A linear motor conveying assembly and control method thereof

Abstract

The present invention relates to the field of intelligent transportation technology, and discloses a linear motor conveying assembly and a control method thereof, comprising a linear motor base, the moving end of the linear motor base moves horizontally along a first direction, the moving end of the linear motor base is provided with a bearing mechanism for supporting a workpiece to be conveyed; the bearing mechanism is provided with a clamp and a displacement monitoring mechanism, the clamp is used to adsorb and fix the workpiece to be conveyed, and the displacement monitoring mechanism is used to detect whether the workpiece to be conveyed placed on the bearing mechanism is displaced; and also includes a control assembly arranged on the linear motor base, the control assembly is used to control the clamp to start adsorbing and fixing the workpiece to be conveyed, and adjust the clamping force with the moving speed of the moving end of the linear motor base. The linear motor conveying assembly and the control method thereof effectively improve the accuracy of the position of the workpiece to be conveyed in high-precision transportation after being clamped by the moving end, and improve the efficiency of high-precision transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and in particular to a linear motor conveying component and a control method thereof. Background Art

[0002] In the fields of logistics transmission, automated production lines and precision electronic device handling (such as the transportation of permanent magnets (NdFeB magnetic steel sheets)), the demand for ultra-long stroke and high-precision linear modules is growing. The existing traditional transmission mechanisms such as gear racks and synchronous belts are prone to mechanical wear, vibration errors and other problems due to the existence of intermediate transmission links, and it is difficult to meet the positioning requirements of high-precision scenarios. The linear motor conveying assembly eliminates the intermediate transmission error by virtue of the characteristics of direct electromagnetic drive. Its speed, accuracy and dynamic response capabilities are significantly better than traditional solutions, making it the core equipment for the transportation of precision workpieces. However, the surface of such workpieces, namely permanent magnets (NdFeB magnetic steel sheets), is smooth and easily affected by inertia, which poses a higher challenge to the stability and efficiency of the transportation process.

[0003] At present, when transporting workpieces, that is, permanent magnets (NdFeB magnetic steel sheets) through linear motor conveying assemblies, the workpieces to be transported need to be manually fixed on the mobile end fixture and then disassembled again after being transported to the destination. Manual fixation affects the efficiency of high-precision transportation, and it is impossible to cooperate with the robot to realize further automated production and transportation, resulting in low efficiency of high-precision transportation. In addition, when fixed clamping, if the clamping force is not set and adjusted to an adaptive degree, the workpiece to be transported is prone to slip or displacement, and cannot be clamped point-to-point, which in turn affects the accuracy of high-precision transportation. Summary of the invention

[0004] The purpose of the present invention is to provide a linear motor conveying assembly and a control method thereof, which can effectively improve the position accuracy of the workpiece to be conveyed after being clamped at the moving end during high-precision transportation, and effectively improve the efficiency of high-precision transportation.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] A linear motor conveying assembly is designed, comprising a linear motor base, wherein a moving end of the linear motor base moves horizontally along a first direction, and a bearing mechanism for supporting a workpiece to be conveyed is provided at the moving end of the linear motor base;

[0007] The carrying mechanism is provided with a clamp and a displacement monitoring mechanism, wherein the clamp is used to adsorb and fix the workpiece to be transported, and the displacement monitoring mechanism is used to detect whether the workpiece to be transported placed on the carrying mechanism is displaced;

[0008] It also includes a control component disposed on the linear motor base, the control component is used to control the clamp to start adsorbing and fixing the workpiece to be transported, and adjust the clamping force according to the moving speed of the moving end of the linear motor base;

[0009] The clamp includes an air clamp assembly, the input end of the air clamp assembly is used to adsorb and fix the workpiece to be transported through gas negative pressure, the air clamp assembly is at least partially connected to the moving end of the linear motor base, and is used to dissipate heat from the moving end of the linear motor base, and the air outlet end of the air clamp assembly is connected to a negative pressure air source, and the negative pressure air source is electrically connected to the control assembly.

[0010] Optionally, the supporting mechanism includes an adjusting member and a supporting member, the fixed end of the adjusting member is detachably connected to the movable end of the linear motor base, the supporting member is arranged at the adjusting end of the adjusting member, the adjusting member is used to adjust the inclination angle of the supporting member along the axis of the first direction, and the clamp is arranged on the supporting member.

[0011] Optionally, the adjusting member includes a base plate, a first ball block, a first ball sleeve, and a telescopic rod. The base plate is detachably connected to the movable end of the linear motor base, one end of the first ball block is fixedly connected to the surface of the supporting member facing the base plate, the fixed end of the telescopic rod is arranged on the surface of the base plate corresponding to the first ball block, the first ball sleeve is fixedly connected to the telescopic end of the telescopic rod, and the first ball sleeve is arranged on the other end of the first ball block through an opened groove, and the diameter of the groove opened by the first ball sleeve is larger than the rod portion of the first ball block.

[0012] Optionally, the adjusting member also includes a second ball block and a second ball sleeve, one end of the second ball block is fixedly connected to the midpoint of the supporting member, the second ball sleeve is fixedly connected to the surface of the base plate, and the second ball sleeve is arranged on the other end of the second ball block through the opened groove.

[0013] Optionally, the bearing member includes a bearing plate, the clamp is arranged on the bearing plate, the bearing plate is arranged at an adjusting end of the adjusting member, and the adjusting member is used to adjust the inclination angle of the bearing plate along the axis of the first direction.

[0014] Optionally, the clamp also includes a magnetic clamp, which is arranged in the supporting plate. The magnetic clamp consists of an electromagnetic coil and an iron core. When the electromagnetic coil is energized, a magnetic field is generated to clamp the workpiece to be transported. The iron core is combined with the electromagnetic coil to concentrate and enhance the magnetic field to provide a suitable clamping force. The input end of the magnetic clamp is electrically connected to the output end of the control component.

[0015] Optionally, the air clamp assembly includes a suction head and an air intake component, the surface of the supporting plate is provided with an adsorption hole, the suction head is arranged in the adsorption hole, the output end of the suction head is connected to the air intake component, the output end of the air intake component is connected to a negative pressure air source, and the negative pressure air source is electrically connected to the control component.

[0016] Optionally, the air intake component includes an air intake pipe, a main pipe, and a blocking rod, one end of the air intake pipe is connected to the suction head, the other end of the air intake pipe is fixedly connected to the surface of the main pipe and is interconnected with the main pipe, the fixed end of the blocking rod is fixedly connected in the main pipe, the movable end of the blocking rod is arranged in a frustum and at least partially fits against the pipe wall of the main pipe, the main pipe is at least partially connected to the movable end of the linear motor base, and the air outlet end is connected to the negative pressure air source.

[0017] Optionally, the linear motor base includes a guide rail and a slider, the slider is slidably connected to the guide rail, a storage cavity is opened inside the slider, the storage cavity is used to store the power component, the fixed end of the adjustment member is detachably connected to the slider, the main pipe is at least partially fixedly connected to the slider, and the connecting part of the main pipe and the slider is communicated with the storage cavity by opening a plurality of ventilation holes.

[0018] A control method for a linear motor conveying assembly, using the linear motor conveying assembly as described above, comprises:

[0019] S1, placing the workpiece to be transported at the initial position of the moving end of the linear motor conveying assembly, and pre-clamping the workpiece to be transported placed at the moving end of the linear motor conveying assembly by a clamp preset at the moving end of the linear motor conveying assembly;

[0020] S2, the moving end of the linear motor conveying assembly carries the workpiece to be conveyed from the initial position to the final position, and the control assembly preset at the moving end of the linear motor conveying assembly obtains the movement information data when moving from the initial position to the final position;

[0021] S3, the movement information data obtained by the preset control component and the preset clamping force ratio are used to calculate the required clamping force, and the clamping force of the fixture is adjusted;

[0022] S4. Calculate the required tilt angle by comparing the movement information data with the preset tilt angle level, and adjust the tilt angle of the support member to offset the inertia when the support member stops moving.

[0023] The present invention provides a linear motor conveying assembly and a control method thereof, which have the following beneficial effects:

[0024] The linear motor conveying component and its control method support the workpiece to be conveyed by a bearing mechanism, and fix the workpiece to be conveyed by a clamp in combination with the bearing mechanism. The moving end of the linear motor base can drive the bearing mechanism and the workpiece to be conveyed to move. Through the setting of the control component, the clamping force can be adjusted according to the moving speed of the moving end of the linear motor base to avoid energy waste caused by excessive clamping. When it is in the initial position, the clamping force of the clamp is relatively weak, and the workpiece to be conveyed is pre-fixed. As the moving end of the linear motor base accelerates, the clamping force of the clamp is relatively increased. Through the setting of the displacement monitoring mechanism, the control component is used to control the workpiece to be conveyed. It provides precise and fixed clamping force. Specifically, when the displacement monitoring mechanism detects displacement, it feeds back to the control component, and can adjust the clamping force and optimize it, thereby optimizing the clamping of subsequent workpieces to be transported, and avoiding displacement or falling of the workpieces to be transported, which affects the clamping of the workpieces to be transported at the terminal position. It is suitable for large-scale continuous production and transportation. When it is at the terminal position, the clamping force of the clamp is relatively weak, and the workpieces to be transported can be removed from the supporting mechanism. Therefore, the steps of fixing and disassembling the workpieces to be transported can be reduced, while also avoiding direct placement that affects the accuracy of high-precision transportation, thereby effectively improving the efficiency of high-precision batch transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the exploded structure of the first embodiment of the linear motor conveying assembly in the present invention;

[0026] Figure 2 It is a three-dimensional structural schematic diagram of the first embodiment of the linear motor conveying assembly in the present invention;

[0027] Figure 3 It is a schematic diagram of the side structure of the adjusting member in the present invention;

[0028] Figure 4 It is a schematic diagram of the side change structure of the adjusting member in the present invention;

[0029] Figure 5 It is a schematic diagram of the exploded structure of the second embodiment of the linear motor conveying assembly in the present invention;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the second embodiment of the linear motor conveying assembly in the present invention;

[0031] Figure 7 It is a schematic diagram of the cross-sectional structure of the air intake component in the present invention.

[0032] In the figure: 10, linear motor base; 101, guide rail; 102, slider; 1021, storage chamber; 20, bearing mechanism; 201, adjustment member; 2011, bottom plate; 2012, first ball block; 2013, first ball sleeve; 2014, telescopic rod; 2015, second ball block; 2016, second ball sleeve; 202, bearing member; 2021, bearing plate; 2022, adsorption hole; 30, clamp; 301, magnetic clamp; 302, suction head; 303, air intake component; 3031, air intake pipe; 3032, main pipe; 3033, blocking rod; 3034, vent. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work based on the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0034] See also Figures 1 to 4 The present invention provides a conveying component, specifically a scenario in which a linear motor is used for linear conveying, and more specifically, an accessory in the production process of a permanent magnet motor, namely, a point-to-point conveying scenario of permanent magnets (NdFeB magnetic steel sheets). Taking the transportation of permanent magnets (NdFeB magnetic steel sheets) as an example, it is used as a preferred scheme in this embodiment.

[0035] Embodiment 1:

[0036] See also Figures 1 to 4 , the present invention provides a technical solution: a linear motor conveying assembly, comprising a linear motor base 10, the moving end of the linear motor base 10 moves horizontally along a first direction, and the moving end of the linear motor base 10 is provided with a bearing mechanism 20 for supporting a workpiece to be conveyed;

[0037] The carrier mechanism 20 is provided with a fixture 30 and a displacement monitoring mechanism, wherein the fixture 30 is used to adsorb and fix the workpiece to be transported, and the displacement monitoring mechanism is used to detect whether the workpiece to be transported placed on the carrier mechanism 20 is displaced;

[0038] It also includes a control component disposed on the linear motor base 10, the control component is used to control the clamp 30 to start adsorbing and fixing the workpiece to be transported, and adjust the clamping force according to the moving speed of the moving end of the linear motor base 10;

[0039] The fixture 30 includes an air clamp component, the input end of the air clamp component is used to adsorb and fix the workpiece to be transported through negative pressure of gas, the air clamp component is at least partially connected to the moving end of the linear motor base 10, and is used to dissipate heat from the moving end of the linear motor base 10, and the air outlet end of the air clamp component is connected to a negative pressure gas source, and the negative pressure gas source is electrically connected to the control component;

[0040] Through the action of the moving end of the linear motor base 10, it can move along the first direction, and is configured with an initial position and an end position. The moving end of the linear motor base 10 reciprocates along the first direction from the initial position and the end position. Through the setting of the bearing mechanism 20, it is used to support the workpiece to be transported. The workpiece to be transported can be a permanent magnet (NdFeB magnetic steel sheet) that requires high precision. Through the action of the clamp 30, it is used to clamp and fix the workpiece to be transported located on the bearing mechanism 20, that is, the permanent magnet (NdFeB magnetic steel sheet), to avoid the permanent magnet (NdFeB magnetic steel sheet) from sliding and causing displacement or falling off during transportation. Since the permanent magnet (NdFeB magnetic steel sheet) is transported, the surface of the bearing mechanism 20 is relatively smooth, and the surface of the permanent magnet (NdFeB magnetic steel sheet) is also relatively smooth, so the friction is small and needs to be fixed by the clamp 30;

[0041] The control component may be composed of a control module, a speed detection module and a driver. The speed detection module may be a speed sensor for detecting the moving speed of the moving end of the linear motor base 10. The speed module transmits the detection signal to the control module. The control module enables the driver to control the clamp 30 to start according to the preset control logic, and adjusts the clamping force of the clamp 30 according to the moving speed to cooperate with the transportation of the permanent magnet (NdFeB magnetic steel sheet).

[0042] For example, when the speed detection module detects that the moving speed of the moving end of the linear motor base 10 is in the first level interval, the driver controls the clamping force of the clamp 30 to be the corresponding second level. As the moving speed increases, when the moving speed reaches the second level interval, the clamping force can be the corresponding third level or fourth level. This level is a preset level and can be derived based on experiments. For example, if the moving speed is 10CM per second, the corresponding clamping force is 2N. At this time, the weight of the permanent magnet (NdFeB magnetic steel sheet) is a known weight. Since it is a mass-produced permanent magnet (NdFeB magnetic steel sheet), there is no need to repeatedly measure and adjust the weight interval of the permanent magnet (NdFeB magnetic steel sheet);

[0043] The displacement monitoring mechanism can be composed of a camera and an image processing module, which is a known technology. The purpose is to detect whether the permanent magnet (NdFeB magnetic steel sheet) placed on the bearing mechanism 20 is displaced during the movement process, and the data is fed back to the control module through real-time detection. When the permanent magnet (NdFeB magnetic steel sheet) is displaced, the displacement of the permanent magnet (NdFeB magnetic steel sheet) can be detected in time, and the control component is fed back in time. Then the control module is optimized according to the obtained data to increase the clamping force of the clamp 30 to a certain extent;

[0044] At the same time, when the displacement of the permanent magnet (NdFeB magnetic steel sheet) located on the supporting mechanism 20 is monitored, the displacement distance can be fed back to the mechanical gripper controller at the end position in time, so as to timely adjust the clamping position of the mechanical gripper at the end position.

[0045] In this embodiment, as a preferred solution, the bearing mechanism 20 includes an adjusting member 201 and a bearing member 202, the fixed end of the adjusting member 201 is detachably connected to the moving end of the linear motor base 10, the bearing member 202 is arranged at the adjusting end of the adjusting member 201, the adjusting member 201 is used to adjust the inclination angle of the bearing member 202 along the axis of the first direction, and the clamp 30 is arranged on the bearing member 202;

[0046] By setting the adjusting member 201, the inclination angle of the bearing member 202 can be adjusted. When the moving end of the linear motor base 10 is about to stop decelerating, the adjusting member 201 adjusts the inclination angle of the bearing member 202, so that the bearing member 202 is tilted along the first direction, and the end of the bearing member 202 close to the initial position is lower, and the end of the bearing member 202 close to the terminal position is tilted, which can play a blocking role, and prevent the permanent magnet (NdFeB magnetic steel sheet) from falling off and sliding out due to the smooth surface of the permanent magnet (NdFeB magnetic steel sheet) and the bearing member 202, and play an auxiliary fixing role. Through a tangential force, the inertia caused by the deceleration or stop of the moving end of the linear motor base 10 is reduced, and the stability of the permanent magnet (NdFeB magnetic steel sheet) fastened to the bearing member 202 is improved;

[0047] Adjust the inclination angle of the bearing member 202 along the moving direction (first direction) so that the gravity component force on the permanent magnet (NdFeB magnet sheet) is opposite to the inertia force. For example, when decelerating, the end of the bearing member 202 close to the end point tilts up to form an inclined plane. At this time, the gravity component force (G·sinθ) along the inclined plane is opposite to the inertia force (ma), which can partially offset the sliding tendency. When calculating the inclination angle, it is calculated according to ma≤μmgcosθ+mgsinθ. The mass of the workpiece is m, the acceleration is a, and the static friction coefficient is μ. When θ increases, the sinθ term increases (offsetting the inertia force), but the cosθ decreases (reducing the friction force). By calculating the θ range, excessive inclination leading to insufficient friction is avoided;

[0048] By real-time monitoring of workpiece displacement through cameras or sensors and dynamically optimizing tilt angles and clamping force parameters, adaptive capabilities can be improved, providing parameters for subsequent transportation, ensuring transportation stability of mass-produced permanent magnets (NdFeB magnets), and improving transportation efficiency.

[0049] In this embodiment, as a preferred solution, the adjusting member 201 includes a base plate 2011, a first ball block 2012, a first ball sleeve 2013, and a telescopic rod 2014. The base plate 2011 is detachably connected to the moving end of the linear motor base 10, one end of the first ball block 2012 is fixedly connected to the surface of the bearing member 202 facing the base plate 2011, the fixed end of the telescopic rod 2014 is arranged on the surface of the base plate 2011 corresponding to the first ball block 2012, the first ball sleeve 2013 is fixedly connected to the telescopic end of the telescopic rod 2014, and the first ball sleeve 2013 is arranged on the other end of the first ball block 2012 through the groove provided, and the diameter of the groove provided in the first ball sleeve 2013 is larger than the rod portion of the first ball block 2012;

[0050] Through the function of the bottom plate 2011, the bottom plate 2011 can support the telescopic rod 2014. Through the function of the telescopic rod 2014, it can be an electric telescopic rod 2014. The extension of the telescopic end can push the first ball sleeve 2013 to rise, and the retraction of the telescopic end can drive the first ball sleeve 2013 to fall. Through the connection between the first ball block 2012 and the first ball sleeve 2013, one end of the first ball block 2012 can rotate inside the first ball sleeve 2013. Through the connection between the first ball block 2012 and the bearing member 202, when the first ball block 2012 at one end of the bearing member 202 rises, the first ball block 2012 at the other end cooperates to fall, and the angle of the bearing member 202 can be adjusted.

[0051] As can be seen from the figure, at least three first ball blocks 2012 and first ball sleeves 2013 are provided, one of which is located at the midpoint of one end of the support member 202, and the other two are located on both sides of the other end of the support member 202. In the figure, four are provided. When the two first ball blocks 2012 located at one end of the support member 202 rise, the two first ball blocks 2012 located at the other end of the support member 202 cooperate to fall, so that the angle of the support member 202 can be adjusted;

[0052] The telescopic rod 2014 is an electric telescopic rod 2014, which is electrically connected to the control module. When the control module detects movement, the telescopic rod 2014 is extended or retracted according to a preset length, causing one end of the carrier 202 to tilt up and the other end to retract;

[0053] Since the notch of the first ball sleeve 2013 is larger than the rod of the first ball block 2012 , it can play an auxiliary compensation role and avoid the load-bearing component 202 being unable to tilt due to poor matching.

[0054] In this embodiment, as a preferred solution, the adjusting member 201 further includes a second ball block 2015 and a second ball sleeve 2016, one end of the second ball block 2015 is fixedly connected to the midpoint of the bearing member 202, the second ball sleeve 2016 is fixedly connected to the surface of the bottom plate 2011, and the second ball sleeve 2016 is sleeved on the other end of the second ball block 2015 through the groove provided;

[0055] The cooperation between the second ball block 2015 and the second ball sleeve 2016 is used to support the key position of the bearing member 202, thereby improving the stability of the bearing member 202 and preventing the bearing member 202 from shaking.

[0056] In this embodiment, as a preferred solution, the supporting member 202 includes a supporting plate 2021, the clamp 30 is arranged on the supporting plate 2021, the supporting plate 2021 is arranged at the adjustment end of the adjusting member 201, and the adjusting member 201 is used to adjust the inclination angle of the supporting plate 2021 along the first direction axis.

[0057] See also Figures 5 to 7 The air clamp assembly includes a suction head 302 and an air intake component 303. A suction hole 2022 is provided on the surface of the carrier plate 2021. The suction head 302 is arranged in the suction hole 2022. The output end of the suction head 302 is connected to the air intake component 303. The output end of the air intake component 303 is connected to a negative pressure air source, and the negative pressure air source is electrically connected to the control assembly.

[0058] The suction head 302 can be set in the suction hole 2022, and the outer surface is sealed and connected to the inner wall of the suction hole 2022. The other end of the suction head 302 is connected to the negative pressure gas source through the air intake component 303, so that negative pressure can be generated in the suction hole 2022, which is used to adsorb and fix the permanent magnet (NdFeB magnetic steel sheet) to be transported placed on the carrier plate 2021. The air intake component 303 is used to adjust the amount of negative pressure gas passing through the suction head 302, and is used to control the size of the air flow passing through the suction head 302, thereby adjusting the adsorption force of the suction head 302;

[0059] The suction end of the suction head 302 can at least partially extend out of the suction hole 2022. The suction head 302 is made of rubber and has a certain elasticity, which can play an auxiliary compensation role to prevent the mechanical clamp used for placing or taking from colliding with the supporting plate 2021. At the same time, the rubber can increase a certain friction force to prevent the supporting plate 2021 and the permanent magnet (NdFeB magnetic steel sheet) from accidentally displacing due to the relatively smooth surfaces of the permanent magnet (NdFeB magnetic steel sheet).

[0060] In this embodiment, as a preferred solution, the air intake component 303 includes an air intake pipe 3031, a main pipe 3032, and a blocking rod 3033. One end of the air intake pipe 3031 is connected to the suction head 302, and the other end of the air intake pipe 3031 is fixedly connected to the surface of the main pipe 3032 and is interconnected with the main pipe 3032. The fixed end of the blocking rod 3033 is fixedly connected in the main pipe 3032. The movable end of the blocking rod 3033 is arranged in a truncated cone and at least partially fits the wall of the main pipe 3032. The main pipe 3032 is at least partially connected to the moving end of the linear motor base 10, and the air outlet end is connected to the negative pressure air source.

[0061] The air inlet pipe 3031 is used to connect the suction head 302 with the main pipe 3032. The air inlet pipe 3031 and the suction head 302 are connected by a hose. The air inlet pipe 3031 and the suction head 302 are connected by a hose. The main pipe 3032 and the negative pressure gas source are connected by a hose. At this time, the negative pressure gas source is a quantitative negative pressure gas source, and the air flow of the negative pressure gas source is fixed. The air flow of the air inlet pipe 3031 passing through the main pipe 3032 is adjusted by extending or retracting the movable end of the blocking rod 3033. The size of the adsorption force of the suction head 302 can be adjusted. The movable end of the blocking rod 3033 is set in a frustum. When blocked, the adsorption force of the suction head 302 can be slowly increased or reduced. Compared with the movable end of the flat head, there is a certain buffer to avoid large fluctuations in the adsorption force. The negative pressure is adjusted by adjusting the flow rate, which is more flexible and convenient than directly adjusting the negative pressure source. The size of the airflow passing through the suction head 302 can be adjusted. Increasing the airflow can increase the negative pressure adsorption force, and reducing the airflow can reduce the negative pressure adsorption force.

[0062] In this embodiment, as a preferred solution, the linear motor base 10 includes a guide rail 101 and a slider 102, the slider 102 is slidably connected to the guide rail 101, a storage cavity 1021 is provided inside the slider 102, the storage cavity 1021 is used to store the power assembly, the fixed end of the adjustment member 201 is detachably connected to the slider 102, the main pipe 3032 is at least partially fixedly connected to the slider 102, and the main pipe 3032 and the slider 102 are connected to the storage cavity 1021 by opening a plurality of vent holes 3034;

[0063] It is connected to the storage chamber 1021 through the main pipe 3032. When the negative pressure gas source is a quantitative gas source, according to Figure 7 As can be seen in the figure, by extending the blocking rod 3033, the multiple air holes 3034 are blocked, and the negative pressure in the air inlet pipe 3031 becomes larger, so that the clamping force of the suction head 302 connected to the air inlet pipe 3031 is larger. When the blocking rod 3033 is retracted, the multiple air holes 3034 are released, and the air holes 3034 also play a role of air intake. The negative pressure in the air inlet pipe 3031 is diverted by the air holes 3034, and the negative pressure becomes smaller. The clamping force of the suction head 302 connected to the air inlet pipe 3031 also becomes smaller. Through the function of the air holes 3034, the power component in the storage chamber 1021 can be assisted to dissipate heat. When clamping is required, the clamping force of the suction head 302 is increased by the blocking rod 3033. When the movement stops and a relatively large clamping force is not needed, the clamping force of the suction head 302 is reduced by the blocking rod 3033, and the air holes 3034 are opened to dissipate heat for the power component, which can improve the utilization rate of the negative pressure air source.

[0064] The negative pressure air source can be set to have an adjustable air flow rate. The negative pressure adsorption force can be controlled by adjusting the air flow size, thereby avoiding continuous high-pressure operation of the negative pressure source and saving energy. By adjusting the number of open vents 3034 through the function of the blocking rod 3033, it is avoided that the temperature of the power component fluctuates greatly due to excessive cooling of the power component, thereby affecting the stability of the power component.

[0065] The negative pressure air source is not shown in the figure. It is a known technology. It can be an air pump or a fan that generates negative pressure through a connecting pipe. The negative pressure air source is connected to the output end of the main pipe to generate negative pressure in the main pipe.

[0066] Embodiment 2:

[0067] The present invention also provides another embodiment, the other structures are the same as the above structure, and there is a second implementation method for the clamp 30, the clamp 30 also includes a magnetic clamp 301, the magnetic clamp 301 is arranged in the carrier plate 2021, the magnetic clamp 301 is composed of an electromagnetic coil and an iron core, the electromagnetic coil generates a magnetic field when energized to clamp the workpiece to be transported, the iron core is combined with the electromagnetic coil to concentrate and enhance the magnetic field to provide a suitable clamping force, and the input end of the magnetic clamp 301 is electrically connected to the output end of the control component;

[0068] The magnetic clamp 301 is used to absorb the permanent magnet (NdFeB magnetic steel sheet) so that the permanent magnet (NdFeB magnetic steel sheet) to be transported is attached to the carrier plate 2021. The magnetic clamp 301 is a well-known technology and is composed of an electromagnetic coil and an iron core. When the electromagnetic coil is energized, a magnetic field is generated to clamp the permanent magnet (NdFeB magnetic steel sheet). During use, when the speed sensor detects movement, a signal is sent to the control module. The control module controls the voltage flowing through the electromagnetic coil through the driver, controls the clamping force of the magnetic clamp 301, maintains the stability of the permanent magnet (NdFeB magnetic steel sheet), and avoids displacement of the permanent magnet (NdFeB magnetic steel sheet);

[0069] By cooperating with the magnetic clamp 301 and the air clamp assembly, the stability of clamping is further improved and position displacement is avoided. At the same time, by the connection setting between the air inlet pipe 3031 and the main pipe 3032 and the storage chamber 1021, the magnetic clamp 301 can also be assisted in heat dissipation to increase the service life of the magnetic clamp 301. By setting the magnetic clamp 301, the type of clamp 30 used can be selected according to the size of the workpiece to be transported. For example, when the size of the workpiece to be transported is smaller than the clamping range of the air clamp assembly, it can be clamped by the magnetic clamp 301. With the real-time adjustment of the adjustment member 201, the stability of clamping can still be maintained to avoid displacement of the workpiece to be transported. At the same time, the applicable scope of clamping can be improved, and the efficiency and applicability of clamping and transportation can be further improved.

[0070] The present invention also provides a control method for a linear motor conveying assembly, using the linear motor conveying assembly as described above, comprising:

[0071] S1, placing the workpiece to be transported at the initial position of the moving end of the linear motor conveying assembly, and pre-clamping the workpiece to be transported placed at the moving end of the linear motor conveying assembly by a clamp preset at the moving end of the linear motor conveying assembly;

[0072] S2, the moving end of the linear motor conveying assembly carries the workpiece to be conveyed from the initial position to the final position, and the control assembly preset at the moving end of the linear motor conveying assembly obtains the movement information data when moving from the initial position to the final position;

[0073] S3, the movement information data (i.e., movement speed and acceleration) obtained by the preset control component and the preset clamping force ratio are used to calculate the required clamping force, and the clamping force of the fixture is adjusted;

[0074] S4, calculating the required tilt angle by comparing the movement information data (i.e., movement speed and acceleration) with the preset tilt angle level, and adjusting the tilt angle of the bearing member to offset the inertia when the bearing member stops moving;

[0075] The stability of the permanent magnet (NdFeB magnetic steel sheet) is ensured by adjusting the inclination angle and the clamping force. The permanent magnet (NdFeB magnetic steel sheet) is the workpiece to be transported. Due to high-precision transportation, the displacement of the permanent magnet (NdFeB magnetic steel sheet) can be effectively avoided.

[0076] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linear motor conveying assembly, characterized in that: It comprises a linear motor base (10), the moving end of the linear motor base (10) moves horizontally along a first direction, and the moving end of the linear motor base (10) is provided with a bearing mechanism (20) for supporting a workpiece to be transported; The bearing mechanism (20) is provided with a clamp (30) and a displacement monitoring mechanism, the clamp (30) being used to adsorb and fix the workpiece to be transported, and the displacement monitoring mechanism being used to detect whether the workpiece to be transported placed on the bearing mechanism (20) is displaced; It also includes a control component arranged on the linear motor base (10), the control component being used to control the clamp (30) to start adsorbing and fixing the workpiece to be transported, and to adjust the clamping force according to the moving speed of the moving end of the linear motor base (10); The clamp (30) comprises an air clamp component, the input end of the air clamp component is used to adsorb and fix the workpiece to be transported through negative gas pressure, the air clamp component is at least partially connected to the moving end of the linear motor base (10) and is used to dissipate heat from the moving end of the linear motor base (10), and the air outlet end of the air clamp component is connected to a negative pressure gas source, and the negative pressure gas source is electrically connected to the control component; The bearing mechanism (20) comprises an adjusting member (201) and a bearing member (202); the fixed end of the adjusting member (201) is detachably connected to the movable end of the linear motor base (10); the bearing member (202) is arranged at the adjusting end of the adjusting member (201); the adjusting member (201) is used to adjust the inclination angle of the bearing member (202) along the axis of the first direction; and the clamp (30) is arranged on the bearing member (202); The bearing member (202) comprises a bearing plate (2021), the clamp (30) is arranged on the bearing plate (2021), the bearing plate (2021) is arranged at an adjustment end of the adjustment member (201), and the adjustment member (201) is used to adjust the inclination angle of the bearing plate (2021) along the axis of the first direction; The clamp (30) further comprises a magnetic clamp (301), wherein the magnetic clamp (301) is arranged inside the bearing plate (2021); The air clamp assembly comprises a suction head (302) and an air intake component (303); a suction hole (2022) is provided on the surface of the carrier plate (2021); the suction head (302) is arranged in the suction hole (2022); an output end of the suction head (302) is connected to the air intake component (303); the output end of the air intake component (303) is connected to a negative pressure air source; and the negative pressure air source is electrically connected to the control assembly; The air intake component (303) comprises an air intake pipe (3031), a main pipe (3032), and a blocking rod (3033); one end of the air intake pipe (3031) is connected to the suction head (302); the other end of the air intake pipe (3031) is fixedly connected to the surface of the main pipe (3032) and is in communication with the main pipe (3032); the fixed end of the blocking rod (3033) is fixedly connected inside the main pipe (3032); the movable end of the blocking rod (3033) is arranged in a truncated cone shape and at least partially fits the pipe wall of the main pipe (3032); the main pipe (3032) is at least partially connected to the movable end of the linear motor base (10), and the air outlet end is connected to a negative pressure air source; The linear motor base (10) comprises a guide rail (101) and a slider (102); the slider (102) is slidably connected to the guide rail (101); a storage cavity (1021) is provided inside the slider (102); the storage cavity (1021) is used to store a power component; the fixed end of the adjustment member (201) is detachably connected to the slider (102); the main pipe (3032) is at least partially fixedly connected to the slider (102); and the connection portion between the main pipe (3032) and the slider (102) is communicated with the storage cavity (1021) by providing a plurality of ventilation holes (3034).

2. A linear motor conveying assembly according to claim 1, characterized in that: The adjusting member (201) comprises a base plate (2011), a first ball block (2012), a first ball sleeve (2013), and a telescopic rod (2014); the base plate (2011) is detachably connected to the movable end of the linear motor base (10); one end of the first ball block (2012) is fixedly connected to the surface of the bearing member (202) facing the base plate (2011); the fixed end of the telescopic rod (2014) is arranged on the surface of the base plate (2011) corresponding to the first ball block (2012); the first ball sleeve (2013) is fixedly connected to the telescopic end of the telescopic rod (2014); and the first ball sleeve (2013) is sleeved on the other end of the first ball block (2012) through an opened groove; the diameter of the groove opened in the first ball sleeve (2013) is larger than the rod portion of the first ball block (2012).

3. A linear motor conveying assembly according to claim 2, characterized in that: The adjusting member (201) further comprises a second ball block (2015) and a second ball sleeve (2016), wherein one end of the second ball block (2015) is fixedly connected to the midpoint of the bearing member (202), the second ball sleeve (2016) is fixedly connected to the surface of the bottom plate (2011), and the second ball sleeve (2016) is sleeved on the other end of the second ball block (2015) through an opened groove.

4. A linear motor conveying assembly according to claim 1, characterized in that: The magnetic clamp (301) is composed of an electromagnetic coil and an iron core. When the electromagnetic coil is energized, a magnetic field is generated to clamp the workpiece to be transported. The iron core is combined with the electromagnetic coil to concentrate and enhance the magnetic field to provide a suitable clamping force. The input end of the magnetic clamp (301) is electrically connected to the output end of the control component.

5. A control method for a linear motor conveying assembly, characterized in that: The linear motor conveying assembly according to any one of claims 1 to 4 comprises: S1, placing the workpiece to be transported at the initial position of the moving end of the linear motor conveying assembly, and pre-clamping the workpiece to be transported placed at the moving end of the linear motor conveying assembly by a clamp preset at the moving end of the linear motor conveying assembly; S2, the moving end of the linear motor conveying assembly carries the workpiece to be conveyed from the initial position to the final position, and the control assembly preset at the moving end of the linear motor conveying assembly obtains the movement information data when moving from the initial position to the final position; S3, the movement information data obtained by the preset control component and the preset clamping force ratio are used to calculate the required clamping force, and the clamping force of the fixture is adjusted; S4. Calculate the required tilt angle by comparing the movement information data with the preset tilt angle level, and adjust the tilt angle of the support member to offset the inertia when the support member stops moving.

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