Linear motor module with adjustable thrust range and thrust range adjustment method

Abstract

The invention relates to the field of linear motors, and discloses a linear motor module with adjustable thrust range and a thrust range adjustment method. The linear motor module comprises a base with a slide groove, and a first adjustment mechanism is arranged in the slide groove, a first magnetic track is arranged on the base, and a row of permanent magnets is arranged on the first magnetic track; a second magnetic track is arranged on the first adjustment mechanism, and a row of electromagnets is arranged on the second magnetic track; a mover is located between the electromagnets and the permanent magnets, and a mounting cover is arranged on the base; a current conversion mechanism is arranged in the mounting cover, and an air intake pipe can be rotated to change the rotation direction of a hollow box, and when the hollow box rotates forward, the hollow box can drive the position of a sliding contact on a sliding rheostat through a driving plate, so as to change the resistance of the sliding rheostat in an electromagnet power supply circuit, thereby changing the magnitude of the magnetic force of the electromagnet, so as to effectively adjust the motion range of the mover and change the thrust range of the mover.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and more specifically, to a linear motor module with adjustable thrust range and a method for adjusting the thrust range. Background Art

[0002] In the fields of modern industrial manufacturing and automation, linear motor modules, as key components for achieving linear motion, are widely used. In the manufacturing of 3C products, they are used for high-speed chip mounting and precision assembly of electronic components; in semiconductor equipment, they achieve high-precision positioning and movement of wafers; in medical devices, they assist in the precise operation of surgical instruments. Their working principle is based on electromagnetic induction, where the stator generates a magnetic field, and the mover moves linearly under the action of the magnetic field after being energized. Traditional linear motors usually have relatively stable thrust output and can perform tasks well in some scenarios with high requirements for motion accuracy and stability and relatively simple working conditions. For example, in the product conveying and simple processing on a standard assembly line, stable thrust can ensure the smooth progress of the production process.

[0003] However, with industrial upgrading and technological innovation, many emerging application scenarios have put forward higher requirements for linear motors. In some experimental equipment that needs to simulate complex physical processes, such as material fatigue testing, a linear motor is required to provide fluctuating thrust to simulate the complex stresses suffered by materials in a real environment. In the joint drive of high-end robots, in order to achieve more flexible and natural movements, the thrust of the linear motor also needs to change in real time according to the motion requirements. However, due to the limitations of the structure and control method of traditional linear motors, it is difficult to meet these requirements in terms of thrust range and change flexibility. Common linear motors control thrust through a fixed electromagnetic structure and simple current regulation, with a limited thrust range and difficulty in achieving rapid and precise changes. This results in the inability of traditional linear motors to effectively adjust thrust when facing complex working conditions, leading to low equipment operation efficiency and even inability to work properly. Therefore, we have designed a linear motor module with adjustable thrust range and a method for adjusting the thrust range. Summary of the Invention

[0004] The present invention provides a linear motor module with adjustable thrust range and a method for adjusting the thrust range, solving the technical problems in related technologies that common linear motors control thrust through a fixed electromagnetic structure and simple current regulation, with a limited thrust range and difficulty in achieving rapid and precise changes; this results in the inability of traditional linear motors to effectively adjust thrust when facing complex working conditions, leading to low equipment operation efficiency and even inability to work properly.

[0005] The present invention provides a linear motor module with an adjustable thrust range, comprising a base with a slide groove, and a first adjustment mechanism is arranged inside the slide groove; a first magnetic rail is fixedly installed on the base, and a row of permanent magnets is fixedly installed on the first magnetic rail; a second magnetic rail is fixedly installed on the first adjustment mechanism, and a row of electromagnets is arranged on the second magnetic rail; a mover is located between the electromagnets and the permanent magnets, and moves between the electromagnets and the permanent magnets after being energized; a mounting cover is fixedly installed on the side of the base, and a through hole is arranged on the side of the base; a current conversion mechanism is fixedly installed inside the mounting cover, and is used to control the position of the mover between the first magnetic rail and the second magnetic rail; a pneumatic mechanism is fixedly installed inside the mounting cover, and is used to adjust the position of some electromagnets in a row of electromagnets.

[0006] As a further optimization scheme of the present invention, the current conversion mechanism includes a first fixed box fixedly connected to the mounting cover; a sliding rheostat, fixedly installed inside the first fixed box and connected to the electromagnet and the power supply through a wire; a push plate, located below the sliding rheostat and fixedly connected to the sliding rheostat; a slide rod, slidably installed on the push plate and fixedly connected to the first mounting box; a fourth spring, sleeved on the slide rod, and connecting the first mounting box to the push plate; a telescopic tube, one end of which is fixedly connected to the push plate, and the other end of which is fixedly installed with a propulsion assembly, and the propulsion assembly is driven by a pneumatic mechanism to control the resistance of the sliding rheostat.

[0007] As a further optimization scheme of the present invention, the propulsion assembly includes a second fixed box fixedly connected to the telescopic tube; a second pressure plate, which runs through the interior of the second fixed box and is slidably connected to the second fixed box; a piston, which is slidably installed inside the second fixed box and is fixedly connected to the second pressure plate; and a fourth spring, which is located between the second pressure plate and the second fixed box and connects the second pressure plate to the second fixed box.

[0008] As a further optimization scheme of the present invention, the pneumatic mechanism includes a driving rod, on the surface of which a first toggle plate and a second toggle plate are fixedly mounted; a first mounting plate, fixedly mounted on the first fixed box; a rotating frame, rotatably mounted on the first mounting plate; a first driving wheel, fixedly mounted on the rotating frame, a tooth groove is opened through the center of the first driving wheel, and the tooth groove matches the first toggle plate.

[0009] As a further optimization scheme of the present invention, the first adjustment mechanism includes a reciprocating screw, which is rotatably connected to the base; a pulley, which is fixedly mounted on the reciprocating screw and connected to the first driving wheel through a driving belt; a threaded block, which is slidably arranged on the base and threadedly connected to the reciprocating screw, and the threaded block is fixedly connected to the second magnetic rail.

[0010] As a further optimization scheme of the present invention, the pneumatic mechanism also includes a second driving wheel, and a tooth groove is opened in the middle of the second driving wheel, and the tooth groove matches the second paddle plate; a rotating frame is also fixedly installed on the second driving wheel, and a first mounting plate is rotatably connected to the rotating frame, and the first mounting plate is fixedly connected to the first fixed box; a driving plate is fixedly installed on the second driving wheel, and is used to drive the second pressure plate to change the resistance of the sliding rheostat.

[0011] As a further optimization scheme of the present invention, the pneumatic mechanism also includes a slider slidably connected to the second magnetic rail, and the slider is connected to the second magnetic rail through a first spring, part of the electromagnet is fixedly connected to the slider, and part of the electromagnet is fixedly connected to the second magnetic rail; a conveying pipe is fixedly installed inside the second magnetic rail; an extrusion rod is slidably installed inside the conveying pipe; a second spring is located between the two extrusion rods and fixedly connected to the extrusion rod, and the middle part of the second spring is fixedly connected to the conveying pipe; a tilting block matches the slider and is fixedly connected to the extrusion rod; a first pressure plate is slidably installed on the conveying pipe, and drives the electromagnet to move when the driving plate is squeezed.

[0012] As a further optimization scheme of the present invention, the pneumatic mechanism also includes a hollow box fixedly connected to the driving rod, and a slot is also provided on the hollow box; four bent pipes are rotatably mounted on the hollow box; an air intake pipe passes through the mounting cover and is rotatably connected to the mounting cover and the hollow box; a second mounting plate is rotatably mounted on the driving rod and fixedly connected to the first fixed box.

[0013] As a further optimization scheme of the present invention, the pneumatic mechanism also includes a first gear fixedly mounted on the bent pipe; two drive rings, respectively located on the left and right sides of the hollow box and connected through multiple drive frames; multiple latches, located inside the drive frame and fixedly connected to the drive frame, used to drive the first gear to make the bent pipe change the gas injection direction; a threaded plate, threadedly connected to the air inlet pipe; a limit frame, fixedly mounted on the threaded plate, which is fixedly mounted on the auxiliary plate through the top and slidably connected to the mounting cover.

[0014] A method for adjusting the thrust range of a linear motor module with adjustable thrust range comprises the following steps:

[0015] Step 1: Setting a target thrust range, including a minimum thrust value and a maximum thrust value, and receiving target parameters input by a user through a control unit;

[0016] Step 2: According to the target thrust range, adjust the power supply current, use the sliding rheostat in the current conversion mechanism to change the circuit resistance, thereby adjusting the magnetic force of the electromagnet, so that the electromagnet interacts with the permanent magnet to form a stator and generate initial thrust;

[0017] Step 3: Adjust the position of the electromagnet through the pneumatic mechanism. The pneumatic mechanism drives the first adjustment mechanism to move the second magnetic rail, changing the distance between the electromagnet and the permanent magnet, thereby changing the magnetic field distribution and magnetic flux density, and adjusting the thrust range of the mover.

[0018] Step 4: Monitor the actual thrust of the mover in real time. The monitoring data is fed back to the control unit through the sensors installed on the module and compared with the target thrust range.

[0019] Step 5: Perform feedback adjustment according to the feedback result. If the actual thrust exceeds the target range, the control unit controls the variable current mechanism and the pneumatic mechanism to adjust the current and the position of the electromagnet, so that the thrust of the mover returns to the target range, achieving precise adjustment of the thrust range.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. For the linear motor module with adjustable thrust range and the thrust range adjustment method of the present invention, by rotating the air inlet pipe, the air inlet pipe can change the rotation direction of the hollow box. When the hollow box rotates forward, the hollow box can drive the position of the sliding contact on the sliding rheostat through the driving plate, thereby changing the resistance value in the power supply circuit of the electromagnet of the sliding rheostat, and further changing the magnetic force of the electromagnet. The magnetic force of the electromagnet affects the position of the mover, so that the movement range of the mover can be effectively adjusted, and thus the thrust range of the mover is changed.

[0022] 2. For the linear motor module with adjustable thrust range and the thrust range adjustment method of the present invention, by making the hollow box rotate forward, some electromagnets can also be moved on the second magnetic rail. In this way, a row of electromagnets on the second magnetic rail will not be on the same horizontal plane. Therefore, during the movement of the mover, since the gap between some electromagnets and the permanent magnet changes, the power of the mover will also change, thus changing the thrust of the mover and further adjusting the thrust range of the mover.

[0023] 3. For the linear motor module with adjustable thrust range and the thrust range adjustment method of the present invention, by making the hollow box rotate forward, further adjustment can be performed on the basis of the above changes in the magnetic force of the electromagnet and the position of some electromagnets, so that the distance between the electromagnet and the permanent magnet can be further changed, thereby further changing the thrust of the mover. Brief Description of the Drawings

[0024] Figure 1 is the overall structural schematic diagram of the present invention;

[0025] Figure 2 is the connection schematic diagram of the threaded block and the second magnetic rail of the present invention;

[0026] Figure 3It is a schematic diagram of the internal structure of the mounting cover of the present invention;

[0027] Figure 4 It is a schematic diagram of the connection between the drive disk and the hollow box of the present invention;

[0028] Figure 5 yes Figure 3 Enlarged view of point A in the middle;

[0029] Figure 6 It is a schematic diagram of the connection between the first mounting plate and the second mounting plate of the present invention;

[0030] Figure 7 is a schematic diagram of the internal structure of the second magnetic track of the present invention;

[0031] Figure 8 yes Figure 7 Enlarged view of point B in the middle;

[0032] Figure 9 It is a schematic diagram of the internal structure of the delivery pipe of the present invention;

[0033] Figure 10 is a schematic diagram of the internal structure of the first fixing box of the present invention;

[0034] Figure 11 It is a flow chart of the thrust range adjustment method of the present invention.

[0035] In the figure: 1, first magnetic track; 2, base; 3, permanent magnet; 4, electromagnet; 5, mover; 601, mounting cover; 602, second magnetic track; 603, thread block; 604, reciprocating screw rod; 605, pulley; 606, drive belt; 701, air intake pipe; 702, thread plate; 703, auxiliary plate; 705, latching teeth; 706, drive frame; 707, limit frame; 708, elbow; 709, first gear; 710, hollow box; 711, drive ring; 801, conveying pipe; 802, drive rod; 803, first mounting plate; 804, rotating frame ;805, first driving wheel;806, second mounting plate;807, second driving wheel;808, driving plate;809, first paddle plate;810, second paddle plate;811, slider;812, tilting block;813, first pressure plate;814, extrusion rod;815, first spring;816, second spring;901, first fixed box;902, sliding rheostat;903, third spring;904, second fixed box;905, piston;906, second pressure plate;907, telescopic tube;908, push plate;909, slide rod;910, fourth spring. DETAILED DESCRIPTION

[0036] Reference will now be made to exemplary embodiments to discuss the subject matter described herein. It should be understood that the discussion of these embodiments is only for enabling those skilled in the art to better understand and thus implement the subject matter described herein, and changes can be made to the functions and arrangements of the elements discussed without departing from the scope of protection of the content of this specification. Each example may omit, substitute, or add various processes or components as needed. In addition, the features described in some examples can also be combined in other examples.

[0037] As Figures 1 to 10 shown, the linear motor module with adjustable thrust range according to an embodiment of the present invention includes a base 2 provided with a chute, and a first adjustment mechanism is arranged inside the chute; a first magnetic track 1 is fixedly installed on the base 2, and a row of permanent magnets 3 are fixedly installed on the first magnetic track 1; a second magnetic track 602 is fixedly installed on the first adjustment mechanism, and a row of electromagnets 4 are arranged on the second magnetic track 602; a mover 5 is located between the electromagnets 4 and the permanent magnets 3 and moves between the electromagnets 4 and the permanent magnets 3 after being energized; a mounting cover 601 is fixedly installed on the side of the base 2, and a through hole is provided on its side; a commutation mechanism is fixedly installed inside the mounting cover 601 for controlling the position of the mover 5 between the first magnetic track 1 and the second magnetic track 602;

[0038] A pneumatic mechanism is fixedly installed inside the mounting cover 601 for adjusting the positions of some of the electromagnets 4 in a row of electromagnets 4.

[0039] Specifically, first, the electromagnets 4 that need to be energized are energized to make the electromagnets 4 have magnetic force and form a stator in cooperation with the permanent magnets 3. Subsequently, the mover 5 that needs to be energized is energized. After the mover 5 is energized, the coil windings inside it generate a magnetic field, which interacts with the magnetic field of the stator, and an electromagnetic thrust is generated according to the Lorentz force law; under the action of the electromagnetic thrust, the mover 5 moves linearly along the axis of the stator. And during the process of energizing the mover 5, the pneumatic mechanism can also be inflated first to change the resistance in the energizing circuit of the electromagnets 4 by using pneumatic force. When the resistance is larger, with the voltage unchanged, the current is smaller, so the magnetic force of the electromagnets 4 will become smaller. When the magnetic force of the electromagnets 4 is less than that of the permanent magnets 3, the mover 5 will be affected by the permanent magnets 3 and move left and right in the first magnetic track 1 and the second magnetic track 602 to change the position of the mover 5. In this way, the position range of the thrust generated by the movement of the mover 5 will also change. And when the pneumatic mechanism is ventilated, it can also change the positions of a row of electromagnets 4 or the position of a single electromagnet 4. In this way, the gap between the electromagnets 4 and the permanent magnets 3 changes. When the distance is appropriately reduced, the magnetic field distribution is more uniform, the magnetic flux density is higher, the interaction between the mover 5 coil and the magnetic field is the strongest, the thrust is the largest and stable. When the distance is too large, the magnetic field strength weakens, the magnetic flux density decreases, resulting in the weakening of the interaction between the mover 5 coil and the magnetic field, and the thrust decreases. In this way, the range of the thrust magnitude of the mover 5 can also be adjusted.

[0040] Please refer to Figure 9 The current conversion mechanism includes a first fixed box 901 fixedly connected to the mounting cover 601; a sliding rheostat 902 is fixedly installed inside the first fixed box 901 and connected to the electromagnet 4 and the power supply through a wire; a push plate 908 is located below the sliding rheostat 902 and is fixedly connected to the sliding rheostat 902; a sliding rod 909 is slidably installed on the push plate 908 and is fixedly connected to the first mounting box; a fourth spring 910 is sleeved on the sliding rod 909 and connects the first mounting box to the push plate 908; one end of the telescopic tube 907 is fixedly connected to the push plate 908, and the other end A propulsion assembly is fixedly installed and driven by a pneumatic mechanism to control the resistance of the sliding rheostat 902; the propulsion assembly includes a second fixed box 904 fixedly connected to the telescopic tube 907; the second pressure plate 906 runs through the second fixed box 904 and is slidably connected to the second fixed box 904; the piston 905 is slidably installed inside the second fixed box 904 and is fixedly connected to the second pressure plate 906; the fourth spring 910 is located between the second pressure plate 906 and the second fixed box 904, and connects the second pressure plate 906 to the second fixed box 904.

[0041] Since the space above the piston 905 and between the second fixed box 904 is filled with water, when the pneumatic mechanism is running, the pneumatic mechanism will drive the second pressure plate 906 to move upward. The upward movement of the second pressure plate 906 will compress the water source, causing the water source to impact the push plate 908. The push plate 908 will move along the slide bar 909. The moving push plate 908 will cause the sliding contact on the sliding rheostat 902 to move on the resistor body. By changing the position of the sliding contact, the resistance value in the circuit can be changed, thereby adjusting the current in the circuit. In this way, the magnetic force of the electromagnet 4 will change, and when it is matched with the permanent magnet 3, the position of the mover 5 will be changed, and the thrust range will be changed. When the pneumatic mechanism does not push the second pressure plate 906, the push plate 908 will also return to its original position under the action of the third spring 903.

[0042] Please refer to Figure 6 The pneumatic mechanism includes a driving rod 802, on the surface of which a first paddle plate 809 and a second paddle plate 810 are fixedly mounted; a first mounting plate 803 is fixedly mounted on the first fixed box 901; a rotating frame 804 is rotatably mounted on the first mounting plate 803; a first driving wheel 805 is fixedly mounted on the rotating frame 804, and a tooth groove is opened through the center thereof, which matches the first paddle plate 809.

[0043] After ventilation, the pneumatic mechanism will drive the driving rod 802 to rotate. When the driving rod 802 rotates in the opposite direction, the first driving wheel 805 will be rotated with the help of the first paddle plate 809. The rotation of the first driving wheel 805 will cause the operation of the first adjusting mechanism. The operation of the first adjusting mechanism will cause the second magnetic rail 602 to move, so that the electromagnet 4 installed on the second magnetic rail 602 will also operate, thereby changing the distance between the electromagnet 4 and the permanent magnet 3. The change in the distance will change the thrust of the mover 5, and thus the thrust range of the power will change again.

[0044] Please refer to Figures 2 to 4 The first adjustment mechanism includes a reciprocating screw 604, which is rotatably connected to the base 2; a pulley 605 is fixedly installed on the reciprocating screw 604 and is connected to the first driving wheel 805 through a driving belt 606; a threaded block 603 is slidably arranged on the base 2 and is threadedly connected to the reciprocating screw 604, and the threaded block 603 is fixedly connected to the second magnetic rail 602; when the pneumatic mechanism is ventilated to rotate the first driving wheel 805, the first driving wheel 805 will rotate the reciprocating screw 604 through the driving belt 606 and the pulley 605, and the reciprocating screw 604 will cause the threaded block 603 to reciprocate, so that the second magnetic rail 602 equipped with the electromagnet 4 will drive the electromagnet 4 to approach or move away from the permanent magnet 3, change the gap between the two rows of magnets, and the change in the gap will change the thrust of the mover 5, so that the thrust range of the mover 5 will also change, which is convenient for adjustment.

[0045] Please refer to Figure 6 The pneumatic mechanism also includes a second driving wheel 807, and a tooth groove is opened in the middle of the second driving wheel 807, which matches the second paddle piece 810; a rotating frame 804 is also fixedly installed on the second driving wheel 807, and a first mounting plate 803 is rotatably connected to the rotating frame 804, and the first mounting plate 803 is fixedly connected to the first fixed box 901; a driving plate 808 is fixedly installed on the second driving wheel 807, and is used to drive the second pressure plate 906 to change the resistance of the sliding rheostat 902.

[0046] Please refer to Figures 7 to 9The pneumatic mechanism also includes a slider 811 slidably connected to the second magnetic rail 602, and the slider 811 is connected to the second magnetic rail 602 through a first spring 815, part of the electromagnet 4 is fixedly connected to the slider 811, and part of the electromagnet 4 is fixedly connected to the second magnetic rail 602; the delivery tube 801 is fixedly installed inside the second magnetic rail 602; the extrusion rod 814 is slidably installed inside the delivery tube 801; the second spring 816 is located between the two extrusion rods 814 and is fixedly connected to the extrusion rod 814, and the middle part of the second spring 816 is fixedly connected to the delivery tube 801; the tilting block 812 matches the slider 811 and is fixedly connected to the extrusion rod 814; the first pressing plate 813 is slidably installed on the delivery tube 801, and drives the electromagnet 4 to move when the driving plate 808 is squeezed.

[0047] After ventilation, the pneumatic mechanism will drive the driving rod 802 to rotate. When the driving rod 802 rotates in the forward direction, the driving rod 802 will rotate the second driving wheel 807 through the second paddle plate, and the second driving wheel 807 will rotate the driving plate 808. The rotation of the driving plate 808 can, on the one hand, squeeze the first pressing plate 813, so that the first pressing plate 813 squeezes the water source in the delivery pipe 801, and the inclined block 812 squeezes the slider 811, so that part of the electromagnet 4 moves its position, so that the distance between part of the electromagnet 4 and the permanent magnet 3 becomes larger or smaller, so that the movement track of the mover 5 is not smooth, so that the moving mover 5 will change continuously during the movement process, and the thrust generated by it will also change continuously. On the other hand, it can squeeze the second pressing plate 906, so that the second pressing plate 906 changes the resistance of the sliding rheostat 902, thereby changing the magnetic force of the electromagnet 4, so as to achieve the effect of changing the position of the mover 5.

[0048] Please refer to Figure 4 , Figure 6 The pneumatic mechanism also includes a hollow box 710 fixedly connected to the driving rod 802, and a slot is also opened on the hollow box 710; four curved pipes 708 are rotatably mounted on the hollow box 710; the air inlet pipe 701 passes through the mounting cover 601 and is rotatably connected to the mounting cover 601 and the hollow box 710; the second mounting plate 806 is rotatably mounted on the driving rod 802 and fixedly connected to the first fixed box 901.

[0049] First, connect the externally fixed gas supply device to the intake pipe 701, and use the gas supply device to supply gas to the intake pipe 701. The gas entering the intake pipe 701 will enter the hollow box 710 and spray out from the elbow pipe 708. Due to the action of the elbow pipe 708, the hollow box 710 will rotate by means of the reaction force of the gas, so that the hollow box 710 can drive the drive rod 802 to complete the movement of the above components; the pneumatic mechanism also includes a first gear 709 fixedly installed on the elbow pipe 708; two drive rings 711 are respectively located on the left and right sides of the hollow box 710 and are connected by a plurality of drive brackets 706; a plurality of teeth 705 are located inside the drive bracket 706 and are fixedly connected to the drive bracket 706, and are used to drive the first gear 709 to change the gas injection direction of the elbow pipe 708; the threaded plate 702 is threadedly connected to the intake pipe 701; the limit bracket 707 is fixedly installed on the threaded plate 702, and it is slidably connected to the installation cover 601 through the auxiliary plate 703 fixedly installed on the top.

[0050] By rotating the hollow box 710, the hollow box 710 will drive the threaded plate 702 to move. The movement of the threaded plate 702 will cause the drive ring 711 to move through the limit bracket 707. The drive ring 711 drives the drive bracket 706 and the teeth 705 to move. The teeth 705 cause the first gear 709 to rotate, and the first gear 709 causes the elbow pipe 708 to rotate. In this way, the elbow pipe 708 will change the injection angle. When the elbow pipe 708 rotates 180 degrees, under the action of the gas, the elbow pipe 708 will drive the hollow box 710 to rotate in the reverse direction, so that the drive rod 802 can also rotate in the reverse direction; in summary, by rotating the hollow pipe, it is possible to control whether the drive rod 802 rotates forward or backward. When the drive rod 802 rotates in the reverse direction, the drive rod 802 can change the magnetic force of the electromagnet 4 or the position of some of the electromagnets 4. In this way, it can be used in combination with the forward rotation of the drive rod 802 to change the position of the entire row of electromagnets 4, so that the position of the electromagnet 4 can change more diversely. The larger the change range of the electromagnet 4, the larger the change range of its action on the mover 5 in combination with the permanent magnet 3. Therefore, the change range of the thrust generated by the mover 5 will also be larger, and the range of this thrust can change continuously or can be adjusted to be fixed in a certain state.

[0051] Working principle: In the linear motor module, the external air supply device is first connected to the air inlet pipe 701, and the gas enters the hollow box 710 fixed to the driving rod 802 and is ejected from the bent pipe 708. With the help of the reaction force, the hollow box 710 drives the driving rod 802 to rotate; before that, rotating the air inlet pipe 701 can also drive the threaded plate 702 threadedly connected to the air inlet pipe 701 to move, and the threaded plate 702 moves the driving ring 711 through the limiting frame 707, and the driving ring 711 drives the driving frame 706 and the clamping teeth 705 in the frame to move, and the clamping teeth 705 drive the first gear 709 on the bent pipe 708 to rotate, so that the bent pipe 708 changes the injection angle. When the elbow 708 rotates 180 degrees, the hollow box 710 is driven to rotate in the opposite direction under the action of the gas, thereby realizing the control of the forward and reverse rotation of the driving rod 802. When the driving rod 802 rotates in the opposite direction, the first paddle plate 809 on its surface drives the first driving wheel 805 to rotate. The first driving wheel 805 drives the pulley 605 to rotate through the driving belt 606. The pulley 605 rotates the reciprocating screw rod 604. The threaded block 603 threadedly connected to the reciprocating screw rod 604 reciprocates on the base 2. Since the threaded block 603 is fixed to the second magnetic track 602, it drives the second magnetic track 602. The electromagnet 4 on the first magnetic track 1 is close to or away from the permanent magnet 3 on the first magnetic track 1, changing the distance between the two, thereby changing the thrust and thrust range of the mover 5; when the driving rod 802 rotates forward, the second paddle plate causes the second driving wheel 807 to rotate, and the second driving wheel 807 drives the driving plate 808 to rotate. On the one hand, the driving plate 808 squeezes the first pressing plate 813, and the first pressing plate 813 squeezes the water source in the delivery pipe 801. The water source pushes the inclined block 812 on the squeezing rod 814 to squeeze the slider 811 slidably connected to the second magnetic track 602, so that part of the electromagnet 4 moves, and the distance between part of the electromagnet 4 and the permanent magnet 3 is changed, so that The motion track of the mover 5 changes and the thrust changes continuously; on the other hand, the driving plate 808 squeezes the second pressure plate 906, and the second pressure plate 906 compresses the water source above the piston 905 in the second fixed box 904. The water source impacts the push plate 908, and the push plate 908 moves along the slide rod 909, so that the sliding contact of the sliding rheostat 902 moves, and the resistance of the electromagnet 4 power circuit is changed, and the current is adjusted to change the magnetic force of the electromagnet 4, and the position and thrust range of the mover 5 are changed in combination with the permanent magnet 3; by the forward and reverse rotation of the driving rod 802, the position of the electromagnet 4 is diversified, the thrust change range of the mover 5 is increased, and the thrust state can be adjusted.

[0052] Please refer to Figure 11 A method for adjusting the thrust range of a linear motor module with adjustable thrust range comprises the following steps:

[0053] Step 1: Setting a target thrust range, including a minimum thrust value and a maximum thrust value, and receiving target parameters input by a user through a control unit;

[0054] Step 2: According to the target thrust range, adjust the magnitude of the supply current, and use the sliding rheostat 902 in the current conversion mechanism to change the circuit resistance, thereby adjusting the magnetic force of the electromagnet 4, so that the electromagnet 4 and the permanent magnet 3 interact to form a stator, generating an initial thrust;

[0055] Step 3: Adjust the position of the electromagnet 4 through the pneumatic mechanism. The pneumatic mechanism drives the first adjustment mechanism to move the second magnetic rail 602, changing the distance between the electromagnet 4 and the permanent magnet 3, thereby changing the magnetic field distribution and magnetic flux density, and adjusting the thrust range of the mover 5;

[0056] Step 4: Monitor the actual thrust of the mover 5 in real time, and feedback the monitoring data to the control unit through the sensors installed on the module for comparison with the target thrust range;

[0057] Step 5: Perform feedback adjustment according to the feedback result. If the actual thrust exceeds the target range, the control unit controls the current conversion mechanism and the pneumatic mechanism to adjust the current and the position of the electromagnet 4, so that the thrust of the mover 5 returns to the target range, realizing precise adjustment of the thrust range.

[0058] The above describes the embodiments of the present invention. However, these embodiments are not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative rather than restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this embodiment.

Claims

1. A linear motor module with adjustable thrust range, comprising a slide groove base (2) with a first adjustment mechanism arranged inside the slide groove, characterized in that: A first magnetic track (1) is fixedly mounted on the base (2), and a row of permanent magnets (3) is fixedly mounted on the first magnetic track (1); A second magnetic track (602) is fixedly mounted on the first adjustment mechanism, and a row of electromagnets (4) is provided on the second magnetic track (602); A mover (5) is located between the electromagnet (4) and the permanent magnet (3) and moves between the electromagnet (4) and the permanent magnet (3) when energized; A mounting cover (601) fixedly mounted on a side surface of the base (2), the side surface of the mounting cover having a through hole; A current conversion mechanism, fixedly mounted inside the mounting cover (601), and used to control the position of the mover (5) between the first magnetic track (1) and the second magnetic track (602); A pneumatic mechanism, fixedly mounted inside the mounting cover (601), for adjusting the position of some of the electromagnets (4) in a row of the electromagnets (4); The first adjustment mechanism comprises a reciprocating screw rod (604), and the reciprocating screw rod (604) is rotatably connected to the base (2); A pulley (605) fixedly mounted on the reciprocating screw rod (604); The threaded block (603) is slidably disposed on the base (2) and is threadedly connected to the reciprocating screw rod (604), and the threaded block (603) is fixedly connected to the second magnetic rail (602).

2. The linear motor module with adjustable thrust range according to claim 1, characterized in that: The current conversion mechanism comprises a first fixing box (901) fixedly connected to the mounting cover (601); A sliding rheostat (902) is fixedly mounted inside the first fixing box (901) and connected to the electromagnet (4) and a power source via a wire; A push plate (908), located below the sliding rheostat (902) and fixedly connected to the sliding rheostat (902); A sliding rod (909) is slidably mounted on the push plate (908) and fixedly connected to the first mounting box; A fourth spring (910) is sleeved on the slide bar (909) and connects the first installation box to the push plate (908); The telescopic tube (907) has one end fixedly connected to the push plate (908) and the other end fixedly mounted with a propulsion assembly, and the propulsion assembly is driven by a pneumatic mechanism to control the resistance of the sliding rheostat (902).

3. The linear motor module with adjustable thrust range according to claim 2, characterized in that: The propulsion assembly comprises a second fixing box (904) fixedly connected to the telescopic tube (907); A second pressing plate (906), which passes through the interior of the second fixing box (904) and is slidably connected to the second fixing box (904); A piston (905) is slidably mounted inside the second fixing box (904) and fixedly connected to the second pressing plate (906); The fourth spring (910) is located between the second pressing plate (906) and the second fixing box (904), and connects the second pressing plate (906) and the second fixing box (904).

4. The linear motor module with adjustable thrust range according to claim 2, characterized in that: The pneumatic mechanism comprises a driving rod (802), on the surface of which a first shifting piece (809) and a second shifting piece (810) are fixedly mounted; A first mounting plate (803) fixedly mounted on the first fixing box (901); A rotating frame (804) rotatably mounted on the first mounting plate (803); The first driving wheel (805) is fixedly mounted on the rotating frame (804) and connected to the pulley (605) via a driving belt (606). A tooth groove is provided through the center of the first driving wheel, and the tooth groove matches the first shifting piece (809).

5. The linear motor module with adjustable thrust range according to claim 3, characterized in that: The pneumatic mechanism further comprises a second driving wheel (807), and a tooth groove is formed through the middle of the second driving wheel (807), and the tooth groove matches the second paddle plate (810); a rotating frame (804) is also fixedly mounted on the second driving wheel (807), and a first mounting plate (803) is rotatably connected to the rotating frame (804), and the first mounting plate (803) is fixedly connected to the first fixed box (901); The driving plate (808) is fixedly mounted on the second driving wheel (807) and is used to drive the second pressing plate (906) to change the resistance of the sliding rheostat (902).

6. The linear motor module with adjustable thrust range according to claim 5, characterized in that: The pneumatic mechanism further comprises a slider (811) slidably connected to the second magnetic rail (602), and the slider (811) is connected to the second magnetic rail (602) via a first spring (815); Part of the electromagnet (4) is fixedly connected to the slider (811), and part of the electromagnet (4) is fixedly connected to the second magnetic rail (602); A delivery pipe (801) fixedly mounted inside the second magnetic track (602); An extrusion rod (814) is slidably mounted inside the delivery tube (801); A second spring (816) is located between the two extrusion rods (814) and is fixedly connected to the extrusion rods (814), wherein the middle portion of the second spring (816) is fixedly connected to the delivery tube (801); A tilting block (812) matched with the sliding block (811) and fixedly connected to the extrusion rod (814); The first pressing plate (813) is slidably mounted on the conveying tube (801) and drives the electromagnet (4) to move when the driving plate (808) is pressed.

7. The linear motor module with adjustable thrust range according to claim 4, characterized in that: The pneumatic mechanism further comprises a hollow box (710) fixedly connected to the driving rod (802), and a slot is also provided on the hollow box (710); Four curved pipes (708) rotatably mounted on the hollow box (710); An air intake pipe (701) passes through the mounting cover (601) and is rotatably connected to the mounting cover (601) and the hollow box (710); The second mounting plate (806) is rotatably mounted on the driving rod (802) and is fixedly connected to the first fixing box (901).

8. The linear motor module with adjustable thrust range according to claim 7, characterized in that: The pneumatic mechanism further comprises a first gear (709) fixedly mounted on the curved pipe (708); Two driving rings (711), respectively located on the left and right sides of the hollow box (710) and connected via a plurality of driving frames (706); A plurality of latch teeth (705) are located inside the driving frame (706) and are fixedly connected to the driving frame (706), and are used to drive the first gear (709) to cause the curved pipe (708) to change the gas injection direction; A threaded plate (702) threadably connected to the air inlet pipe (701); The limiting frame (707) is fixedly mounted on the threaded plate (702) and is slidably connected to the mounting cover (601) by being fixedly mounted on the auxiliary plate (703) at the top.

9. The method for adjusting the thrust range of a linear motor module with adjustable thrust range according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Setting a target thrust range, including a minimum thrust value and a maximum thrust value, and receiving target parameters input by a user through a control unit; Step 2: According to the target thrust range, the power supply current is adjusted, and the circuit resistance is changed by using the sliding rheostat in the current conversion mechanism, thereby adjusting the magnetic force of the electromagnet (4), so that the electromagnet (4) and the permanent magnet (3) interact to form a stator, thereby generating an initial thrust; Step 3: The position of the electromagnet (4) is adjusted by a pneumatic mechanism, and the pneumatic mechanism drives the first adjustment mechanism to move the second magnetic track (602), thereby changing the distance between the electromagnet (4) and the permanent magnet (3), thereby changing the magnetic field distribution and magnetic flux density, and adjusting the thrust range of the mover; Step 4: Monitor the actual thrust of the mover in real time, feed the monitoring data back to the control unit through the sensor installed on the module, and compare it with the target thrust range; Step 5: Feedback adjustment is performed based on the feedback result. If the actual thrust exceeds the target range, the control unit controls the converter mechanism and the pneumatic mechanism to adjust the current and the position of the electromagnet (4) so ​​that the thrust of the mover (5) returns to the target range, thereby achieving precise adjustment of the thrust range.

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