Linear motor module

Abstract

The linear motor module comprises a linear motor base, a sliding table and a plurality of steel balls, guide rail strips are arranged on the outer walls of the two side walls of the linear motor base, protruding parts extending downwards are arranged on the two sides of the sliding table, and two sliding grooves distributed up and down are formed in the inner walls of the protruding parts; part of the steel balls are contained between the first bearing face of one guide rail strip and one sliding groove in one protruding part, and part of the steel balls are contained between the second bearing face of the guide rail strip and the other sliding groove in the protruding part. Part of the steel balls are contained between the first bearing face on the other guide rail strip and one sliding groove in the other protruding part, and part of the steel balls are contained between the second bearing face on the guide rail strip and the other sliding groove in the protruding part. According to the linear motor module, the sliding table and the linear motor base are connected through the four rows of steel balls, and high bearing, high rigidity, stable precision, high fault tolerance and long service life can be achieved.

Description

Technical Field

[0001] This invention relates to the field of linear modules, and particularly to a linear motor module. Background Technology

[0002] In the automation industry, linear modules (such as linear motor modules, lead screw linear modules, and belt linear modules) are among the most commonly used mechanical equipment in automated equipment. Linear modules have different names in different industries, with common names including linear slides, linear tables, electric slides, and robotic arms. A slide is usually installed on a linear module, and other required workpieces are mounted on the slide. A program for forward and reverse rotation of the motor is set (such as for lead screw linear modules and belt linear modules) or a stator / moving structure is set (such as for linear motor modules). This enables the workpiece to move automatically in a cyclical manner, thereby achieving the purpose of mass production and intensive production.

[0003] like Figure 1 In the existing linear module, the bottom 201 of the slide table 200 is nested in the base 100. Arc-shaped guide grooves 202 are provided on the two outer side walls of the bottom 201 of the slide table 200, and arc-shaped guide grooves 101 are provided on the inner walls of the two side walls of the base 100. The bottom 201 of the slide table 200 is connected to the arc-shaped guide grooves 101 on the inner wall of the base 100 by circulating steel balls 300 (ball bearings). The steel balls 300 circulate infinitely in a closed loop, converting the sliding friction between the slide table 200 and the base 100 into rolling friction. While this type of slide table 200, which achieves rolling connection with the base 100 through two rows of steel balls 300 (horizontally), is inexpensive, compact, and lightweight, it has disadvantages in five main aspects: load-bearing capacity, rigidity, stability, resistance to eccentric loads, and installation tolerance. 1. The radial and lateral load-bearing capacity is weak. The two rows of steel balls can only bear pure radial loads well, while the lateral (left and right), anti-radial, and overturning moment load-bearing capacity is very poor and they are prone to deformation. 2. Low rigidity and easy deformation. Since there is only one row of steel balls connecting the bottom 201 of the slide table 200 to the inner wall of the base 100, there are few contact points and the overall rigidity is low. Under heavy load, the elastic deformation is large, the positioning accuracy and repeatability will deteriorate, and the bending moment / torque resistance is weak. It is easy to vibrate under cantilever and off-center load conditions. 3. Poor load-bearing capacity, prone to failure under eccentric load. The two rows of steel balls are in two-point contact. When subjected to combined forces from above, below, left, and right, as well as overturning moments, the force is extremely uneven. One side is prone to overload, and the steel balls are prone to indentation and early fatigue. It is not suitable for scenarios with large eccentric loads such as gantry cranes, cantilever cranes, and multi-axis cutting. 4. Lacking self-aligning capability, it has extremely high requirements for the mounting surface. The two rows of steel balls have virtually no self-aligning ability. If there is even a slight error in the flatness or parallelism of the mounting surface, excessive preload and a sharp increase in friction will occur in some areas. Unilateral wear, sudden drop in lifespan, operational vibration, increased noise, and the two rows of steel balls are completely dependent on the accuracy of the base surface; 5. Poor motion stability and precision retention; weak vibration resistance during high speeds and acceleration / deceleration; prone to micro-vibrations and creep; gaps widen faster after wear; precision decays quickly; and smoothness is poor under long strokes and high speeds. 6. Under the same working conditions, the life is short, the load distribution is uneven, the contact stress is higher, and the fatigue life is lower, especially when there is off-center loading or poor installation; 7. Applicable scenarios are limited. It can only be used in light-load, low-speed, purely radial applications with excellent mounting surfaces (such as 3C, small robotic arms, and micro-devices). It is not suitable for machine tools, heavy automation, gantry cranes, cutting equipment, or equipment with large off-center loads. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a linear motor module to solve at least one of the above-mentioned technical problems.

[0005] According to one aspect of the present invention, a linear motor module is provided, comprising a linear motor base, a slide, and a plurality of steel balls. A stator is provided on the inner bottom of the linear motor base along its length direction, and a mover is provided in the linear motor base and located above the stator. The slide is disposed on the mover and is capable of reciprocating along the length direction of the linear motor base. The linear motor base has guide rails on the outer walls of both side walls, and the slide has downward-extending protrusions on both sides. The inner walls of the protrusions have two vertically arranged grooves. The portion of the guide rail between its top and outer side wall along its length is the first bearing surface, which is arc-shaped. The portion of the guide rail between its bottom and outer side wall along its length is the second bearing surface, which is also arc-shaped. The curvature of both the first and second bearing surfaces is less than the curvature of the steel ball's surface. Some of the steel balls are housed between a first bearing surface on a guide rail and a groove on a protrusion, while other steel balls are housed between a second bearing surface on the guide rail and another groove on the protrusion. Some of the steel balls are housed between a first bearing surface on another guide rail and a groove on another protrusion, while some of the steel balls are housed between a second bearing surface on the guide rail and another groove on the protrusion.

[0006] In this linear motor module, the driver supplies alternating current to the three-phase coil of the mover. The current generates a traveling magnetic field that interacts with the stator's magnetic field, propelling the mover into linear motion. The mover drives a slide to reciprocate along the length of the linear motor base. A protrusion on one side of the slide is connected to a first and second bearing surface on a guide rail on one side wall of the linear motor base via two rows (longitudinally) of steel balls. A protrusion on the other side of the slide is connected to a first and second bearing surface on a guide rail on another side wall of the linear motor base via two rows (longitudinally) of steel balls. This allows the slide to be connected to the outer side of the linear motor base's side wall via four rows of steel balls. The four rows of steel balls have essentially the same load capacity in the four directions (up, down, left, and right), achieving equal load in four directions. The load capacity is 30%–50% higher than that of two rows of steel balls, exhibiting extremely high rigidity and resistance to deformation. Since the curvature of both the first and second bearing surfaces is less than the curvature of the steel ball surface, when the steel ball is stationary on the first / second bearing surface, the steel ball and... The first and second bearing surfaces are in point contact. When the steel ball rolls on the first and second bearing surfaces, the contact points between the steel ball and the first and second bearing surfaces form a line contact, thereby enabling automatic self-alignment of the steel ball and automatic compensation for minor installation errors. It is not demanding on the flatness and parallelism of the mounting surface, has good precision retention, and its positioning accuracy and repeatability are far superior to the two-row steel ball structure. The slide table and the linear motor base are connected by four rows of steel balls to achieve a four-point contact structure, which has extremely strong resistance to bending and overturning moments. It hardly shakes under cantilever and off-center load conditions, and does not jam or wear unevenly. It does not vibrate or crawl under high speed and acceleration / deceleration, and its precision drops slowly. It has a long service life, and the slide table reciprocating motion is stable and has good precision retention. It can be applied to machine tools, engraving and milling machines, gantry cranes, robotic arms, and heavy-duty automated equipment, with a wide range of applications. The linear motor module of this invention, with the slide table and the linear motor base connected by four rows of steel balls, can achieve strong load-bearing capacity, high rigidity, stable precision, high fault tolerance, and long service life.

[0007] Furthermore, the central angle of the first bearing surface on the guide rail is 90 degrees, and the central angle of the second bearing surface on the guide rail is 90 degrees.

[0008] Therefore, this allows the extension line of the stress point of the steel ball on the first bearing surface of the guide rail to intersect with the extension line of the stress point of the steel ball on the second bearing surface of the guide rail, thereby ensuring that both rows of steel balls on each guide rail are under stable stress, allowing the slide to reciprocate smoothly.

[0009] Furthermore, it also includes four reflux valves, with two through holes arranged vertically on the protrusion. A first return valve is located at one end of a protrusion, and a second return valve is located at the other end of the protrusion. A through hole on the protrusion communicates with a groove on the protrusion via the return valve, and another through hole on the protrusion communicates with another groove on the protrusion via the return valve. The third return valve is located at one end of another protrusion, and the fourth return valve is located at the other end of the protrusion. A through hole on the protrusion is connected to a groove on the protrusion through the return valve, and another through hole on the protrusion is connected to another groove on the protrusion through the return valve.

[0010] Therefore, the return valve can connect the through hole on the protrusion with the slide groove to form a closed loop for the steel ball to circulate and roll, ensuring that the slide can travel a long stroke and maintain rolling friction with the linear motor base, high precision, no wear, and no jamming.

[0011] Furthermore, the reflux valve is equipped with two arc-shaped through holes arranged vertically. One end of an arc-shaped through hole is connected to a through hole on the protrusion, and the other end of the arc-shaped through hole is connected to a groove on the protrusion. One end of another arc-shaped through hole is connected to another through hole on the protrusion, and the other end of the arc-shaped through hole is connected to another groove on the protrusion. The arc-shaped through hole can connect the through hole on the protrusion with the sliding groove. As the slide table slides along the length of the linear motor base, the steel balls circulate in the through holes on the protrusion, the arc-shaped through holes on the return valve, and the grooves on the protrusion.

[0012] Therefore, the arc-shaped through hole on the return valve can connect the through hole on the protrusion with the slide groove to form a closed loop for the steel ball to circulate. When the slide table slides along the length of the linear motor base, the steel ball circulates in the through hole on the protrusion, the arc-shaped through hole on the return valve, and the slide groove on the protrusion.

[0013] Furthermore, an annular protrusion is provided at one end of the arc-shaped through hole, and the cavity enclosed by the annular protrusion is connected to the interior of the arc-shaped through hole. The two annular protrusions on the two arc-shaped through holes are respectively inserted into the two through holes on the protrusion.

[0014] Therefore, the reflux unit can be easily inserted and installed on the end of the protrusion through two annular protrusions, achieving precise assembly of the reflux unit and the protrusion.

[0015] Furthermore, the reflux device includes a mounting base and a guide member. The end face of the mounting base is provided with two arc-shaped placement grooves arranged vertically. One side of the guide member is provided with two arched arc-shaped grooves. The two arc-shaped grooves are respectively accommodated in the two arc-shaped placement grooves. The arc-shaped grooves and the arc-shaped placement grooves enclose and form an arc-shaped through hole. An annular protrusion is provided on the other side of the guide member.

[0016] Therefore, the arc-shaped through hole formed by the arc-shaped groove on the guide and the arc-shaped placement groove on the mounting base can connect the through hole on the protrusion with the slide groove to form a closed loop for the steel ball to circulate and roll. The arc-shaped through hole formed by the arc-shaped groove on the guide and the arc-shaped placement groove on the mounting base facilitates the processing and forming of the return flow device.

[0017] Furthermore, it also includes a guide block, with an installation groove on the inner wall of the protrusion, the guide block being placed in the installation groove, and a sliding groove being placed on the guide block.

[0018] Therefore, a groove is machined on the guide block, and the guide block is installed on the inner wall of the protrusion, which facilitates the machining and forming of the groove.

[0019] Furthermore, it also includes an end cap, with accommodating cavities at both ends of the protrusion, a reflux device disposed in the accommodating cavity, and the end cap disposed on the end face of the reflux device away from the protrusion, with the end face of the end cap away from the reflux device flush with the end face of the slide.

[0020] Therefore, the end cap can cover and protect the return flow device. The end face of the end cap away from the return flow device is flush with the end face of the slide table, which makes it less likely for the end cap to interfere with other components.

[0021] Furthermore, the slide has an oil inlet on its side and an oil guide hole on the protrusion that communicates with the oil inlet. The lubricating oil injected from the oil inlet can flow into the guide hole through the gap between the oil guide hole, the return device and the protrusion.

[0022] Therefore, the lubricating oil injected from the oil inlet flows into the through hole through the gap between the oil guide hole, the return device and the protrusion, thereby lubricating the steel balls rolling in the through hole, reducing friction, making the reciprocating motion of the slide smoother, preventing wear of related parts, extending service life, preventing rust and corrosion, and also carrying away heat and cooling down.

[0023] Furthermore, the outer walls of both side walls of the linear motor base are provided with oil collection grooves arranged along the length of the side walls, and the oil collection grooves are located below the guide rails.

[0024] Therefore, the lubricating oil dripping between the steel ball and the guide rail can be collected by the oil collection tank, preventing the lubricating oil from dripping onto the grating ruler located below the oil collection tank. The lubricating oil in the oil collection tank can be cleaned regularly, which is very convenient. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the existing linear module. Figure 2 This is a schematic diagram of the structure of a linear motor module according to the present invention; Figure 3 for Figure 2 The diagram shows the structure of the linear motor module along direction A after the hidden side end cover is shown. Figure 4 for Figure 2 The diagram shows the structure of the slide, return valve, end cap, and steel ball in the linear motor module. Figure 5 for Figure 4 The diagram shows the disassembled structure of the slide, reflux device, and end cap. Figure 6 for Figure 2 The diagram shows the structure of the guide rail, return valve, and end cap in the linear motor module. Figure 7 for Figure 4 A structural schematic diagram of the slide, reflux device, and end cap from another perspective; Figure 8 for Figure 7 The schematic diagram of the cross-sectional structure of the slide, reflux device, and end cap along the BB direction is shown. Figure 9 for Figure 3 A magnified view of the structure at point C in the linear motor module shown; Figure 10 for Figure 3 The diagram shows the interaction between a guide rail and a steel ball in a linear motor module. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0027] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal communication between two elements.

[0028] See Figures 2 to 10 A linear motor module includes a linear motor base 1, a slide 2, multiple steel balls 3, four return valves 4, a guide block 5, and an end cap 6.

[0029] See Figure 2 and Figure 3 A stator 11 is mounted on the inner bottom of the linear motor base 1 along its length. A mover 12 is mounted in the linear motor base 1, with the mover 12 located above the stator 11 and a gap between them. A slide 2 is fixed on the mover 12. Both ends of the linear motor base 1 are open and are respectively equipped with side end covers 102. The driver supplies alternating current to the three-phase coil of the mover 12. The current generates a traveling magnetic field and interacts with the magnetic field of the stator 11, pushing the mover 12 to make linear motion. The mover 12 drives the slide 2 to slide back and forth along the length of the linear motor base 1. The above working principle of the linear motor module is existing technology and is only briefly described here.

[0030] See Figure 2 and Figure 3 Each of the two side walls 101 of the linear motor base 1 is equipped with a guide rail 13, which is arranged along the length of the side wall 101; see reference Figure 6The top and outer wall (the inner wall of the guide rail 13 is fixed to the side wall 101 of the linear motor base 1) of the guide rail 13 along its length direction form an arc transition, and the bottom and outer wall of the guide rail 13 along its length direction also form an arc transition. Specifically, the portion between the top and outer wall of the guide rail 13 along its length direction is the first bearing surface 131, which is arc-shaped, and the portion between the bottom and outer wall of the guide rail 13 along its length direction is the second bearing surface 132, which is also arc-shaped. The first bearing surface 131 and the second bearing surface 132 have the same curvature and the same dimensions. The curvature of both the first bearing surface 131 and the second bearing surface 132 is less than the curvature of the surface of the steel ball 3. The first bearing surface 131 and the top of the guide rail 13 form an arc transition. The first bearing surface 131 and the outer wall of the guide rail 13 (the longitudinal side wall of the guide rail 13 near the annular protrusion 411) form an arc transition. The second bearing surface 132 and the bottom of the guide rail 13 form an arc transition. The second bearing surface 132 and the outer wall of the guide rail 13 (the longitudinal side wall of the guide rail 13 near the annular protrusion 411) form an arc transition. In this embodiment, the central angle of the first bearing surface 131 is 90 degrees and the central angle of the second bearing surface 132 is 90 degrees.

[0031] See Figures 3 to 5 The slide table 2 has downwardly extending protrusions 21 formed on both sides. Two vertically arranged grooves 22 are provided on the inner walls of each protrusion 21. In this embodiment, mounting grooves 24 are formed on the inner walls of each protrusion 21. Two guide rail blocks 5 are respectively fixed in the two mounting grooves 24. The grooves 22 are provided on the guide rail blocks 5, meaning that two vertically arranged grooves 22 are formed on the guide rail blocks 5. A portion of the steel ball 3 is accommodated on the upper outer part of a guide rail 13, i.e., the first bearing surface 131 and a groove on a protrusion 21. Between 22, some steel balls 3 are accommodated in the lower outer part of the guide rail 13, that is, between the second bearing surface 132 and another groove 22 on the protrusion 21; some steel balls 3 are accommodated in the upper outer part of another guide rail 13, that is, between the first bearing surface 131 and a groove 22 on another protrusion 21; some steel balls 3 are accommodated in the lower outer part of the guide rail 13, that is, between the second bearing surface 132 and another groove 22 on the protrusion 21; the protrusion 21 on one side of the slide table 2 passes through two rows ( Figure 3 (Vertically) The steel ball 3 is connected to the first bearing surface 131 and the second bearing surface 132 of the guide rail 13 on one side wall 101 of the linear motor base 1. The protrusion 21 on the other side of the slide table 2 is connected by two rows of ( Figure 3In the longitudinal direction, the steel ball 3 is connected to the first bearing surface 131 and the second bearing surface 132 of the guide rail 13 on the other side wall 101 of the linear motor base 1. The guide rail block 5 is machined to form a groove 22, and the guide rail block 5 is installed on the inner wall of the protrusion 21, which facilitates the machining and forming of the groove 22.

[0032] See Figures 4 to 8 The protrusion 21 has two through holes 23 arranged vertically along its length. A return valve 4 is fixed to one end of the protrusion 21, and a second return valve 4 is fixed to the other end. One through hole 23 on the protrusion 21 communicates with a groove 22 on the protrusion 21 through the return valve 4, and the other through hole 23 on the protrusion 21 communicates with another groove 22 on the protrusion 21 through the return valve 4. A third return valve 4 is fixed. On one end of another protrusion 21, a fourth return valve 4 is fixed on the other end of the protrusion 21. A through hole 23 on the protrusion 21 is connected to a groove 22 on the protrusion 21 through the return valve 4. Another through hole 23 on the protrusion 21 is connected to another groove 22 on the protrusion 21 through the return valve 4. The return valve 4 can connect the through hole 23 on the protrusion 21 with the groove 22 on the protrusion 21 to form a closed loop for the steel ball 3 to circulate.

[0033] In this embodiment, see Figures 4 to 8 The reflux 4 has two arc-shaped through holes 41 arranged vertically. One end of one arc-shaped through hole 41 connects to a through hole 23 on the protrusion 21, and the other end connects to a groove 22 on the protrusion 21. The other arc-shaped through hole 41 connects to another through hole 23 on the protrusion 21, and the other end connects to another groove 22 on the protrusion 21. The arc-shaped through holes 41 on the reflux 4 can connect the through holes 23 on the protrusion 21 with... The slide grooves 22 are connected together to form a closed loop for the steel balls 3 to circulate and roll. The arc-shaped through hole 41, through hole 23, and slide groove 22 are filled with steel balls 3. When the slide table 2 slides along the length direction of the linear motor base 1, the steel balls 3 circulate and roll in the through hole 23 on the protrusion 21, the arc-shaped through hole 41 on the return valve 4, and the slide groove 22 on the protrusion 21. This ensures that the slide table 2 can travel a long stroke and maintain rolling friction with the linear motor base 1, achieving high precision, no wear, and no jamming.

[0034] See Figure 10Since the curvatures of both the first bearing surface 131 and the second bearing surface 132 are less than the curvature of the surface of the steel ball 3, when the upper steel ball 3 is stationary on the first bearing surface 131 of the guide rail 13, the steel ball 3 has point contact with the first bearing surface 131, and the contact point is point D1. When the lower steel ball 3 is stationary on the second bearing surface 132 of the guide rail 13, the steel ball 3 has point contact with the second bearing surface 132, and the contact point is point D2. When the steel ball 3 rolls on the first bearing surface 131 / second bearing surface 132, the contact points between the steel ball 3 and the first bearing surface 131 / second bearing surface 132 are connected to form a line contact, thereby realizing the automatic rolling of the steel ball 3. The self-alignment mechanism automatically compensates for minor installation errors and is not demanding on the flatness and parallelism of the mounting surfaces. However, if the curvature of the first bearing surface 131 and the second bearing surface 132 is the same as the curvature of the steel ball 3's surface, then when the steel ball 3 is stationary on the first bearing surface 131 / second bearing surface 132 on the guide rail 13, the steel ball 3 has line contact with the first bearing surface 131 / second bearing surface 132. When the steel ball 3 rolls on the first bearing surface 131 / second bearing surface 132, the contact lines between the steel ball 3 and the first bearing surface 131 / second bearing surface 132 connect to form an arc-shaped contact. In this case, the steel ball 3 cannot achieve self-alignment and cannot automatically compensate for minor installation errors. Furthermore, see [reference needed]. Figure 6 and Figure 9 Since the central angle of the arc surface between the top and the outer wall of the guide rail 13, i.e., the first bearing surface 131, is 90 degrees, and the central angle of the arc surface between the bottom and the outer wall of the guide rail 13, i.e., the second bearing surface 132, is 90 degrees, this allows the extension line F1 of the force-bearing point of the steel ball 3 on the first bearing surface 131 of a guide rail 13 to be ( Figure 9 As shown) and the extension line F2 of the stress point of the steel ball 3 on the second bearing surface 132 on the guide rail 13. Figure 9 The two rows of steel balls 3 on each guide rail 13 intersect, thus ensuring that the two rows of steel balls 3 on each guide rail 13 are under stable force, so that the slide table 2 can move back and forth smoothly, with good accuracy retention. The positioning accuracy and repeatability are far superior to the two-row steel ball structure.

[0035] See Figure 5 and Figure 6In this embodiment, the return valve 4 includes a mounting base 401 and a guide member 402. Two arc-shaped placement grooves 403 arranged vertically are formed on the end face of the mounting base 401. Two arched arc-shaped grooves 404 are formed on one side of the guide member 402. The guide member 402 is mounted on the mounting base 401. The two arc-shaped grooves 404 on the guide member 402 are respectively accommodated in the two arc-shaped placement grooves 403 on the mounting base 401. The arc-shaped grooves 404 and the arc-shaped placement grooves... The groove 403 encloses and forms an arc-shaped through hole 41. The arc-shaped groove 404 on the guide member 402 and the arc-shaped placement groove 403 on the mounting base 401 enclose the arc-shaped through hole 41, which can connect the through hole 23 on the protrusion 21 with the slide groove 22 to form a closed loop for the steel ball 3 to circulate and roll. The arc-shaped through hole 41 formed by the arc-shaped groove 404 on the guide member 402 and the arc-shaped placement groove 403 on the mounting base 401 facilitates the processing and forming of the return device 4.

[0036] See Figure 6 Each of the two arc-shaped through holes 41 has an annular protrusion 411 at one end. The cavity enclosed by the annular protrusion 411 communicates with the interior of the arc-shaped through hole 41. In this embodiment, the two annular protrusions 411 are disposed on the guide member 402, that is, two annular protrusions 411 are formed on the guide member 402. (See reference...) Figure 5 The two annular protrusions 411 on the reflux 4 are respectively inserted into the two through holes 23 on the protrusion 21. The reflux 4 can be easily inserted and installed on the end of the protrusion 21 through the two annular protrusions 411, so as to achieve precise assembly of the reflux 4 and the protrusion 21.

[0037] See Figure 4 and Figure 5 The two ends of the protrusion 21 are respectively formed with receiving cavities 25. Two return valves 4 are respectively installed in the two receiving cavities 25 at the two ends of one protrusion 21, and two return valves 4 are respectively installed in the two receiving cavities 25 at the two ends of another protrusion 21. Four end caps 6 are respectively installed on the end faces of the four return valves 4 away from the protrusion 21. The end faces of the end caps 6 away from the return valves 4 are flush with the end face of the slide table 2. Screws can be used to pass through the end caps 6 and the mounting base 401 and screw them into the end of the protrusion 21, thereby completing the assembly between the end caps 6, the mounting base 401 and the protrusion 21. The end caps 6 can cover and protect the return valves 4. The end face of the end caps 6 away from the return valves 4 is flush with the end face of the slide table 2, so that the end caps 6 are less likely to interfere with other components.

[0038] See Figure 5The mounting base 401 has a first clearance groove 4011 formed on the end face near the guide rail 13, and the end cover 6 has a second clearance groove 61 formed on the end face near the guide rail 13. The guide rail 13 is accommodated in the first clearance groove 4011 on the mounting base 401 and the second clearance groove 61 on the end cover 6. The guide rail 13 does not contact the mounting base 401 or the end cover 6, thereby preventing interference between the mounting base 401, the end cover 6 and the guide rail 13 during the reciprocating sliding of the slide table 2.

[0039] See Figure 4 and Figure 5 The slide table 2 has an oil inlet 26 formed on its side, and an oil guide hole 27 connected to the oil inlet 26 is formed on the protrusion 21. The lubricating oil injected from the oil inlet 26 can flow into the through hole 23 through the gap between the oil guide hole 27, the mounting base 401 of the return valve 4 and the protrusion 21. The lubricating oil injected from the oil inlet 26 can flow into the through hole 23 through the gap between the oil guide hole 27, the return valve 4 and the protrusion 21, thereby lubricating the steel ball 3 rolling in the through hole 23, reducing friction, making the reciprocating motion of the slide table 2 smoother, preventing wear of related parts, extending service life, preventing rust and corrosion, and also carrying away heat and cooling down.

[0040] See Figure 2 and Figure 3 The outer walls of the two side walls 101 of the linear motor base 1 are each formed with oil collection grooves 14 arranged along the length of the side wall 101. The oil collection grooves 14 are located below the guide rail 13. The grating ruler 10 installed on the side wall 101 is located below the oil collection grooves 14. The lubricating oil dripping from between the steel ball 3 and the guide rail 13 can be collected by the oil collection grooves 14 to prevent the lubricating oil from dripping onto the grating ruler 10 located below the oil collection grooves 14. The lubricating oil in the oil collection grooves 14 can be cleaned regularly, which is very convenient.

[0041] See Figures 2 to 10 In the linear motor module of the present invention, the driver supplies alternating current to the three-phase coil of the mover 12. The current generates a traveling magnetic field and interacts with the stator 11, causing the mover 12 to be pushed to move linearly. The mover 12 drives the slide 2 to slide back and forth along the length of the linear motor base 1. The protrusion 21 on one side of the slide 2 passes through two rows of ( Figure 3 (Vertical) The steel balls 3 are respectively connected to the first bearing surface 131 and the second bearing surface 132 on the guide rail 13 on one side wall 101 of the linear motor base 1. The protrusion 21 on the other side of the slide table 2 is also connected by two rows of ( Figure 3In the longitudinal direction, the steel balls 3 are connected to the first bearing surface 131 and the second bearing surface 132 on the guide rail 13 on the other side wall 101 of the linear motor base 1, so that the slide table 2 is connected to the outside of the side wall 101 of the linear motor base 1 through the four rows of steel balls 3. When the slide table 2 slides along the length direction of the linear motor base 1, the four rows of steel balls 3 circulate and roll in the through holes 23 on the two protrusions 21, the arc-shaped through hole 41 on the return valve 4, and the slide groove 22 on the protrusions 21, respectively. This ensures that the slide table 2 can travel a long stroke and maintain rolling friction with the linear motor base 1, high precision, no wear, and no jamming. Moreover, the extension line F1 of the force point of the steel ball 3 on the first bearing surface 131 of one guide rail 13 ( Figure 9 As shown) and the extension line F2 of the stress point of the steel ball 3 on the second bearing surface 132 on the guide rail 13. Figure 9 The four rows of steel balls 3 intersect (as shown), ensuring that both rows of steel balls 3 on each guide rail 13 are stably stressed, allowing the slide table 2 to reciprocate smoothly. The load capacity of the four rows of steel balls 3 is essentially the same in the four directions (up, down, left, and right), achieving equal load in four directions. The load capacity is 30%–50% higher than that of two rows of steel balls, exhibiting extremely high rigidity and resistance to deformation. Since the curvature of both the first bearing surface 131 and the second bearing surface 132 is less than the curvature of the steel ball 3 surface, when the steel ball 3 is stationary on the first bearing surface 131 / second bearing surface 132, there is point contact between the steel ball 3 and the first bearing surface 131 / second bearing surface 132. When the steel ball 3 rolls on the first bearing surface 131 / second bearing surface 132, the contact points between the steel ball 3 and the first bearing surface 131 / second bearing surface 132 connect to form a line contact, thus achieving... The automatic self-alignment of the steel balls 3 automatically compensates for minor installation errors. It is not demanding on the flatness and parallelism of the mounting surface, and has good precision retention. Its positioning accuracy and repeatability are far superior to the two-row steel ball structure. The slide table 2 and the linear motor base 1 are connected by four rows of steel balls 3 to achieve a four-point contact structure, which has extremely strong resistance to bending and overturning moments. It is almost vibration-free under cantilever and off-center load conditions, and does not jam or wear unevenly. It does not vibrate or crawl under high speed and acceleration / deceleration, and its precision drops slowly. It has a long service life. The reciprocating motion of the slide table 2 is stable and has good precision retention. It can be used in machine tools, engraving and milling machines, gantry cranes, robotic arms, and heavy-duty automated equipment. It has a wide range of applications. The linear motor module of this invention, with the slide table 2 and the linear motor base 1 connected by four rows of steel balls 3, can achieve strong load-bearing capacity, high rigidity, stable precision, high fault tolerance, and long service life.

[0042] The above descriptions are merely some embodiments of the present invention, intended to illustrate the technical means of the present invention, and are not intended to limit the technical scope of the present invention. Any obvious improvements made to the present invention by those skilled in the art in conjunction with existing common knowledge fall within the protection scope of the present invention.

Claims

1. A linear motor module, comprising a linear motor base, a slide, and a plurality of steel balls, wherein a stator is provided on the inner bottom of the linear motor base along its length direction, a mover is provided in the linear motor base and the mover is located above the stator, and the slide is disposed on the mover, the slide being capable of reciprocating along the length direction of the linear motor base, characterized in that, The linear motor base has guide rails on the outer walls of both side walls, and the slide has downward-extending protrusions on both sides. The inner walls of the protrusions have two vertically arranged grooves. The portion of the guide rail between its top and outer side wall along its length is the first bearing surface, which is arc-shaped. The portion of the guide rail between its bottom and outer side wall along its length is the second bearing surface, which is also arc-shaped. The curvature of both the first and second bearing surfaces is less than the curvature of the steel ball's surface. Some of the steel balls are housed between a first bearing surface on a guide rail and a groove on a protrusion, while other steel balls are housed between a second bearing surface on the guide rail and another groove on the protrusion. Some of the steel balls are housed between a first bearing surface on another guide rail and a groove on another protrusion, while some of the steel balls are housed between a second bearing surface on the guide rail and another groove on the protrusion.

2. The linear motor module according to claim 1, characterized in that, The central angle of the first bearing surface on the guide rail is 90 degrees, and the central angle of the second bearing surface on the guide rail is 90 degrees.

3. The linear motor module according to claim 1, characterized in that, It also includes four reflux valves, and the protrusion has two through holes arranged vertically. A first return valve is located at one end of a protrusion, and a second return valve is located at the other end of the protrusion. A through hole on the protrusion communicates with a groove on the protrusion via the return valve, and another through hole on the protrusion communicates with another groove on the protrusion via the return valve. The third return valve is located at one end of another protrusion, and the fourth return valve is located at the other end of the protrusion. A through hole on the protrusion is connected to a groove on the protrusion through the return valve, and another through hole on the protrusion is connected to another groove on the protrusion through the return valve.

4. The linear motor module according to claim 3, characterized in that, The reflux device is provided with two arc-shaped through holes arranged vertically. One end of an arc-shaped through hole is connected to a through hole on the protrusion, and the other end of the arc-shaped through hole is connected to a groove on the protrusion. One end of another arc-shaped through hole is connected to another through hole on the protrusion, and the other end of the arc-shaped through hole is connected to another groove on the protrusion. The arc-shaped through hole can connect the through hole on the protrusion with the sliding groove. As the slide table slides along the length of the linear motor base, the steel balls circulate in the through holes on the protrusion, the arc-shaped through holes on the return valve, and the grooves on the protrusion.

5. The linear motor module according to claim 4, characterized in that, One end of the arc-shaped through hole is provided with an annular protrusion. The cavity enclosed by the annular protrusion is connected to the interior of the arc-shaped through hole. The two annular protrusions on the two arc-shaped through holes are respectively inserted into the two through holes on the protrusion.

6. The linear motor module according to claim 5, characterized in that, The reflux device includes a mounting base and a guide. The mounting base has two arc-shaped placement grooves arranged vertically on its end face. The guide has two arched arc-shaped grooves on one side. The two arc-shaped grooves are respectively accommodated in the two arc-shaped placement grooves. The arc-shaped grooves and the arc-shaped placement grooves enclose and form an arc-shaped through hole. An annular protrusion is provided on the other side of the guide.

7. The linear motor module according to claim 1, characterized in that, It also includes a guide rail block, the inner wall of the protrusion is provided with a mounting groove, the guide rail block is disposed in the mounting groove, and the sliding groove is disposed on the guide rail block.

8. The linear motor module according to any one of claims 3 to 6, characterized in that, It also includes an end cap, with accommodating cavities at both ends of the protrusion, a reflux device disposed in the accommodating cavity, and the end cap disposed on the end face of the reflux device away from the protrusion, with the end face of the end cap away from the reflux device being flush with the end face of the slide table.

9. The linear motor module according to any one of claims 3 to 6, characterized in that, The slide has an oil inlet on its side and an oil guide hole on its protrusion that communicates with the oil inlet. Lubricating oil injected from the oil inlet can flow into the guide hole through the gap between the oil guide hole, the return device and the protrusion.

10. The linear motor module according to claim 1, characterized in that, The outer walls of both side walls of the linear motor base are provided with oil collection grooves arranged along the length of the side walls, and the oil collection grooves are located below the guide rails.

Images