Linear motion actuator

Abstract

The application relates to the technical field of linear motors, in particular to a linear motion executing device. The linear motion executing device comprises a mounting frame, a driving unit, a mounting base, a guiding unit and an output unit. The driving unit is arranged on the mounting frame, the driving unit comprises a mover configured to reciprocate along a first direction, the mounting base is connected with the mover, the guiding unit is arranged between the mover and the mounting base and is configured to guide the movement of the mounting base along the first direction, and the output unit is connected with the mounting base to realize the linear motion of the output unit driven by the mover of the driving unit. The mechanical clearance on the entire transmission chain tends to be zero, which is beneficial to improving the accuracy of the output unit of the linear motion executing device in executing the instruction position of the driving unit, further improving the position self-adapting capability of the output unit, avoiding the hard collision in actual work and being beneficial to improving the precision and safety performance of the motion of the output unit of the linear motion executing device.

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] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0060] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0062] See Figures 1-5 , Figure 1 A schematic diagram of the linear motion actuator provided in one embodiment of this application is shown. Figure 2 A schematic diagram of the structure of the mounting bracket 100 provided in one embodiment of this application is shown. Figure 3 A top view of the linear motion actuator provided in one embodiment of this application is shown. Figure 4 It showsFigure 3 A schematic diagram of the cross-sectional structure at point AA. Figure 5 It shows Figure 3 A schematic diagram of the cross-sectional structure at point BB.

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

[0064] like Figures 1-4 As shown, this embodiment provides a linear motion actuator, which includes a mounting frame 100 and a drive unit 200 disposed on the mounting frame 100.

[0065] like Figure 2 As shown, the mounting bracket 100 includes a frame 110 and a partition 120. The partition 120 is connected to the frame 110 at both ends along the first direction X. The partition 120 divides 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 are spaced apart along the third direction Z. The second accommodating space 130 is configured to house the drive unit 200 to facilitate fixing the drive unit 200. The partition 120 and the mounting bracket 100 have a protective function for the drive unit 200.

[0066] Specifically, such as Figures 3-5 As shown, the drive unit 200 includes a frame 230, which is disposed in the second accommodating space 130. The frame 230 can be connected to the partition 120 or the mounting bracket 100 to ensure the stability of the drive unit 200. To improve the protection of the internal structure of the drive unit 200, the frame 230 is a U-shaped frame structure.

[0067] The drive unit 200 also includes a stator 220, which is mounted on the frame 230. There may be two stators 220, which are parallel and spaced apart along a third direction Z. The drive unit 200 also includes a mover 210, which is located between the two stators 220 to facilitate interaction between the stators 220 and the mover 210, driving the mover 210 to reciprocate along a first direction X.

[0068] The linear motion actuator also includes a mounting base 300, which is directly connected to the mover 210. When the mover 210 reciprocates along the first direction X, it can drive the mounting base 300 to reciprocate along the first direction X.

[0069] The linear motion actuator also includes an output unit 500, which is connected to a mounting base 300. The mounting base 300 is directly and rigidly connected to the mover 210 without intermediate mechanical transmission, enabling the mover 210 of the drive unit 200 to directly drive the output unit 500 to achieve linear motion. The linear motion of the mover 210 is directly transmitted to the output unit 500. The mechanical backlash in the entire transmission chain tends to be zero, eliminating the need for transmission structures such as lead screws and nuts. This avoids deviations between the output position and the command position of the drive unit 200 caused by rotational backlash and insufficient rigidity in transmission structures like lead screws and nuts. This improves the accuracy of the output unit 500 in executing the command position of the drive unit 200, thereby enhancing the positional adaptability of the output unit 500 and preventing hard collisions during operation. This ultimately improves the accuracy and safety performance of the linear motion actuator's output unit 500.

[0070] Furthermore, the linear motion actuator adopts a distributed rigid connection on the rigid structure of the drive and the supporting mounting base 300. That is, the mover 210 and the mounting base 300 are fixedly connected at multiple positions by connectors. The mounting base 300 and the output unit 500 can also be fixedly connected at multiple positions by connectors, thus forming a distributed rigid connection. This allows the drive unit 200 to directly drive the mounting base 300 to move, providing the output unit 500 with a stable connection working mode without interference.

[0071] like Figures 1-5 As shown, in some embodiments, the output unit 500 includes a first output plate 510, which is connected to the end face of the mounting base 300 opposite to the drive unit 200. The first output plate 510 is located on the mounting bracket 100. The first output plate 510 and the mounting base 300 are connected surface-to-surface, allowing the surface of the first output plate 510 opposite to the mounting base 300 to serve as an output end bearing surface for mounting any actuator that outputs linear motion. This first output plate 510, by utilizing its large surface connection with the mounting base 300, improves the stability, accuracy, and safety performance of the output motion.

[0072] Optionally, the output unit 500 further includes a second output plate 520, which is connected at an angle to the first output plate 510, so as to install an actuator on the second output plate 520. The actuators 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 actuators on the first output plate 510 and the second output plate 520 are not the same, which makes the output unit 500 suitable for different working scenarios, thereby improving the applicability of the linear motion actuator.

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

[0074] Furthermore, such as Figure 4 and Figure 5 The linear motion actuator also includes a guide unit 400, which is disposed between the mover 210 and the mounting base 300. The guide unit 400 can provide guidance for the mounting base 300 to move along the first direction X, thereby further improving the accuracy of the output unit 500 in executing the command position of the drive unit 200, which is conducive to further improving the accuracy and safety performance of the linear motion actuator output unit 500.

[0075] The third accommodating space 140 of the mounting bracket 100 is used to house the guide unit 400, the mover 210 and the mounting base 300, which are connected on both sides of the partition 120 along the second direction Y.

[0076] In one embodiment, the mover 210 and the mounting base 300 are disposed opposite to each other, and a first accommodating space 310 is defined between the mover 210 and the mounting base 300. The partition 120 of the mounting bracket 100 passes through the first accommodating space 310 along a first direction X. Meanwhile, the guide unit 400 is located in the first accommodating space 310. This linear motion actuator, by placing the guide unit 400 in the first accommodating space 310 between the mover 210 and the mounting base 300, saves space, reduces the overall size of the linear motion actuator, and also enables the guide unit 400 to provide guidance and support to the mounting base 300.

[0077] More specifically, the dimensions of the guide unit 400 along the second direction Y are correspondingly set to the dimensions of the first accommodating space 310 along the second direction Y, so that the dimensions of the guide unit 400 along the second direction Y are maximized to improve the stability of support and guidance, improve the rigidity and stability of the movement of the output unit 500, and reduce resonance.

[0078] At least one of the mover 210 and the mounting base 300 includes a base 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 base plate is located on both sides of the second direction Y, and its two ends are respectively connected to the two sets of connecting plates. A receiving groove 213 extending along the first direction X is formed between the base plate and the two sets of connecting plates. The second direction Y is perpendicular to the first direction X.

[0079] Specifically, the mover 210 includes a first base 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 spaced apart along the second direction Y. The first base plate 212 has two ends connected to the two sets of first connecting plates 211 along the second direction Y, forming a receiving groove 213 extending along the first direction X between the first base plate 212 and the two sets of first connecting plates 211. Meanwhile, the mounting base 300 includes a second base 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 spaced apart along the second direction Y. The second base plate 330 has two ends connected to the two sets of second connecting plates 320 along the second direction Y, forming a receiving groove 213 extending along the first direction X between the second base plate 330 and the two sets of second connecting plates 320. At this time, the first base plate 212 and the two sets of first connecting plates 211 are connected in a U-shape. The opening of the U-shaped mover 210 faces the mounting plate, allowing the first connecting plates 211 of the mover 210 to extend along the third direction Z on both sides of the drive unit 200 in the second direction Y. The mover 210 tends to wrap around the frame 230 of the drive unit 200 and is connected to the mounting base 300. The second base plate 330 of the mounting base 300 and the two sets of second connecting plates 320 are connected in a U-shape. The opening of the U-shaped mounting base 300 faces the mover 210 and is connected to the mover 210. The receiving groove 213 defined by the mover 210 and the mounting base 300 can be used to install the partial and guide units 400 of the drive unit 200.

[0080] The mover 210 and mounting base 300 structure can achieve stable guidance through a set of guide units 400, which eliminates the need for two sets of guide units 400 in the prior art. This simplifies the structure, reduces costs, and ensures structural stability.

[0081] In the above structure, the receiving groove 213 of the mover 210 can be set only to correspond to the size of the stator 220 and the frame 230, so that the guide unit 400 is received in the receiving groove 213 of the mounting base 300, so that when the drive unit 200 is used as an independent structure, its external structure is a standard square without the protruding first connecting plate 211.

[0082] In another embodiment, the mover 210 includes a first base plate 212 and two sets of first connecting plates 211, which are parallel and spaced apart along the second direction Y. The first base plate 212 has two sides along the second direction Y, with each end connected to one of the two sets of first connecting plates 211. A receiving groove 213 extending along the first direction X is formed between the first base plate 212 and the two sets of first connecting plates 211. The mounting base 300 can be a flat plate structure, in which case the two sets of first connecting plates 211 are connected to the mounting base 300, and the guide unit 400 can also be placed in the receiving groove 213.

[0083] In another embodiment, the mounting base 300 includes a second base plate 330 and two sets of second connecting plates 320, which are parallel and spaced apart along the second direction Y. The second base plate 330 has two sides along the second direction Y, and both ends of the second base plate 330 are connected to the two sets of second connecting plates 320 respectively. A receiving groove 213 extending along the first direction X is formed between the second base plate 330 and the two sets of second connecting plates 320. The mover 210 can be a flat plate structure, in which case the two sets of second connecting plates 320 are respectively connected to the mover 210, and the guide unit 400 can also be disposed in the receiving groove 213.

[0084] In some embodiments, the guide unit 400 includes a slide plate 410 and a slider 420. The slide plate 410 is connected to the mounting base 300, and the slider 420 is connected to the mounting bracket 100. The slider 420 and the slide plate 410 slide in a first direction X. The slide plate 410 of the guide unit 400 is connected to the mounting base 300. When the mover 210 moves to drive the mounting base 300, it can drive the slide plate 410 to move relative to the slider 420, thereby playing a guiding role.

[0085] Furthermore, the dimension of the slide plate 410 along the second direction Y can be set accordingly to match the dimension of the receiving groove 213 along the second direction Y, so that the width of the slide plate 410 is increased as much as possible, thereby giving the guide unit 400 a wider guide rail, which is beneficial to improving the stability of support and guidance.

[0086] In one optional embodiment, the linear motion actuator further includes a first limiting member 600, which is used to constrain the maximum displacement of the guide unit 400 along the first direction X. When the slide plate 410 moves to its maximum position along the first direction X, it can contact the first limiting member 600, thereby avoiding a rigid collision between the slide plate 410 and the mounting bracket 100, which helps to improve the service life of the slide plate 410.

[0087] In one alternative embodiment, the first limiting member 600 may be made of a flexible material with a cushioning effect, or the first limiting member 600 may have a cushioning structure such as a spring.

[0088] In one optional embodiment, the linear motion actuator further includes a second limiting member 700, which is configured to constrain the first output plate 510 to the extreme position of reciprocating motion along the first direction X. That is, the second limiting member 700 is used to constrain the initial position of the first output plate 510 on the mounting bracket 100 and the maximum displacement position of the first output plate 510 moving along the first direction X. This helps to improve the stability of the movement of the first output plate 510, avoids rigid collision between the first output plate 510 and the mounting bracket 100, and also avoids the first output plate 510 moving too far under the action of inertia when moving along the first direction X, which helps to improve safety performance.

[0089] In one alternative embodiment, the second limiting member 700 may be made of a flexible material with a cushioning effect, or the second limiting member 700 may have a cushioning structure such as a spring.

[0090] Specifically, the second limiting member 700 includes a fixing part 710 and a limiting part 720. The fixing part 710 and the limiting part 720 are connected in an L-shape. The fixing part 710 is connected to the mounting bracket 100, and the limiting part 720 is perpendicular to the fixing part 710 and connected to the fixing part 710. In the initial position of the first output plate 510, the limiting part 720 is connected to the side of the fixing part 710 opposite to the output direction, and the side of the limiting part 720 facing the fixing part 710 abuts against the first output plate 510 to prevent the first output plate 510 from moving excessively to the side opposite to the output direction. The output direction is the direction in which the mover 210 moves from the initial position along the first direction X. At the maximum displacement of the first output plate 510 along the output direction, the limiting part 720 is connected to one end of the fixing part 710 along the output direction, and the side of the limiting part 720 facing the fixing part 710 abuts against the first output plate 510, thereby preventing the first output plate 510 from moving too far under the action of inertia when it moves along the first direction X.

[0091] Furthermore, a recess is provided on one side of the mounting bracket 100 where the first output plate 510 is located, the fixing part 710 of the second limiting member 700 is located in the recess, and the limiting part 720 protrudes from the surface of the mounting bracket 100 so that it interacts with the first output plate 510 to achieve the limiting effect.

[0092] Optionally, the linear motion actuator further includes a third limiting member 800, which is used to constrain the initial position of the second output plate 520 moving along the first direction X, thereby preventing the second output plate 520 from colliding with the mounting bracket 100 when it resets to the initial position, which is beneficial to improving the service life of the mounting bracket 100 and the second output plate 520.

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

[0094] In one alternative embodiment, the third limiting member 800 may be made of a flexible material with a cushioning effect, or the third limiting member 800 may have a cushioning structure such as a spring.

[0095] In one embodiment, the linear motion actuator further includes a reset member disposed between the mounting bracket 100 and the mounting base 300. The reset member drives the mounting base 300 to return to its initial position. The reset member facilitates power-off reset of the linear motion actuator, ensuring that the mover 210, slide plate 410, mounting base 300, and output unit 500 return to their initial positions when power is off, thus providing protection and restoration. Simultaneously, during motion, the reset member can reduce vibration and improve stability.

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

[0097] like Figure 1 , Figure 3 as well as Figure 6 The linear motion actuator also includes a force control sensor 900. The force control sensor 900 is connected to the output unit 500 and is configured to measure the contact force between the drive unit 200 and an external workpiece, feeding this contact force back to the drive unit 200 as the main feedback signal for the force control closed loop. This force control sensor 900 is directly integrated into the end of the output unit 500, greatly shortening the force signal transmission path and reducing distortion.

[0098] like Figure 6 and Figure 7 The linear motion actuator also includes a control module 1000. The control module 1000 is electrically connected to the force control sensor 900. The control module 1000 includes an amplifier circuit 1001, a converter 1002, and a drive circuit 1003. The amplifier 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 drive unit 200 as the main feedback signal based on the amplified contact force. The converter 1002 is connected to the drive unit 200 through the drive circuit 1003. The converter 1002 is configured to control the motion state of the drive unit 200 according to the main feedback signal. The servo three-loop information includes position information, speed information, and current information. This control module 1000 integrates the sensor data acquisition, analysis, and feedback into the servo controller through a high-precision force control algorithm, increasing the calculation frequency to 10kHz. Furthermore, based on a lightweight, low-inertia design and high-rigidity motion components, it ensures the timely execution of drive commands.

[0099] The fundamental drawback of the control module 1000 in related technologies lies in its fragmented hardware architecture. Force sensor signals undergo a lengthy, multi-stage processing chain: first, signal amplification and conversion; then, calculation and command issuance by a host computer (such as a PLC), introducing the first delay; next, the command is transmitted to an independent motion controller for processing, and then transmitted again to the servo driver, creating a second delay; finally, the driver executes the command to control the motor output. The entire force control closed loop relies on external bus communication between at least three independent hardware components, with the vast majority of time consumed by the communication bottleneck caused by this physical separation and the accumulated delay from the multi-stage processing.

[0100] Compared to the control methods of the prior art, the highly integrated drive-control architecture of the linear motion actuator control module 1000 in this embodiment fundamentally solves the aforementioned problems in the prior art. Its core feature is that the signal from the force control sensor 900, after amplification, directly enters the high-speed A / D converter 1002 inside the integrated controller. A single high-performance processor uniformly completes everything from signal acquisition and complex model prediction algorithm calculations to real-time calculation of the servo three loops (position, speed, and current loops). All drive commands do not need to pass through any external bus; instead, they are instantly delivered to the drive circuit 1003 on the same circuit board via an internal high-speed bus or direct memory access (DMA). This architectural integration, unified processing, and deep coupling between the algorithm and the underlying drive completely eliminate communication bottlenecks and multi-level delays, achieving fast, deterministic hard synchronization. This increases the control cycle from milliseconds to microseconds in traditional methods, providing a performance foundation for achieving true precision force control.

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

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

[0103] First-order optimization: In a single quadratic programming (QP) or equivalent fast iterative solution, the tracking error, input and input change rate, state and input constraints are considered simultaneously to directly obtain the drive-level control quantities (duty cycle / voltage vector / current reference).

[0104] Embedded feedforward and integration: The feedforward torque / thrust is immediately substituted into the mechanical physical parameters (mass, equivalent inertia, friction, elasticity / damping) as nominal terms of the equality constraints; the integration is internalized into the MPC through state extension or equivalent equality constraints, without an external integrator.

[0105] Strong real-time implementation: By utilizing sparse structures, pre-factoring, warm start-up, and fixed-point / mixed-precision computation, the entire optimization is completed within 50–100 μs.

[0106] Then, the system architecture and signal flow:

[0107] Sensing inputs: force sensor output, position / velocity, current sampling.

[0108] Computational Unit (Softforce Style Control Core): A control unit based on model prediction algorithms, containing: state estimation and parameter update, feedforward calculation, QP problem construction and fast solver.

[0109] Execution output: Control quantity (duty cycle or voltage vector) directed to the drive circuit 1003 / inverter, acting directly on the motor; without going through a cascaded loop.

[0110] Control cycle: 100us–50us.

[0111] In the aforementioned control logic, the predictive model discretizes the motor equivalent voltage equation, inverter dead zone / voltage upper limit, coil inductance / resistance, and transmission chain stiffness-damping-inertia (which may include first- or second-order flexible modes) into a time-domain model. In force control scenarios, the measured external force is incorporated as an exogenous input / constraint.

[0112] State extension includes adding an integral state of the tracking error and an equivalent perturbation state to the state vector to ensure zero steady-state error and suppress low-frequency perturbations.

[0113] The cost function includes minimizing the multi-objective weighted sum within the prediction domain, including position / velocity / force tracking error, phase current amplitude, control increment, and force / current change rate, to balance dynamic performance and actuator wear.

[0114] The constraint set includes: voltage / current saturation, speed / stroke limits, force / acceleration slope limits, and thermal / power constraints; robustness is improved by employing tubular or constraint tightening strategies.

[0115] Feedforward injection includes: calculating nominal torque / thrust (inertia term, gravity / load term, friction / elastic term) in real time based on the physical model, which is used as the nominal input term of the prediction model; and uniformly handling it through equality constraints or cost bias in the optimization process to avoid cascading of external channels.

[0116] Solver and real-time performance include: pre-decomposition using striped Hessian and sparse KKT structures; warm start and rolling horizon shift; selection of fast gradient / active set method / sparse iteration; and deterministic execution time at fixed point or mixed accuracy.

[0117] Parameter Adaptation (Optional): Based on least squares or extended Kalman filtering, friction, stiffness, and load inertia are identified online. Parameter updates are injected slowly through a low-frequency channel to ensure optimization feasibility and timing stability.

[0118] Based on the above control logic, this linear motion actuator does not use a multi-loop PI control ("current-velocity-position"). Both integration and feedforward are embedded within the state and equality / inequality constraints of the MPC, and the same optimizer solves and outputs the execution-level control quantity in one go. This achieves unified constraint optimality, handling all physical and execution constraints in the same optimization problem, avoiding the mismatch of "inner loop saturation, outer loop still integrating" in cascaded architectures. Simultaneously, this linear motion actuator achieves strong real-time closed-loop control, with a sparse and fast solution and code generation path operating stably within a 50-100μs period, adaptable to embedded computing power. This linear motion actuator exhibits direct force control; force sensor signals are incorporated into the prediction model and costs / constraints, forming direct optimal control of force / impedance, rather than indirectly achieved through a velocity / position loop.

[0119] This linear motion actuator eliminates cascaded phase superposition, achieving a controlled closed-loop bandwidth improvement of 30–100% while maintaining constraint feasibility. It boasts steady-state accuracy and disturbance rejection, with integral dimension expansion ensuring zero steady-state error. More robust to load disturbances and frictional uncertainties, the actuator significantly reduces commutation and thermal stress through input rate of change and force rate regularization, making it actuator-friendly. The parameters are physically interpretable, with tuning concentrated on a small number of weights and constraint boundaries; multi-axis / multi-modal extensions are supported.

[0120] The linear motion actuator in this embodiment solves the problem of severe latency caused by the physical separation of multiple independent hardware components (such as PLCs, motion controllers, and servo drives) in traditional control methods through a highly integrated drive-control architecture. In traditional solutions, signals and instructions are repeatedly transmitted between different hardware components, and communication and multi-level processing consume the majority of the control cycle. In contrast, the linear motion actuator in this embodiment integrates force signal acquisition, complex algorithm calculation, and servo drive into a single high-performance processor, with instructions directly driving the motor circuit on the same board via an internal high-speed bus. This integrated, unified, and deeply coupled architecture fundamentally eliminates communication bottlenecks and multi-level latency, achieving rapid synchronization and increasing control response speed by nearly a hundred times. This represents a key technological breakthrough for achieving high-speed, overshoot-free precision force control.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by 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). 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) separating the frame (110) into a second accommodation space (130) and a third accommodation space (140), the second accommodation space (130) and the third accommodation space (140) being arranged in a third direction, the second accommodation space (130) being configured to arrange the driving unit (200), the third accommodation space (140) being configured to arrange the guide unit (400), the mover (210) and the mounting seat (300) being connected on both sides of the partition plate (120) along a second direction. The third direction is perpendicular to the first direction.

2. The linear motion actuator according to claim 1, wherein The mover (210) and the mounting seat (300) are arranged oppositely, and a first accommodation space (310) is defined between the mover (210) and the mounting seat (300), and the guide unit (400) is located in the first accommodation 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 arranged in parallel and spaced apart along a second direction; a bottom plate connected with the two groups of connecting plates at both ends along the second direction, and a receiving groove (213) extending along the first direction is formed between the bottom plate and the two groups of connecting plates, the second direction being perpendicular to 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 in sliding fit 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 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).

6. The linear motion actuator of claim 5, wherein: The output unit (500) further comprises: a second output plate (520) connected at an angle with the first output plate (510).

7. The linear motion actuator of claim 6 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.

8. The linear motion actuator according to any one of claims 1-4, 6-7, 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.

9. The linear motion actuator according to any one of claims 1-4, 6-7, 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).

10. The linear motion actuator of claim 9, 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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