Moving magnet type ZR axis module

Abstract

The invention discloses a moving magnet type ZR axis module which comprises a body and an upper magnet yoke, the body is provided with a coil assembly and a guide rail assembly, the guide rail assembly comprises a guide rail arranged on the body and a sliding block arranged on the guide rail, the upper magnet yoke is connected with the sliding block, and the upper magnet yoke is provided with a magnetic plate assembly corresponding to the coil assembly. The device is driven by moving the magnetic plate, the problem that a drag chain passes through a cable does not need to be solved, the layout is more compact, and the rigidity can be improved through the double-guide-rail design; the motor is simple in structure and more convenient to assemble, the space is saved, the motor body does not need to be filled with glue, the cost of a glue filling jig can be saved, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a moving magnet type ZR axis module. Background Technology

[0002] In automated production, robotic arms are increasingly widely used. In applications involving the gripping of small workpieces, where space is limited, the ZR axis module must be as small as possible. Furthermore, the gripping of small workpieces (such as miniature ICs, especially semiconductor chips with dimensions in the micrometer range) places high demands on the overall structure of the robotic arm and the control of its Z-axis precision, force, and stability. Therefore, the force control precision of the robotic arm's ZR axis module is extremely critical.

[0003] Most existing ZR axis modules use linear motors for driving in the Z-axis direction. Linear motors are mainly divided into coils (movers) and magnets (stators). Conventional linear motors move the coils, so it is necessary to connect drag chains or FPC cables to the movers. However, drag chains and cables can interfere with the movement of the movers, thus affecting the force control accuracy of the ZR axis module. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a moving magnet type ZR axis module to improve the force control accuracy of the ZR axis module.

[0005] To address the aforementioned technical problems, this invention provides a moving-magnet ZR shaft module, comprising a body and an upper magnetic yoke. The body is provided with a coil assembly and a guide rail assembly. The guide rail assembly includes a guide rail disposed on the body and a slider disposed on the guide rail. The upper magnetic yoke is connected to the slider, and the upper magnetic yoke is provided with a magnetic plate assembly corresponding to the coil assembly.

[0006] Furthermore, there are two sets of guide rail assemblies, which are respectively arranged on the left and right sides of the coil assembly, and the upper magnetic yoke is connected to the slider of the two sets of guide rail assemblies.

[0007] Furthermore, the coil assembly consists of multiple coils arranged side by side, and the magnetic plate assembly consists of several magnetic plates arranged side by side on the upper yoke.

[0008] Furthermore, the number of magnetic plates is greater than the number of coils.

[0009] Furthermore, the length of the magnetic plate assembly is greater than the length of the coil assembly.

[0010] Furthermore, the coil is semi-circular racetrack-shaped, and the width of the magnetic plate on the left and right is equal to the length of the corresponding straight section of the coil.

[0011] Furthermore, the main body is equipped with a PCB board, and the coil assembly is integrated on the PCB board.

[0012] Furthermore, the coil of the coil assembly is attached to the PCB board using thermally conductive adhesive.

[0013] Furthermore, the main body is provided with a lower magnetic yoke, and the coil assembly is integrated on the lower magnetic yoke.

[0014] The beneficial effects of this invention are as follows: This invention is driven by a moving magnetic plate, eliminating the need to consider the issue of cable drag chains, resulting in a more compact layout. The dual guide rail design can improve rigidity. This invention has a simple structure, is easier to assemble, saves space, and the motor body does not require potting, thus saving the cost of potting fixtures and reducing costs. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the moving magnet ZR shaft module according to an embodiment of the present invention.

[0016] Figure 2 This is an exploded view of the moving magnet ZR shaft module according to an embodiment of the present invention.

[0017] Figure 3 This is a three-dimensional structural diagram of the upper magnetic yoke according to an embodiment of the present invention.

[0018] Explanation of icon numbers 1. Body, 2. Upper yoke, 3. Guide rail, 4. Slider, 5. Coil, 6. Magnetic plate, 7. Lower yoke, 8. PCB board. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0022] Please refer to Figures 1-3The moving-magnet ZR axis module of this invention includes a body and an upper magnetic yoke. The body is equipped with a coil assembly and a guide rail assembly. The guide rail assembly includes a guide rail on the body and a slider on the guide rail. The upper magnetic yoke is connected to the slider, and a magnetic plate assembly corresponding to the coil assembly is located at the bottom of the upper magnetic yoke. In this invention, the coil (moving element) is stationary, the coil assembly is directly fixed to the body, and the leads on the coil are directly connected to the PCB board and driven by the magnetic plate (stator). This solves the problem of excessive current required by FPC cabling for linear motors in the Z-axis direction in traditional ZR axis modules, eliminating the need for cable chains and overhead cables. Compared to directly mounting the Z-axis linear motor on the body, the structure of this invention is more compact.

[0023] In one implementation, the guide rail assembly has two sets, which are respectively arranged on the left and right sides of the coil assembly. The upper magnetic yoke is connected to the slider of the two sets of guide rail assemblies. The double guide rails can increase the rigidity of the motor body.

[0024] In one implementation, the coil assembly consists of multiple coils arranged side by side, and the magnetic plate assembly consists of several magnetic plates arranged side by side on the upper yoke. The smaller the spacing between the coils, the better; generally, 0.5 mm to 1 mm is sufficient to avoid interference. The spacing between the magnetic plates is approximately 0.5 mm.

[0025] In one implementation, the number of magnets is greater than the number of coils. The length of the magnet assembly is greater than the length of the coil assembly. For example, four magnets can be paired with three coils.

[0026] In one implementation, the coil is shaped like a semi-circular racetrack, and the width of the magnetic plate is equal to the length of the corresponding straight section of the coil. That is, the width of the coil at the middle straight section is the same as the width of the magnetic plate.

[0027] The main body has a lower magnetic yoke, and the coil assembly is integrated on the lower magnetic yoke. The main body has a PCB board, and the coil assembly is integrated on the PCB board. Alternatively, the main body has a lower magnetic yoke, the coil assembly is integrated on the lower magnetic yoke, and the coil leads are then connected to the PCB board.

[0028] In one implementation, the coil of the coil assembly is glued to the PCB board with thermally conductive adhesive, eliminating the need for epoxy resin potting as in conventional motors. This ensures heat dissipation and allows for a more compact structure. Existing linear motors use epoxy resin potting, requiring a potting fixture for each motor model, and these fixtures are very expensive.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A moving magnet ZR shaft module comprising a body, characterized in that, The upper magnetic yoke is connected with the sliders of the two rail assemblies, and the magnetic plate assembly corresponding to the coil assembly is arranged on the upper magnetic yoke.

2. The moving magnet ZR shaft module of claim 1, wherein, The two rail assemblies are arranged on the left and right sides of the coil assembly respectively, and the upper magnetic yoke is connected with the sliders of the two rail assemblies.

3. The moving magnet ZR shaft module of claim 1, wherein, The coil assembly is composed of a plurality of coils arranged side by side, and the magnetic plate assembly is composed of a plurality of magnetic plates arranged side by side on the upper magnetic yoke.

4. The moving magnet ZR shaft module of claim 3, wherein, The number of magnetic plates is greater than the number of coils.

5. The moving magnet ZR shaft module of claim 3, wherein the magnet is a cylindrical magnet. The length of the magnetic plate assembly is greater than the length of the coil assembly.

6. The moving magnet ZR shaft module of claim 3, wherein, The coil is a semicircular racetrack shape, and the left and right widths of the magnetic plate are equal to the length of the corresponding straight section of the coil.

7. The moving magnet ZR shaft module of claim 1, wherein, A PCB board is arranged on the body, and the coil assembly is integrated on the PCB board.

8. The moving magnet ZR shaft module of claim 7, wherein, The coils of the coil assembly are pasted on the PCB board through heat-conducting glue.

9. The moving magnet ZR shaft module of claim 1, wherein, A lower magnetic yoke is arranged on the body, and the coil assembly is integrated on the lower magnetic yoke.

Images