Linear motion execution device

Abstract

The invention relates to the technical field of linear motors, in particular to a linear motion execution device. The linear motion execution device comprises a mounting frame, a driving unit, a mounting seat, a guide unit and an output unit, the driving unit is arranged on the mounting frame and comprises a rotor, the rotor is configured to reciprocate in the first direction, the mounting seat is connected with the rotor, the guide unit is arranged between the rotor and the mounting seat, and the output unit is connected with the guide unit. The guide unit is configured to guide the mounting base to move in the first direction, the output unit is connected with the mounting base so that the rotor of the driving unit can directly drive the output unit to achieve linear motion, and the mechanical gap tends to be zero on the whole transmission chain. The accuracy of executing the instruction position of the driving unit by the output unit of the linear motion execution device is improved, the position self-adaptive capacity of the output unit is further improved, the situation that hard collides with hard in actual work is avoided, and the motion precision and safety performance of the output unit of the linear motion execution device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of linear motor, in particular to a linear motion execution device. BACKGROUND

[0002] In the fields of lithium battery, precision assembly, semiconductor packaging, biological medicine, precision detection, etc., a precise linear motion execution device is needed to meet the precise execution of linear motion and force control of the output end in the fields of wafer pickup in the semiconductor field, precision probe testing, lens pressing in the 3C industry, precision assembly and detection, etc.

[0003] In the related art, the linear motion execution device includes a driving unit, a transmission unit, a guide unit and an output unit, wherein the driving unit is connected with the output unit through the transmission unit, and the guide unit is arranged between the driving unit and the output unit. Specifically, the transmission unit is a screw nut assembly. The linear motion execution device transmits through the screw nut assembly, and the screw nut assembly acting as a transmission assembly has problems such as transmission gap and insufficient rigidity, which causes a physical deviation between the command position output by the driving unit and the actual position executed by the output end, and low precision and safety performance. SUMMARY

[0004] Therefore, it is necessary to provide a linear motion execution device to solve the problems of physical deviation between the command position output by the driving unit and the actual position executed by the output end, and low precision and safety performance.

[0005] A linear motion execution device includes:

[0006] a mounting frame;

[0007] a driving unit arranged on the mounting frame, the driving unit including a mover configured to reciprocate along a first direction;

[0008] a mounting seat connected with the mover;

[0009] a guide unit arranged between the mover and the mounting seat, the guide unit configured to provide guidance for the movement of the mounting seat along the first direction;

[0010] an output unit connected with the mounting seat.

[0011] In some embodiments, the mover and the mounting seat are oppositely arranged, and a first accommodation space is defined between the mover and the mounting seat, and the guide unit is located in the first accommodation space.

[0012] In some embodiments, at least one of the mover and the mounting seat includes:

[0013] Two groups of connecting plates, the two groups of connecting plates being parallel to the first direction and being spaced apart along the second direction;

[0014] A bottom plate, two ends of the bottom plate being connected with the two groups of connecting plates respectively, the bottom plate and the two groups of connecting plates forming a receiving groove extending along the first direction, the second direction being perpendicular to the first direction.

[0015] In some embodiments, the guide unit comprises:

[0016] A slide plate, the slide plate being connected with the mounting seat;

[0017] A slide block, the slide block being connected with the mounting frame, the slide block being slidingly fitted with the slide plate along the first direction.

[0018] In some embodiments, the mounting frame comprises:

[0019] A frame body;

[0020] A partition plate, two ends of the partition plate along the first direction being connected with the frame body, the partition plate dividing the frame body into a second receiving space and a third receiving space, the second receiving space and the third receiving space being spaced apart along a third direction, the second receiving space being configured to be provided with a driving unit, the third receiving space being configured to be provided with a guide unit, the mover and the mounting seat being connected on two sides of the partition plate along the second direction;

[0021] The third direction being perpendicular to the first direction.

[0022] In some embodiments, the output unit comprises:

[0023] A first output plate, the first output plate being connected with an end surface of the mounting seat facing away from the driving unit, the first output plate being located on the mounting frame.

[0024] In some embodiments, the output unit further comprises:

[0025] A second output plate, the second output plate being connected with the first output plate at an angle.

[0026] In some embodiments, the linear motion execution device further comprises:

[0027] A first limiting piece, the first limiting piece being configured to constrain a maximum displacement of the guide unit along the first direction;

[0028] And / or, a second limiting piece, the second limiting piece being configured to constrain an extreme position of the first output plate reciprocating along the first direction;

[0029] And / or, a third limiting piece configured to restrict the initial position of the second output plate moving in the first direction.

[0030] In some embodiments, the linear motion execution device further comprises:

[0031] A reset piece arranged between the mounting frame and the mounting seat, the reset piece being configured to drive the mounting seat to return to the initial position.

[0032] In some embodiments, the linear motion execution device further comprises:

[0033] A force control sensor connected with the output unit, the force control sensor being configured to measure the contact force between the output unit and the external workpiece and feed back the contact force as a main feedback signal of the force control closed loop to the driving unit.

[0034] In some embodiments, the linear motion execution device further comprises:

[0035] A control module electrically connected with the force control sensor, the control module comprising an amplification circuit, a converter and a driving circuit, the amplification circuit being configured to receive and amplify the contact force collected by the force control sensor; the converter being configured to calculate and synchronously output the servo three-loop information of the driving unit as the main feedback signal according to the amplified contact force; the converter being connected with the driving unit through the driving circuit, the converter being further configured to control the motion state of the driving unit according to the main feedback signal, the servo three-loop information comprising position information, speed information and current information.

[0036] Advantages:

[0037] The application provides a linear motion execution device, which comprises a mounting rack, a driving unit, a mounting base, a guide unit and an output unit, the driving unit is arranged on the mounting rack, the driving unit comprises a mover, the mover is configured to reciprocate in a first direction, the mounting base is connected with the mover, the guide unit is arranged between the mover and the mounting base, and the guide unit is configured to guide the movement of the mounting base in the first direction; and the output unit is connected with the mounting base, so that the mover of the driving unit directly drives the output unit to realize linear motion, mechanical clearance tends to be zero on the entire transmission chain, transmission structures such as a lead screw nut are not needed, deviation between an output end execution position and a driving unit output instruction position caused by problems such as rotation clearance and insufficient rigidity of transmission structures such as a lead screw nut is avoided, the accuracy of the output unit of the linear motion execution device in executing the instruction position of the driving unit is improved, the position self-adaptive capability of the output unit is improved, hard collision and the like in actual work is avoided, and the precision and safety performance of the output unit of the linear motion execution device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structural schematic diagram of a linear motion execution device provided in an embodiment of the application is shown.

[0039] Figure 2 A structural schematic diagram of a mounting rack provided in an embodiment of the application is shown.

[0040] Figure 3 A top view structural schematic diagram of a linear motion execution device provided in an embodiment of the application is shown.

[0041] Figure 4 A structural schematic diagram of Figure 3 A sectional structural schematic diagram of A-A in FIG.

[0042] Figure 5 A sectional structural schematic diagram of B-B in FIG. Figure 3

[0043] Figure 6 A structural schematic diagram of a control module provided in an embodiment of the application is shown.

[0044] Figure 7 A working logic schematic diagram of a control module provided in an embodiment of the application is shown.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046] 100, mounting rack; 110, frame body; 120, partition plate; 130, second accommodating space; 140, third accommodating space;

[0047] ​200, driving unit; 210, mover; 211, first connecting plate; 212, first bottom plate; 213, accommodating groove; 220, stator; 230, frame body;

[0048] 300, mounting seat; 310, first accommodating space; 320, second connecting plate; 330, second bottom plate;

[0049] 400, guiding unit; 410, sliding plate; 420, sliding block;

[0050] 500, output unit; 510, first output plate; 520, second output plate;

[0051] 600, first limiting piece;

[0052] 700, second limiting piece; 710, fixed part; 720, limiting part;

[0053] 800, third limiting piece;

[0054] 900, force control sensor;

[0055] 1000, control module; 1001, amplification circuit; 1002, converter; 1003, driving circuit. DETAILED DESCRIPTION

[0056] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in many different ways from those described herein without departing from the scope of the present application, and those skilled in the art can make similar improvements without departing from the technical concept of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0057] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0058] In addition, the terms "first", "second", and the like, if any, are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or identifying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0059] In the present application, unless otherwise explicitly specified and limited, if the terms "mount", "connect", "connect", "fix" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0060] In the present application, unless otherwise explicitly specified and limited, if the first feature is described as "on" or "under" the second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or only indicate that the first feature is lower than the second feature in horizontal height.

[0061] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.

[0062] Referring to Figures 1-5 , Figure 1 A structure diagram of a linear motion execution device provided in an embodiment of the present application is shown. Figure 2 A structure diagram of a mounting rack 100 provided in an embodiment of the present application is shown. Figure 3 A top view structure diagram of a linear motion execution device provided in an embodiment of the present application is shown. Figure 4 A structure diagram of a linear motion execution device provided in an embodiment of the present application is shown.Figure 3 A cross-sectional structure schematic diagram at A-A. Figure 5 A cross-sectional structure schematic diagram at B-B is shown. Figure 3 A cross-sectional structure schematic diagram at B-B is shown.

[0063] Wherein, the first direction is X direction, the second direction is Y direction, and the third direction is Z direction. The first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0064] As shown in the figure, Figures 1-4 The embodiment provides a linear motion execution device, which comprises a mounting frame 100 and a driving unit 200 arranged on the mounting frame 100.

[0065] As shown in the figure, Figure 2 The mounting frame 100 comprises a frame body 110 and a partition plate 120, the partition plate 120 is connected with the frame body 110 at both ends along the first direction X, the partition plate 120 divides the frame body 110 into a second accommodating space 130 and a third accommodating space 140, the second accommodating space 130 and the third accommodating space 140 are arranged at intervals along the third direction Z, the second accommodating space 130 is configured to arrange the driving unit 200, so as to fix the driving unit 200, and the partition plate 120 and the mounting frame 100 have a protective effect on the driving unit 200.

[0066] Specifically, as shown in the figure, Figures 3-5 The driving unit 200 comprises a frame body 230, the frame body 230 is arranged in the second accommodating space 130, and the frame body 230 can be connected with the partition plate 120 or the mounting frame 100, so as to ensure the stability of the driving unit 200. In order to improve the protection effect on the internal structure of the driving unit 200, the frame body 230 is a frame structure with a meandering structure.

[0067] The driving unit 200 further comprises a stator 220, the stator 220 is arranged on the frame body 230, and the stator 220 can be two, the two stators 220 are arranged in parallel and at intervals along the third direction Z. The driving unit 200 further comprises a rotor 210, the rotor 210 is located between the two stators 220, so as to interact between the stator 220 and the rotor 210, and drive the rotor 210 to reciprocate along the first direction X.

[0068] The linear motion execution device further comprises a mounting seat 300, the mounting seat 300 is directly connected with the rotor 210, and when the rotor 210 reciprocates along the first direction X, the mounting seat 300 can be driven to reciprocate along the first direction X.

[0069] The linear motion execution device further comprises an output unit 500 connected with the mounting seat 300, the mounting seat 300 is rigidly connected with the mover 210 without intermediate mechanical transmission, so as to realize that the mover 210 of the driving unit 200 directly drives the output unit 500 to realize linear motion, and directly transmits the linear motion of the mover 210 to the output unit 500, the mechanical clearance on the whole transmission chain tends to be zero, without the aid of transmission structures such as lead screws and nuts, avoiding the deviation between the output end execution position of the linear motion execution device and the output instruction position of the driving unit 200 due to the problems such as rotation clearance and insufficient rigidity of the transmission structures such as lead screws and nuts, which is beneficial to improve the accuracy of the output unit 500 of the linear motion execution device in executing the instruction position of the driving unit 200, and further improve the position self-adaptive ability of the output unit 500, avoid hard collision and other situations in actual work, and improve the precision and safety performance of the motion of the output unit 500 of the linear motion execution device.

[0070] Further, the linear motion execution device adopts distributed rigid connection on the rigid structure of the driving and supporting mounting seat 300, that is, the mover 210 and the mounting seat 300 are fixedly connected at multiple positions through connecting pieces, and the mounting seat 300 and the output unit 500 can also be fixedly connected at multiple positions through connecting pieces, so as to realize distributed rigid connection, so that the driving unit 200 directly drives the mounting seat 300 to move, and provides a stable connection working mode for the output unit 500 without interference.

[0071] As shown in Figures 1-5 In some embodiments, the output unit 500 comprises a first output plate 510 connected with the end face of the mounting seat 300 away from the driving unit 200, and the first output plate 510 is located on the mounting frame 100. The first output plate 510 is connected with the mounting seat 300 through surface-to-surface connection, so that the surface of the first output plate 510 away from the mounting seat 300 can be used as an output end bearing surface for setting any output linear motion execution mechanism. The first output plate 510 is beneficial to utilize the large surface connection between the first output plate 510 and the mounting seat 300 to improve the stability, precision and safety performance of the output motion.

[0072] Optionally, the output unit 500 further comprises a second output plate 520 connected at an angle with the first output plate 510, so as to facilitate the installation of an execution mechanism on the second output plate 520. The execution mechanisms installed on the first output plate 510 and the second output plate 520 can be the same or different, but the installation directions of the execution mechanisms on the first output plate 510 and the second output plate 520 are different, which is beneficial to adapt the output unit 500 to different working scenes, so as to improve the application range of the linear motion execution device.

[0073] Specifically, the second output plate 520 is connected at a right angle with the first output plate 510, and the second output plate 520 is located at one end of the mounting frame 100 along the first direction X, and the second output plate 520 is close to the mounting frame 100 when the mover 210 is located at the initial position, and the second output plate 520 moves in a direction away from the mounting frame 100 when the mover 210 drives the output unit 500 to move. At this time, the first output plate 510 and the second output plate 520 not only have two bearing surfaces, but also the first output plate 510 and the second output plate 520 occupy a small volume, which is conducive to minimizing the volume of the linear motion actuator to meet the needs of different working scenarios.

[0074] Further, as Figure 4 and Figure 5 The linear motion actuator further comprises a guide unit 400, which is arranged between the mover 210 and the mounting seat 300, and the guide unit 400 can provide guidance for the movement of the mounting seat 300 along the first direction X, thereby further improving the accuracy of the output unit 500 in executing the command position of the driving unit 200, and further improving the precision and safety performance of the linear motion actuator.

[0075] The third accommodation space 140 of the mounting frame 100 is used to arrange the guide unit 400, and the mover 210 and the mounting seat 300 are connected on both sides of the partition plate 120 along the second direction Y.

[0076] In one embodiment, the mover 210 and the mounting seat 300 are arranged opposite to each other, and the first accommodation space 310 is defined between the mover 210 and the mounting seat 300, and the partition plate 120 of the mounting frame 100 penetrates the first accommodation space 310 along the first direction X. At the same time, the guide unit 400 is located in the first accommodation space 310. The linear motion actuator arranges the guide unit 400 in the first accommodation space 310 between the mover 210 and the mounting seat 300, which is conducive to saving space and reducing the overall size of the linear motion actuator, and also enables the guide unit 400 to guide and support the mounting seat 300.

[0077] More specifically, the size of the guide unit 400 along the second direction Y is correspondingly arranged with the size of the first accommodation space 310 along the second direction Y, so as to increase the size of the guide unit 400 along the second direction Y as much as possible, to improve the stability of support and guidance, and to improve the rigidity and stability of the movement of the output unit 500, and to reduce resonance.

[0078] At least one of the mover 210 and the mounting base 300 comprises a bottom plate and two sets of connecting plates. The two sets of connecting plates are parallel to the first direction X and are spaced apart along the second direction Y; the bottom plate is on both sides of the second direction Y, and both ends of the bottom plate are connected to the two sets of connecting plates, and the bottom plate and the two sets of connecting plates form a containing groove 213 extending along the first direction X, and the second direction Y is perpendicular to the first direction X.

[0079] Specifically, the mover 210 comprises a first bottom plate 212 and two sets of first connecting plates 211, the two sets of first connecting plates 211 are parallel to the first direction X and are spaced apart along the second direction Y; the first bottom plate 212 is on both sides of the second direction Y, and both ends of the first bottom plate 212 are connected to the two sets of first connecting plates 211, and the first bottom plate 212 and the two sets of first connecting plates 211 form a containing groove 213 extending along the first direction X. At the same time, the mounting base 300 comprises a second bottom plate 330 and two sets of second connecting plates 320, the two sets of second connecting plates 320 are parallel to the first direction X and are spaced apart along the second direction Y; the second bottom plate 330 is on both sides of the second direction Y, and both ends of the second bottom plate 330 are connected to the two sets of second connecting plates 320, and the second bottom plate 330 and the two sets of second connecting plates 320 form a containing groove 213 extending along the first direction X. At this time, the first bottom plate 212 and the two sets of first connecting plates 211 are connected in a U shape, the opening direction of the U-shaped mover 210 faces the mounting plate, so that the first connecting plate 211 of the mover 210 can extend along the third direction Z on both sides of the second direction Y of the driving unit 200, the mover 210 has a wrapping trend to the frame 230 of the driving unit 200, and is connected with the mounting base 300. The second bottom plate 330 and the two sets of second connecting plates 320 of the mounting base 300 are connected in a U shape, the opening direction of the U-shaped mounting base 300 faces the mover 210, and is connected with the mover 210. The containing groove 213 defined by the mover 210 and the mounting base 300 can accommodate part of the driving unit 200 and the guide unit 400.

[0080] The structure of the mover 210 and the mounting base 300 can achieve the purpose of stable guidance through a set of guide units 400, without the need for two sets of guide units 400 in the prior art, which is beneficial to simplify the structure and reduce the cost, and also ensures the structural stability.

[0081] In the above structure, the containing groove 213 of the mover 210 can be arranged only according to the size of the stator 220 and the frame 230, so that the guide unit 400 is accommodated in the containing groove 213 of the mounting base 300, so that the driving unit 200 is used as an independent structure, and its external structure is a standard square without protruding first connecting plates 211.

[0082] In another embodiment, only the mover 210 includes a first bottom plate 212 and two groups of first connecting plates 211, which are parallel and spaced apart along the second direction Y; the first bottom plate 212 is located at both sides of the second direction Y, and both ends of the first bottom plate 212 are connected with the two groups of first connecting plates 211 respectively, and the first bottom plate 212 and the two groups of first connecting plates 211 form a receiving groove 213 extending along the first direction X. The mounting seat 300 can be a flat plate structure, and at this time, the two groups of first connecting plates 211 are connected with the mounting seat 300 respectively, and the guide unit 400 can also be arranged in the receiving groove 213.

[0083] In another embodiment, only the mounting seat 300 includes a second bottom plate 330 and two groups of second connecting plates 320, which are parallel and spaced apart along the second direction Y; the second bottom plate 330 is located at both sides of the second direction Y, and both ends of the second bottom plate 330 are connected with the two groups of second connecting plates 320 respectively, and the second bottom plate 330 and the two groups of second connecting plates 320 form a receiving groove 213 extending along the first direction X. The mover 210 can be a flat plate structure, and at this time, the two groups of second connecting plates 320 are connected with the mover 210 respectively, and the guide unit 400 can also be arranged in the receiving groove 213.

[0084] In some embodiments, the guide unit 400 includes a sliding plate 410 and a sliding block 420. The sliding plate 410 is connected with the mounting seat 300, and the sliding block 420 is connected with the mounting bracket 100, and the sliding block 420 is slidingly matched with the sliding plate 410 along the first direction X. The sliding plate 410 of the guide unit 400 is connected with the mounting seat 300, and when the mover 210 moves to drive the mounting seat 300 to move, the sliding plate 410 can drive the sliding block 420 to move relatively, thereby playing a guiding role.

[0085] Further, the size of the sliding plate 410 along the second direction Y can be correspondingly arranged with the size of the receiving groove 213 along the second direction Y, so that the width of the sliding plate 410 is increased as much as possible, thereby making the guide unit 400 have a wider guide rail, which is beneficial to improve the stability of support and guidance.

[0086] In an optional embodiment, the linear motion execution device further includes a first limiting piece 600 for limiting the maximum displacement of the guide unit 400 moving along the first direction X. When the sliding plate 410 moves to the maximum position along the first direction X, the sliding plate 410 can touch the first limiting piece 600, thereby avoiding the rigid collision between the sliding plate 410 and the mounting bracket 100, which is beneficial to improve the service life of the sliding plate 410.

[0087] In an optional embodiment, the first limiting piece 600 can be made of a flexible material having a buffering effect, or the first limiting piece 600 has a structure such as a spring having a buffering effect.

[0088] In one of the optional embodiments, the linear motion execution device further comprises a second limiting member 700 configured to restrict the limit position of the first output plate 510 reciprocating along the first direction X, i.e. the second limiting member 700 is used to restrict the initial position of the first output plate 510 on the mounting frame 100 and the maximum displacement position of the first output plate 510 moving along the first direction X, which is beneficial to improve the stability of the movement of the first output plate 510, avoid rigid collision between the first output plate 510 and the mounting frame 100, and also avoid the movement distance of the first output plate 510 being too large under the action of inertia when moving along the first direction X, which is beneficial to improve the safety performance.

[0089] In one of the optional embodiments, the second limiting member 700 can be made of a flexible material having a buffering effect, or the second limiting member 700 has a structure such as a spring having a buffering effect.

[0090] Specifically, the second limiting member 700 comprises a fixed part 710 and a limiting part 720. The fixed part 710 and the limiting part 720 are connected in an L shape, the fixed part 710 is connected with the mounting frame 100, and the limiting part 720 is perpendicular to the fixed part 710 and connected with the fixed part 710. In the initial position of the first output plate 510, the limiting part 720 is connected with the side of the fixed part 710 away from the output direction, and the side of the limiting part 720 facing the fixed part 710 abuts against the first output plate 510, so as to avoid the first output plate 510 moving too much to the side opposite to the output direction. The output direction is the direction of the mover 210 moving along the first direction X from the initial position. At the maximum displacement of the first output plate 510 moving along the output direction, the limiting part 720 is connected with the end of the fixed part 710 along the output direction, and the side of the limiting part 720 facing the fixed part 710 abuts against the first output plate 510, so as to avoid the movement distance of the first output plate 510 being too large under the action of inertia when moving along the first direction X.

[0091] Further, a sink groove is provided on the side of the mounting frame 100 where the first output plate 510 is arranged, and the fixed part 710 of the second limiting member 700 is located in the sink groove, only the limiting part 720 protrudes from the surface of the mounting frame 100, so that it interacts with the first output plate 510 to achieve the limiting effect.

[0092] Optionally, the linear motion execution device further comprises a third limiting member 800 for restricting the initial position of the second output plate 520 moving along the first direction X, so as to avoid the second output plate 520 colliding with the mounting frame 100 when resetting to the initial position, which is beneficial to improve the service life of the mounting frame 100 and the second output plate 520.

[0093] Optionally, the third limiting member 800 is arranged at the end of the mounting frame 100 opposite to the second output plate 520, so that it can play a limiting role when the second output plate 520 resets.

[0094] In one of the optional embodiments, the third limiting member 800 can be made of a flexible material having a buffering effect, or the third limiting member 800 has a structure such as a spring having a buffering effect.

[0095] In one of the embodiments, the linear motion execution device further comprises a reset member arranged between the mounting frame 100 and the mounting seat 300, and the reset member is used to drive the mounting seat 300 to return to the initial position. The reset member is beneficial to reset the linear motion execution device when power is off, so as to ensure that the mover 210, the sliding plate 410, the mounting seat 300 and the output unit 500 can return to the initial position when power is off, and to play a protection and recovery role. At the same time, the reset member can also reduce the shaking during the movement and improve the stability.

[0096] Optionally, the reset member is a spring, which can be a mechanical spring or a magnetic spring, and the present application does not limit this.

[0097] As shown in Figure 1 , Figure 3 and Figure 6 , the linear motion execution device further comprises a force control sensor 900. The force control sensor 900 is connected with the output unit 500, and the force control sensor 900 is configured to measure the contact force between the driving unit 200 and the external workpiece, and feed back the contact force as the main feedback signal of the force control closed loop to the driving unit 200. The force control sensor 900 is directly integrated at the end of the output unit 500, which greatly shortens the transmission path of the force signal and reduces the distortion.

[0098] As shown in Figure 6 and Figure 7 , the linear motion execution device further comprises a control module 1000. The control module 1000 is electrically connected with the force control sensor 900, and the control module 1000 comprises an amplification circuit 1001, a converter 1002 and a driving circuit 1003. The amplification circuit 1001 is configured to receive and amplify the contact force collected by the force control sensor 900. The converter 1002 is configured to calculate and synchronously output the servo three-loop information of the driving unit 200 as the main feedback signal according to the amplified contact force. The converter 1002 is connected with the driving unit 200 through the driving circuit 1003, and the converter 1002 is configured to control the motion state of the driving unit 200 according to the main feedback signal. The servo three-loop information includes position information, speed information and current information. The control module 1000 integrates the data collection and analysis feedback of the sensor on the servo controller through the high-precision force control algorithm, and the calculation frequency is improved to 10KHz. Based on the lightweight, low-inertia design and high-rigidity motion components at the structure end, the timely execution of the driving instruction is ensured.

[0099] The control module 1000 in the related art has a fundamental drawback of its separated hardware architecture. The force sensor signal needs to go through a long multi-stage processing link: first, signal amplification and conversion are performed, then a host computer (such as a PLC) performs calculation and issues an instruction, which produces a first delay; the instruction is transmitted to a separate motion controller for processing, and then transmitted to a servo driver again, which produces a second delay; finally, the driver executes the instruction to control the motor output. The entire force control closed loop relies on external bus communication between at least three independent hardware, and most of the time is consumed in the communication bottleneck caused by physical separation and the cumulative delay caused by multi-stage processing.

[0100] Compared with the control method of the prior art, the highly integrated control module 1000 of the linear motion execution device in the embodiment fundamentally solves the above-mentioned problems existing in the prior art. The core feature is that after the signal of the force control sensor 900 is amplified, it directly enters the high-speed A / D converter 1002 inside the integrated controller, and the same high-performance processor uniformly completes signal acquisition, complex model prediction algorithm operation, and real-time solution to servo three loops (position, speed, and current loop). All driving instructions do not need to go through any external bus, but are transmitted to the driving circuit 1003 on the same circuit board through the internal high-speed bus or direct memory access (DMA). This integration in architecture, unification in processing, and deep coupling of algorithm and underlying driving completely eliminate the communication bottleneck and multi-stage delay, realize fast and deterministic hard synchronization, thereby improving the control period from the millisecond level of the traditional method to the microsecond level, and providing a performance foundation for realizing real precision force control.

[0101] Specifically, the control logic of the control module 1000 includes:

[0102] First, the unified model: a discrete-time prediction model containing motor electromagnetic, inverter equivalence, transmission compliance, and load dynamics is constructed; the integral state and disturbance estimation are expanded and incorporated into the prediction state.

[0103] Primary optimization: in a single quadratic programming (QP) or equivalent fast iterative solution, the tracking error, input and input rate, state and input constraints are considered simultaneously, and the driving level control quantity (duty ratio / voltage vector / current reference) is directly obtained.

[0104] Embedded feedforward and integration: the feedforward torque / thrust is derived from the mechanical physical parameters (mass, equivalent inertia, friction, elasticity / damping) and entered as a nominal term of an equality constraint; the integral is internalized in the MPC through state expansion or equivalent equality constraint, without an external integrator.

[0105] Fast real-time implementation: using sparse structure, pre-factorization, warm start and fixed-point / mixed-precision computation to make the whole optimization complete within 50-100us.

[0106] System structure and signal flow:

[0107] Sensor input: force sensor output, position / speed, current sampling.

[0108] Computing unit (Softforce-style control core): model-predictive algorithm based control unit, including: state estimation and parameter update, feedforward computation, QP problem construction and fast solver.

[0109] Execution output: control quantity (duty ratio or voltage vector) for drive circuit 1003 / inverter, directly acting on the motor; without cascaded loop.

[0110] Control period: 100us-50us.

[0111] In the above control logic, in the prediction model, the motor equivalent voltage equation, inverter dead zone / voltage upper limit, coil inductance / resistance, and transmission chain stiffness-damping-inertia (may contain first or second order flexible mode) are discretized into time domain models. In the force control scenario, the measured external force is taken as an exogenous input / constraint.

[0112] State expansion includes: adding the integral state of the tracking error and the equivalent disturbance state to the state vector to ensure zero steady-state error and suppress low-frequency disturbances.

[0113] Cost function includes: minimizing the weighted sum of multiple objectives in the prediction domain, including position / speed / force tracking error, phase current amplitude, control increment, and force / current rate of change, to balance dynamic performance and actuator wear.

[0114] Constraint set includes: voltage / current saturation, speed / travel limit, force / acceleration slope limit, thermal / power constraint; use tubular or constraint tightening strategy to improve robustness.

[0115] Feedforward injection includes: real-time calculation of nominal torque / thrust (inertia term, gravity / load term, friction / elasticity term) according to the physical model as the nominal input term of the prediction model; unified processing through equality constraints or cost bias in optimization, avoiding external channel cascading.

[0116] Solver and real-time performance includes: pre-decomposition using strip Hessian and sparse KKT structure; warm start and rolling horizon shift; choose fast gradient / active set method / sparse iteration; achieve deterministic execution time at fixed point or mixed precision.

[0117] Parameter adaptation (optional): online identification of friction, stiffness, load inertia based on least square or extended Kalman filter, parameter update is injected through low frequency channel with slow ramping to ensure feasibility and timing stability of optimization.

[0118] Based on the above control logic, the linear motion execution device does not have a "current-speed-position" multi-loop PI; the integral and feedforward are embedded in the state and equality / inequality constraints of MPC, and the execution level control quantity is output by the same optimizer at one time. The unified constraint optimality is realized, all physical and execution constraints are processed in the same optimization problem, avoiding the mismatch of "inner loop saturation and outer loop still integrating" in the cascade architecture. At the same time, the linear motion execution device realizes strong real-time closed loop, with a sparse and fast solving and code generation path that can run stably within 50-100μs cycle, adapting to embedded computing power. The linear motion execution device has directness for force control, the force sensor signal is included in the prediction model and the cost / constraint, forming direct optimal control of force / impedance, rather than indirect implementation through speed / position loop.

[0119] The linear motion execution device cancels the cascade phase superposition, and the closed loop bandwidth can be increased by 30-100% while keeping the constraint feasible, with steady-state accuracy and disturbance rejection, and the integral extension ensures zero steady-state error; it is more robust to load disturbance and friction uncertainty, and the linear motion execution device reduces the commutation and thermal stress through input rate and force rate regularization, which is friendly to the actuator. The parameters are physically interpretable, and the parameter adjustment is concentrated in a small number of weights and constraint boundaries; it supports multi-axis / multi-modal extension.

[0120] The linear motion execution device in the embodiment solves the problem of serious delay caused by physical separation of multiple independent hardware (such as PLC, motion controller, servo driver) in traditional control methods through highly integrated drive and control integrated architecture. In the traditional scheme, signals and instructions are repeatedly transmitted between different hardware, and communication and multi-stage processing consume a large part of the control cycle. The linear motion execution device in the embodiment integrates force signal acquisition, complex algorithm operation, and servo drive in a single high-performance processor, and the instruction is directly driven to the motor circuit on the same board through the internal high-speed bus. This integrated architecture, unified processing, and deeply coupled design fundamentally eliminates communication bottlenecks and multi-stage delays, realizes fast synchronization, and improves the control response speed by nearly 100 times, which is a key technical breakthrough to realize high-speed, non-overshoot precision force control.

[0121] The technical features of the above-described embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0122] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A linear motion actuator, characterized in that, The linear motion execution device comprises: a mounting rack (100); a driving unit (200) arranged on the mounting rack (100), the driving unit (200) comprising a mover (210) configured to reciprocate along a first direction; a mounting seat (300) connected with the mover (210); a guide unit (400) arranged between the mover (210) and the mounting seat (300), the guide unit (400) being configured to guide the movement of the mounting seat (300) along the first direction; an output unit (500) connected with the mounting seat (300).

2. The linear motion actuator according to claim 1, wherein The mover (210) and the mounting seat (300) are oppositely arranged, and a first accommodating space (310) is defined between the mover (210) and the mounting seat (300), and the guide unit (400) is located in the first accommodating space (310).

3. The linear motion actuator of claim 2, wherein: At least one of the mover (210) and the mounting seat (300) comprises: two groups of connecting plates, the two groups of connecting plates being parallel to the first direction and being arranged along a second direction; a bottom plate arranged on both sides along the second direction, two ends of the bottom plate being connected with the two groups of connecting plates respectively, and the bottom plate and the two groups of connecting plates forming an accommodating groove (213) extending along the first direction.

4. The linear motion actuator of claim 2, wherein: The guide unit (400) comprises: a sliding plate (410) connected with the mounting seat (300); a sliding block (420) connected with the mounting rack (100), the sliding block (420) being slidingly matched with the sliding plate (410) along the first direction.

5. The linear motion actuator according to any one of claims 1 to 4, wherein The mounting rack (100) comprises: a frame (110); a partition plate (120) connected with the frame (110) at both ends along the first direction, the partition plate (120) dividing the frame (110) into a second accommodating space (130) and a third accommodating space (140), the second accommodating space (130) and the third accommodating space (140) being arranged along a third direction, the second accommodating space (130) being configured to arrange the driving unit (200), the third accommodating space (140) being configured to arrange the guide unit (400), and the mover (210) and the mounting seat (300) being connected on both sides of the partition plate (120) along the second direction; the third direction being perpendicular to the first direction.

6. The linear motion actuator according to any one of claims 1 to 4, wherein The output unit (500) comprises: a first output plate (510) connected with an end surface of the mounting seat (300) away from the driving unit (200), the first output plate (510) being located on the mounting rack (100).

7. The linear motion actuator of claim 6 wherein: The output unit (500) further comprises: a second output plate (520) connected at an angle with the first output plate (510).

8. The linear motion actuator of claim 7, wherein: The linear motion execution device further comprises: a first limiting member (600) configured to constrain the maximum displacement of the guide unit (400) moving along the first direction. And / or, a second limiting member (700) configured to restrict the limit position of the first output plate (510) reciprocating along the first direction; And / or, a third limiting member (800) configured to restrict the initial position of the second output plate (520) moving along the first direction.

9. The linear motion actuator according to any one of claims 1-4, 7-8, wherein, The linear motion execution device further comprises: A reset member arranged between the mounting frame (100) and the mounting seat (300), and configured to drive the mounting seat (300) to return to the initial position.

10. The linear motion actuator according to any one of claims 1-4, 7-8, wherein, The linear motion execution device further comprises: A force control sensor (900) connected with the output unit (500), and configured to measure the contact force between the output unit (500) and the external workpiece, and feed back the contact force as the main feedback signal of the force control closed loop to the driving unit (200).

11. The linear motion actuator of claim 10, wherein: The linear motion execution device further comprises: A control module (1000) electrically connected with the force control sensor (900), and comprising an amplification circuit (1001), a converter (1002) and a driving circuit (1003), wherein the amplification circuit (1001) is configured to receive and amplify the contact force collected by the force control sensor (900); the converter (1002) is configured to calculate and synchronously output the servo three-loop information of the driving unit (200) according to the amplified contact force as the main feedback signal; the converter (1002) is connected with the driving unit (200) through the driving circuit (1003), and is further configured to control the motion state of the driving unit (200) according to the main feedback signal, wherein the servo three-loop information comprises position information, speed information and current information.

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