coordinate of the center of the circle is:

[0056] 1 / 4A2+B2=1 / 4D2+(EB)2=R 2

[0057] 1 / 4A2+B2=1 / 4D2+E2+B2-2E*B

[0058] 1 / 4A2=1 / 4D2+E2-2E*B

[0059] A2=D2+4E2-8E*B

[0060] 8E*B=4E2-A2+D2

[0061] B=(4E2-A2+D2) / 8E

[0062] hb=B+F

[0063] get:

[0064] Y0=hb=(4E 2 -A 2 +D 2 ) / 8E+F

[0065] Wherein: R=hb=radius, b is the point of the center of the circle, B is the distance from the center of the hole b to the chord fg; D is the length of the chord de (i.e., the difference between the X-axis coordinate values ​​of points d and e); A is the length of the chord fg (i.e., the difference between the X-axis coordinate values ​​of points f and g); H is the X-axis coordinate value of the distance mutation point f; G is the X-axis coordinate value of the distance mutation point d; E is the spacing between rangefinder No. 1 and rangefinder No. 2 in the Y-axis direction; F is the distance from rangefinder No. 1 to the X-axis, and the distance from rangefinder No. 1 to the X-axis is less than the distance from rangefinder No. 2 to the X-axis (i.e., rangefinder No. 1 is located close to the X-axis).

[0066] For general usage scenarios, the position of the three-dimensional coordinate system is fixed, while the position of the component with a hole 5 is different, so it is used to determine the center and radius of the circular hole. If the measured circular hole has a bottom surface, the depth of the circular hole can also be measured, so as to detect the position of the circular hole 6 in the three-dimensional space. Specifically, each rangefinder (rangefinder No. 1 3 and rangefinder No. 2 4) obtains two values ​​of different sizes when measuring the distance of the component, and the smaller value is used as the Z-axis coordinate of the center of the circular hole surface, and the larger value is used as the Z-axis coordinate of the center of the bottom surface of the circular hole;

[0067] In the above method, in order to ensure the accuracy of the Z-axis coordinate value, the Z-axis coordinate values ​​of the center of the circular hole measured by the two rangefinders are compared during the detection process. If the difference is greater than the preset deviation value, re-measurement is performed; if the difference is less than the preset deviation value, the Z-axis coordinate value of one of the rangefinders is used as the effective coordinate value. The preset deviation value is set according to the actual situation and can be set to 2mm.

[0068] In the above method, in order to ensure the accuracy of the X-axis coordinate value, after obtaining the coordinate positions of the four distance mutation points on the XOY plane, the X-axis coordinate value of the midpoint of the chord de and the X-axis coordinate value of the midpoint of the chord fg are calculated and compared. If the difference between the X-axis coordinate values ​​of the two midpoints is greater than the preset deviation value, re-measurement is performed; if the difference is less than the preset deviation value, the X-axis coordinate value of one of the midpoints is used as the X-axis coordinate of the center of the circular hole.

[0069] As for the position of the distance mutation point, in the above method, the rangefinder records two sets of adjacent and different distance measurement values ​​in the process of moving in the X-axis direction, and the midpoint of the line connecting the two distance measurement values ​​in each set is taken as the distance mutation point. Specifically, taking rangefinder No. 1 3 as an example, one set of distance measurement values ​​of rangefinder No. 1 3 is two adjacent and different values ​​before and after the distance mutation point f, and the other set of distance measurement values ​​of rangefinder No. 1 3 is two adjacent and different values ​​before and after the distance mutation point g. Let the points where the two values ​​before and after the distance mutation point f are located be m and n, and the midpoint of the line mn is taken as the distance mutation point. The position where the smaller value of the two sets of adjacent and different distance measurement values ​​is located can also be taken as the distance mutation point.

[0070] In some scenarios, the diameter of the circular hole 6 needs to be obtained, which can be obtained using the following formula:

[0071] Radius of hole 6 or

[0072] Figure 1 and Figure 2 Two basic cases of the distribution of chord de and chord fg are shown, where Figure 2 The midchord de coincides with the radius of the circle, and the center of the circle b coincides with the midpoint c of the chord de. In both cases, the above formula for the coordinates of the center of the circle and the calculation formula for the aperture of the circular hole are still satisfied.

[0073] See also Figure 3 , a plane circular hole positioning system, comprising the following components:

[0074] Guide rail 1: located above the hole component 5, and the length direction of the guide rail 1 is parallel to the X-axis;

[0075] The movable bracket 2 is slidably arranged on the guide rail 1 along the X-axis direction, and is used to drive the rangefinder to cross the circular hole 6 on the measured plane of the hole component 5 along the X-axis direction;

[0076] Servo drive mechanism 7: used to connect and drive the mobile bracket 2 to move along the guide rail 1, and can provide real-time feedback of the X-axis coordinate of the mobile bracket 2; specifically, the servo drive mechanism 7 can be a linear motor, the stator guide rail of the linear motor is arranged along the length direction of the guide rail 1, the mover of the linear motor is fixedly connected to the mobile bracket 2, and the servo drive mechanism 7 can also be other drive mechanisms capable of providing feedback of the moving distance;

[0077] The rangefinder includes a No. 1 rangefinder 3 and a No. 2 rangefinder 4 which are fixed on the moving bracket 2 in sequence along the Y-axis direction, and are used to measure the plane distance of the hole-bearing component 5 along the Z-axis direction during the movement; in the specific arrangement, the distance between the No. 1 rangefinder 3 and the No. 2 rangefinder 4 is smaller than the diameter of the circular hole 6, and the middle part of the path of the No. 1 rangefinder 3 and the No. 2 rangefinder 4 is located directly above the circular hole 6;

[0078] The rangefinder can use a single-point laser rangefinder sensor to measure the distance between the object being measured and the laser by multiplying the time difference between the emitted laser and the returned laser by the speed of light.

[0079] It should be noted that, since the two rangefinders need to cross over the circular hole 6 to record the four distance mutation points, and the rangefinder itself has a certain size, the method and system are suitable for large holes with sufficient diameters. In an actual test, the diameter of the circular hole to be measured is 5 cm, which can meet the layout requirements. Selecting a smaller rangefinder is conducive to locating circular holes with smaller diameters.

[0080] PLC cabinet: It is equipped with CPU, DI / DO and other signal modules and communication modules, receives the signals from field sensors, runs software for calculation, and obtains the spatial coordinates of the center of the circular hole;

[0081] Storage: having at least one built-in application program, which is configured to be used for the PLC cabinet to execute the above-mentioned circular hole positioning method;

[0082] A manual interaction interface can also be configured, which is used to display the mobile bracket 2, the detection distance of the rangefinder, the XYZ space coordinates of the detected center of the circle, historical records, fault records, etc., and can also remotely control the mobile bracket 2;

[0083] You can also configure an on-site camera to observe the operating status of the on-site equipment through the camera and control it remotely. When special circumstances occur, you can press the emergency stop button to stop the equipment.

[0084] In actual arrangement and use, the guide rail 1 can be extended to cover multiple objects, so that the effect of detecting circular holes of multiple objects can be achieved. One object can be used for multiple purposes, which is conducive to saving investment and has high cost performance.

[0085] For the XYZ three-dimensional coordinate system, in order to facilitate calculation, the X-axis of the three-dimensional coordinate system can be directly coincided with the guide rail 1, and the intersection of the Y-axis and the movable bracket 2 with the guide rail 1 in the initial state can be used as the origin of the three-dimensional coordinate system, so that the transmitting end of the rangefinder coincides with the XOY plane of the three-dimensional coordinate system, and the position of this coordinate system is used as the standard during the circular hole positioning process.

[0086] The parts not described in detail in the above embodiments are prior art.

[0087] It should be noted that although the present invention is described by the above embodiments, the present invention may also have other various embodiments. Without departing from the spirit and scope of the present invention, it is obvious that those skilled in the art may make various corresponding changes and deformations to the present invention, but these changes and deformations should all fall within the scope of protection of the appended claims of the present invention and their equivalents.

Claims

1. A method for locating a planar circular hole, characterized in that: The following steps are involved: Establish an XYZ three-dimensional coordinate system covering the component with a hole, so that the plane to be measured of the component with a hole is parallel to the XOY plane of the three-dimensional coordinate system; In the three-dimensional coordinate system, the No. 1 and No. 2 rangefinders are controlled to move synchronously along the X-axis direction within the range of the plane to be measured, and cross the circular hole on the plane to be measured of the hole component. During the movement, the two rangefinders continuously detect the distance between them and the hole component in the Z-axis direction or the axial direction of the circular hole, so that the magnitudes of the measured values ​​of the two rangefinders can produce a sudden change when passing the edge of the circular hole; During the movement of rangefinder No. 1 in the X-axis direction, two distance mutation points f and g are recorded in sequence; During the movement of rangefinder No. 2 in the X-axis direction, two distance mutation points d and e were recorded in sequence; Monitor the X-axis coordinates of the two rangefinders in real time and obtain the coordinate positions of the four distance mutation points on the XOY plane; According to the coordinate positions of the four distance mutation points, the center coordinates of the circular hole (X0, Y0) are obtained: or Y0=(4E 2 -A 2 +D 2 ) / 8E+F Wherein: D is the length of chord de; A is the length of chord fg; H is the X-axis coordinate value of distance mutation point f; G is the X-axis coordinate value of distance mutation point d; E is the distance between rangefinder No. 1 and rangefinder No. 2 in the Y-axis direction; F is the distance from rangefinder No. 1 to the X-axis, and the distance from rangefinder No. 1 to the X-axis is less than the distance from rangefinder No. 2 to the X-axis.

2. A planar circular hole positioning method according to claim 1, characterized in that: Each distance meter obtains two values ​​of different sizes when measuring the distance of the component. The smaller value is used as the Z-axis coordinate of the center of the circular hole surface, and the larger value is used as the Z-axis coordinate of the center of the circular hole bottom surface.

3. A planar circular hole positioning method according to claim 1, characterized in that: Compare the Z-axis coordinate values ​​of the center of the circular hole measured by the two rangefinders. If the difference is greater than the preset deviation value, re-measure; if the difference is less than the preset deviation value, take the Z-axis coordinate value of one of the rangefinders as the valid coordinate value.

4. A planar circular hole positioning method according to claim 1, characterized in that: Based on the coordinate positions of the four distance mutation points on the XOY plane, the X-axis coordinate value of the midpoint of chord de and the X-axis coordinate value of the midpoint of chord fg are calculated and compared. If the difference between the X-axis coordinate values ​​of the two midpoints is greater than the preset deviation value, re-measurement is performed; if the difference is less than the preset deviation value, the X-axis coordinate value of one of the midpoints is used as the X-axis coordinate of the center of the circular hole.

5. A planar circular hole positioning method according to claim 1, characterized in that: When the rangefinder moves in the X-axis direction, two groups of adjacent distance values ​​of different sizes are recorded. The midpoint of the line connecting the two distance values ​​in each group is taken as the distance mutation point.

6. A planar circular hole positioning method according to claim 1, characterized in that: The radius of the circular hole or Among them, B is the distance from the center of the circular hole b to the chord fg.

7. A plane circular hole positioning system, characterized in that: include: Guide rail (1): located above the component with holes (5), and the length direction of the guide rail (1) is parallel to the X-axis; A movable bracket (2) is slidably arranged on the guide rail (1) along the X-axis direction, and is used to drive the rangefinder to cross the circular hole (6) of the hole-bearing component (5) along the X-axis direction; A servo drive mechanism (7) is used to connect and drive the movable bracket (2) to move along the guide rail (1), and can provide real-time feedback of the X-axis coordinate of the movable bracket (2); The rangefinder comprises a No. 1 rangefinder (3) and a No. 2 rangefinder (4) which are fixed on the moving bracket (2) in sequence along the Y-axis direction and are used to measure the distance of the surface of the hole component (5) along the Z-axis direction during the movement; PLC cabinet; Storage: at least one application is built in, and the application is configured to be used for a PLC cabinet to execute the circular hole positioning method described in any one of claims 1-5.

8. A planar circular hole positioning system according to claim 7, characterized in that: The distance between the No. 1 rangefinder (3) and the No. 2 rangefinder (4) is smaller than the diameter of the circular hole (6), and the middle part of the path of the No. 1 rangefinder (3) and the No. 2 rangefinder (4) is located directly above the circular hole (6).

9. A planar circular hole positioning system according to claim 7, characterized in that: The rangefinder is a reflective laser rangefinder sensor.

10. A planar circular hole positioning system according to claim 7, characterized in that: The servo drive mechanism (7) is a linear motor, the stator guide rail of the linear motor is arranged along the length direction of the guide rail (1), and the mover of the linear motor is fixedly connected to the moving bracket (2).

Images