An inline linear module

Abstract

This application relates to an embedded linear module, specifically in the field of driving device technology. The driving device includes a main body, a slide block, and a driving mechanism. The slide block is slidably connected to the main body. The driving mechanism drives the slide block to slide. The main body also includes a calibration detection module and a control module. The calibration detection module detects the specific position of the slide block on the main body. The control module, based on the position data detected by the calibration detection module, controls the driving mechanism to move the slide block and adjust it to a specified position. This application effectively ensures the sliding accuracy of the slide block.

Description

Technical Field

[0001] This application relates to the field of drive device technology, and in particular to an embedded linear module. Background Technology

[0002] With the continuous development of society and economy and the increasing level of science and technology, my country's industry is also booming. Linear modules, also known as Cartesian robots or linear slides, are automated motion units that can drive objects to move along a straight line. They are characterized by high positioning accuracy, fast movement speed, and lightweight structure, and are therefore often used in photovoltaic equipment, loading and unloading robots, gluing equipment, and other fields. Linear modules are classified into three types according to their driving method: synchronous belt type, ball screw type, and linear motor type. Linear motor type linear modules are also known as embedded linear modules.

[0003] Regarding the aforementioned technologies, although the driving device in the embedded linear module can drive the slide on the guide rail to slide, some embedded linear modules only control the sliding accuracy of the slide by controlling the driving device alone. When the slide accelerates or decelerates, the actual position of the slide after sliding often deviates from the specified position due to its own inertia, resulting in positional errors of the slide. This can easily lead to a decrease in the sliding accuracy of the slide after long-term use, so improvements are needed. Summary of the Invention

[0004] To ensure the sliding accuracy of the slide block, this application provides an embedded linear module.

[0005] This application provides an embedded linear module, which adopts the following technical solution: An embedded linear module includes a main body, a slide block, and a drive mechanism. The slide block is slidably connected to the main body. The drive mechanism is used to drive the slide block to slide. The main body is also provided with a calibration detection module and a control module. The calibration detection module is used to detect the specific position of the slide block on the main body. The control module is used to control the drive mechanism to drive the slide block to slide and adjust the slide block to a specified position based on the specific position data detected by the calibration detection module.

[0006] By adopting the above technical solution, compared with the prior art, which only controls the driving device to control the sliding accuracy of the slide, the actual position of the slide after sliding is easily deviated from the designated position due to its own inertia, resulting in positional errors and reduced sliding accuracy after long-term use. This application, through the setting of a calibration detection module and a control module, enables the calibration detection module to detect the specific position of the slide on the main body. This allows the control module to control the driving mechanism to move the slide in real time based on the specific position data detected by the calibration detection module, and adjust the position of the slide to the designated position, thereby reducing the positional error after sliding and ensuring the sliding accuracy of the slide after long-term use.

[0007] Preferably, the main body is further provided with a limit detection module, which is communicatively connected to the control module. The limit detection module is used to detect whether the slide has slid to the end of the main body. The control module is used to control the drive mechanism to stop driving the slide when the limit detection module detects that the slide is close to the end of the main body.

[0008] By adopting the above technical solution and setting the limit detection module, the limit detection module can detect whether the slide is close to the end of the main body when it slides. When the slide is close to the end of the main body, the control module can control the drive mechanism to stop driving the slide, thereby reducing the probability of the slide colliding with the end of the main body, thus effectively ensuring the service life of the slide and also ensuring the sliding accuracy of the slide.

[0009] Preferably, the main body is also provided with an early warning module, which is communicatively connected to the control module. The control module is used to control the early warning module to emit an early warning light when the limit detection module detects that the slide has slid to the end of the main body.

[0010] By adopting the above technical solution and setting the early warning module, when the limit detection module detects that the slide has slid to the end of the main body, the control module can control the early warning module to emit an early warning light, so that relevant personnel can know that the slide has collided or malfunctioned, realize the reminder of collision and malfunction, and enable relevant personnel to troubleshoot the fault of the linear module in a timely manner.

[0011] Preferably, the calibration and detection module includes a grating ruler and a reading head. The reading head and the drive mechanism are both communicatively connected to the control module. The grating ruler is disposed on the main body and extends in the same direction as the sliding direction of the slide. The reading head is disposed on the slide and is used to read the specific scale at its position in the extension direction of the grating ruler. The control module is used to control the drive mechanism to move the slide based on the data read by the reading head and adjust the slide to a specified position.

[0012] By adopting the above technical solution and setting the calibration and detection module, the reading head can read the specific scale at its position in the extension direction of the grating ruler during the sliding process of the slide block, and feed the read data back to the control module. The control module can receive the specific scale data, and then determine the actual position data of the slide block based on the scale data. Based on the obtained actual position data, the control mechanism is used to drive the slide block to slide and adjust the slide block to the specified position. This effectively realizes the control of the slide block position, reduces the position error after the slide block slides, and ensures the sliding accuracy of the slide block after long-term use.

[0013] Preferably, the main body is also provided with a dustproof mechanism, which includes a dustproof belt and an adapting roller. The two ends of the dustproof belt are respectively connected to both sides of the slide block along its own sliding direction. The number of adapting rollers is set to several, and they are respectively located on both sides of the main body along the sliding direction of the slide block. Each adapting roller is rotatably connected to the main body and is used to guide the dustproof belt so that one side of the dustproof belt is located below the slide block.

[0014] By adopting the above technical solution, the dustproof mechanism is designed so that the dustproof belt can move with the sliding block, thereby shielding the sliding groove on the main body. This effectively reduces the probability of dust and debris entering the interior of the main body through the sliding groove, ensuring the cleanliness inside the main body and thus guaranteeing the driving effect and service life of the drive mechanism.

[0015] Preferably, the main body is provided with cleaning mechanisms at both ends along the sliding direction of the slide block. The cleaning mechanism includes a cleaning brush, a moving component, and a cleaning box. The bottom of the cleaning brush is provided with bristles, and the bristles abut against the surface of the dustproof belt. The cleaning box is provided on the main body and has an opening at the top for containing cleaning liquid. The moving component is used to drive the cleaning brush to move, so that the bristles at the bottom of the cleaning brush are immersed in the cleaning liquid in the cleaning box.

[0016] By adopting the above technical solution and configuring the cleaning mechanism, the bristles on the cleaning brush can contact the surface of the dustproof belt as it moves with the slide, thereby brushing off the dust and debris on the surface of the dustproof belt and cleaning it. This reduces the probability of dust and debris on the surface of the dustproof belt entering the main body during the movement of the dustproof belt, thus effectively ensuring the cleanliness of the main body. At the same time, the presence of the cleaning box and the moving component allows the moving component to drive the cleaning brush to slide, so that the bristles on the cleaning brush enter the opening of the cleaning box and are immersed in the cleaning solution, thereby cleaning the bristles and effectively ensuring the subsequent use effect of the bristles.

[0017] Preferably, the cleaning brush is further provided with a cleaning frame, one end of which extends toward the side close to the bristles with a plurality of cleaning sections, each of which passes through the gap between the bristles and abuts against the side wall of the bristles. The cleaning brush is also provided with a moving mechanism for driving the cleaning frame away from the cleaning brush along the extension direction of the bristles.

[0018] By adopting the above technical solution, the cleaning rack and the moving mechanism are configured so that when the cleaning rack moves above the cleaning box, the moving mechanism can drive the cleaning rack to move, thereby allowing the cleaning part on the cleaning rack to remove the impurities adhering to the bristles during the contact process, thus reducing the amount of debris adhering to the bristles, effectively ensuring the subsequent cleaning effect of the bristles, and ensuring the use effect of the bristles.

[0019] Preferably, the moving mechanism includes a sliding frame, a drive frame, a reversing gear set, and a contact frame. Both the sliding frame and the drive frame are slidably connected to the cleaning brush, and the sliding direction of the sliding frame is the extension direction of the brush bristles. The cleaning frame is disposed on the sliding frame, and the contact frame is disposed above the opening of the cleaning box and located on the displacement path of the drive frame when it moves together with the cleaning brush. The drive frame drives the sliding frame to slide through the reversing gear set.

[0020] By adopting the above technical solution and configuring the moving mechanism, the drive frame can gradually come into contact with the abutment frame as the drive frame moves with the cleaning brush, thereby causing the drive frame to slide relative to the cleaning brush. The drive frame then drives the sliding frame to slide through the reversing gear set, which in turn drives the cleaning frame to slide, thus driving the cleaning frame. This effectively realizes the linkage between the cleaning frame and the cleaning brush, saving the drive mechanism for moving the cleaning frame.

[0021] Preferably, the cleaning frame is slidably connected to the sliding frame, and the sliding direction is different from the sliding direction of the sliding frame. The cleaning brush is also provided with a linkage frame, one end of which is rotatably connected to the cleaning brush and the other end of which is rotatably connected to the cleaning frame.

[0022] By adopting the above technical solution and configuring the linkage frame, the linkage frame can rotate during the displacement of the cleaning frame along with the sliding frame. This rotation causes the cleaning frame to slide relative to the sliding frame, thereby releasing the cleaning frame from contact with the bristles from the side. When returning to the initial position, the cleaning part on the cleaning frame can enter the gap between the bristles from the side wall of the bristles. This reduces the probability of the bristle ends bending or twisting after contacting the cleaning frame when the cleaning frame is reset, ensuring the subsequent use effect of the bristles.

[0023] Preferably, the movable component includes a movable frame and a movable element. The number of movable frames is set to several. One end of each of the movable frames is rotatably connected to the cleaning brush, and the other end is rotatably connected to the main body. The movable element is used to drive one of its movable frames to rotate relative to the main body.

[0024] By adopting the above technical solution and specifically setting the moving components, the moving parts can drive the moving frames to rotate, thereby causing several moving frames to drive the cleaning brushes to move and change the position of the cleaning brushes in the height and horizontal directions. This allows the bristles at the bottom of the cleaning brushes to move smoothly into the cleaning box, effectively ensuring the displacement effect of the cleaning brushes.

[0025] In summary, this application includes at least one of the following beneficial technical effects: The configuration of the calibration and detection module and the control module enables the calibration and detection module to detect the specific position of the slide on the main body. This allows the control module to control the drive mechanism to move the slide in real time based on the specific position data detected by the calibration and detection module, and adjust the position of the slide so that the slide is adjusted to the specified position, thereby reducing the position error after the slide moves and ensuring the sliding accuracy of the slide after long-term use. The limit detection module is designed to detect whether the slide is close to the end of the main body during sliding. When the slide is close to the end of the main body, the control module can control the drive mechanism to stop driving the slide, thereby reducing the probability of the slide colliding with the end of the main body, thus effectively ensuring the service life of the slide and the sliding accuracy of the slide. The cleaning mechanism is designed so that as the dustproof belt moves with the slide, the bristles on the cleaning brush can contact the surface of the dustproof belt, thereby brushing off the dust and debris on the surface of the dustproof belt, cleaning the dustproof belt, and reducing the chance of dust and debris on the surface of the dustproof belt entering the main body during the movement of the dustproof belt. This effectively ensures the cleanliness of the main body. At the same time, the presence of the cleaning box and the moving component allows the moving component to drive the cleaning brush to slide, so that the bristles on the cleaning brush enter the opening of the cleaning box and are immersed in the cleaning solution, cleaning the bristles and effectively ensuring the subsequent use of the bristles. Attached Figure Description

[0026] Figure 1 This is a schematic diagram illustrating the overall embedded linear module in Embodiment 1 of this application.

[0027] Figure 2 This is a logic block diagram used in Embodiment 1 of this application to illustrate the electrical connection of the control module.

[0028] Figure 3 This is a schematic diagram illustrating the structure of the digital reader in Embodiment 1 of this application.

[0029] Figure 4 This is a schematic diagram illustrating the structure of the induction sheet in Embodiment 1 of this application.

[0030] Figure 5 This is a schematic diagram illustrating the overall embedded linear module in Embodiment 2 of this application.

[0031] Figure 6 This is a structural schematic diagram illustrating the dustproof mechanism in Embodiment 2 of this application.

[0032] Figure 7 This is a structural schematic diagram illustrating the moving component in Embodiment 2 of this application.

[0033] Figure 8 This is a schematic diagram illustrating the structure of the reversing gear set in Embodiment 2 of this application.

[0034] Explanation of reference numerals in the attached drawings: 1. Main body; 2. Slide; 21. Sensor plate; 3. Drive mechanism; 4. Calibration and detection module; 41. Grating ruler; 42. Digital reading head; 5. Control module; 6. Limit detection module; 7. Early warning module; 8. Dustproof mechanism; 81. Dustproof belt; 82. Adaptation roller; 9. Cleaning mechanism; 91. Receiving box; 92. Cleaning brush; 93. Moving component; 931. Moving frame; 932. Moving part; 94. Cleaning box; 95. Cleaning frame; 951. Cleaning section; 10. Moving mechanism; 101. Sliding frame; 102. Drive frame; 103. Reversing gear set; 1031. Rack; 1032. Gear; 104. Abutment frame; 105. Linkage frame. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0036] Example 1

[0037] Embodiment 1 of this application discloses an embedded linear module. (Refer to...) Figure 1 and Figure 2 The embedded linear module includes a main body 1, a slide 2, and a drive mechanism 3. The slide 2 is slidably connected to the main body 1, and the drive mechanism 3 is used to drive the slide 2 to slide. The main body 1 is also equipped with a calibration detection module 4 and a control module 5. The calibration detection module 4 is used to detect the specific position of the slide 2 on the main body 1, and the control module 5 is used to control the drive mechanism 3 to drive the slide 2 to slide and adjust the slide 2 to a specified position based on the specific position data detected by the calibration detection module 4.

[0038] Reference Figure 1 and Figure 2 The slide block 2 is slidably connected to the main body 1 via a slide rail, and the sliding direction is along the length direction of the main body 1. The main body 1 also has a sliding groove for the slide block 2 to slide in. In this embodiment, the drive mechanism 3 is a linear motor, which is fixedly installed inside the main body 1 and used to drive the slide block 2 to slide along the length direction of the main body 1. A mover is disposed on the slide block 2 so that the stator disposed on the main body 1 can drive the slide block 2 to slide. This linear motor is prior art and will not be described in detail here.

[0039] Reference Figure 1 , Figure 2 and Figure 3 The calibration and detection module 4 includes a grating ruler 41 and a reading head 42. The grating ruler 41 is fixedly installed on the side wall of the main body 1, and its extension direction is the length direction of the main body 1. The reading head 42 is fixedly installed on the side wall of the slide 2 by a bracket, and its reading end faces the scale display end of the grating ruler 41. In this embodiment, the control module 5 is set as an industrial motion controller, and the reading head 42 and the drive mechanism 3 are both communicatively connected to the industrial motion controller.

[0040] Reference Figure 2 and Figure 3The digital reading head 42 is used to read the scale at the position directly opposite the grating ruler 41 and to feed back the read data to the industrial motion controller. The industrial motion controller receives the data fed back by the digital reading head 42. The industrial motion controller also stores a preset error value. The industrial motion controller calculates the difference between the position data read by the digital reading head 42 and the pre-specified position data (i.e., the predetermined data after the slide block 2 has slid), and takes the absolute value of the difference to obtain the absolute error value. The obtained absolute error value is then compared with the preset error value.

[0041] Reference Figure 2 and Figure 3 When the absolute value of the error is greater than the preset error value, the industrial motion controller controls the drive mechanism 3 to move the slide 2 forward or backward based on the sign of the difference, thereby moving it closer to the predetermined position. Afterward, the data reader 42 continues to read, causing the industrial motion controller to repeat the difference and comparison steps until the absolute value of the error is less than or equal to the preset error value, thus causing the slide 2 to move to the designated position.

[0042] Reference Figure 1 , Figure 2 and Figure 4 The main body 1 is also provided with a limit detection module 6 and an early warning module 7. In this embodiment, the limit detection module 6 is configured as two sets of inductive proximity sensors. Both sets of inductive proximity sensors are fixedly installed on the side wall of the main body 1 away from the grating ruler 41, and are located at the ends of the main body 1 in the length direction.

[0043] Reference Figure 1 , Figure 2 and Figure 4 Each group contains two inductive proximity sensors, distributed along the length of the main body 1. A sensing element 21, made of metal, is bolted to the side wall of the slide 2, which protrudes from the main body 1 and is located away from the data reader 42. Each inductive sensor detects whether the sensing element 21 has entered its detection area, converts the detected result into an electrical signal, and feeds it back to the industrial motion controller.

[0044] Reference Figure 1 , Figure 2 and Figure 4 When the state of the inductive sensor changes (i.e., when the sensing element 21 enters its own detection area), the industrial motion controller controls the drive mechanism 3 to stop immediately, thereby reducing the probability of the slide 2 moving to the end of the main body 1. In this embodiment, buffer blocks are provided at both ends of the main body 1 along its length. These buffer blocks are made of rubber to cushion the slide 2 after contact with it.

[0045] Reference Figure 1 and Figure 2 In this embodiment, the warning module 7 is configured as an industrial signal light, which is fixedly installed on the main body 1 and communicatively connected to the industrial motion controller. When the state of an inductive sensor near the end of the main body 1 changes (i.e., when the sensing element 21 is detected to enter its own detection area), the industrial motion controller determines that the slide 2 has moved to the end of the main body 1. At this time, the industrial motion controller controls the industrial signal light to work, instead of emitting a warning light, so that relevant personnel can detect the fault.

[0046] Reference Figure 1 In this embodiment, the main body 1 is also provided with an air nozzle. One end of the air nozzle is connected to a cavity inside the main body 1, and the other end is connected to a vacuum pump, so that the vacuum pump can extract dust from inside the main body 1, thereby ensuring the cleanliness of the main body 1. In this embodiment, the main body 1 is also provided with a dustproof steel belt, which is used to cooperate with the slide block 2 to seal the slide groove on the main body 1. Sealing the slide groove with a dustproof steel belt is prior art, so it will not be described in detail here.

[0047] The implementation principle of an embedded linear module in Embodiment 1 of this application is as follows: During the sliding process of the slide block 2 driven by the control module 5, when the absolute value of the difference between the scale data read by the digital reader 42 and the pre-specified position data (i.e., the predetermined data after the slide block 2 has slid) is greater than a preset error value, the industrial motion controller controls the drive mechanism 3 to drive the slide block 2 to slide forward or backward based on the sign of the difference, thereby moving it closer to the predetermined position. Afterward, the digital reader 42 continues to read, causing the industrial motion controller to repeat the difference and comparison steps until the absolute value of the error is less than or equal to the preset error value, thereby causing the slide block 2 to move to the designated position.

[0048] Example 2

[0049] The difference between Embodiment 2 and Embodiment 1 in this application is that: (Refer to...) Figure 5 and Figure 6 The main body 1 is also equipped with a dustproof mechanism 8, which includes a dustproof belt 81 and an adapting roller 82. One end of the dustproof belt 81 is fixedly connected to one side of the slide block 2 along the length of the main body 1, and the other end extends toward the end of the main body 1 and bends downward, so that the extension direction is reversed. After reversing, it continues to extend, passing through the bottom of the slide block 2 and reaching the other end of the main body 1. After reaching the other end of the main body 1, this end of the dustproof belt 81 bends upward and extends, so that the extension direction is corrected, and it is fixedly connected to the other side of the slide block 2, thereby shielding the groove on the main body 1.

[0050] Reference Figure 5 and Figure 6The number of adapting rollers 82 is set to two, and the two adapting rollers 82 are respectively located at the bend of the dustproof belt 81, thereby guiding the bend of the dustproof belt 81. Both ends of each adapting roller 82 are rotatably connected to the main body 1 through bearings.

[0051] Reference Figure 5 and Figure 7 The main body 1 has cleaning mechanisms 9 at both ends along the sliding direction of the slide block 2. Each cleaning mechanism 9 includes a receiving box 91, a cleaning brush 92, a moving component 93, and a cleaning box 94. The receiving box 91 is fixedly installed on the top of the main body 1 and has an opening at the bottom for the bottom of the cleaning brush 92 to pass through. Each moving component 93 includes a moving frame 931 and a moving part 932. Each moving component 93 has two sets of moving frames 931, which are located on opposite sides of the corresponding cleaning brush 92.

[0052] Reference Figure 5 and Figure 7 Each group contains two movable frames 931, which are of equal length and arranged in parallel. One end of each movable frame 931 is rotatably connected to the corresponding cleaning brush 92 via a pin, and the other end is rotatably connected to the receiving box 91 via a pin. In this embodiment, the movable component 932 is configured as a servo motor, which is fixedly mounted on the side wall of the receiving box 91. The output shaft passes through the receiving box 91 and is fixedly connected to the end of one of the movable frames 931 that is rotatably connected to the receiving box 91. The rotation axis of the output shaft is the same as the rotation axis of the corresponding movable frame 931.

[0053] Reference Figure 5 and Figure 7 The bottom of the cleaning brush 92 extends downwards with several bristles, each bristle abutting the surface of the dustproof strip 81. The top of the cleaning box 94 is open and contains cleaning fluid for soaking the bristles. The cleaning box 94 is fixedly installed inside the receiving box 91. In this embodiment, the top of the receiving box 91 may also be open and equipped with a cover to close the opening, allowing personnel to replace the cleaning fluid in the cleaning box 94 or clean the cleaning box 94 by opening the cover.

[0054] Reference Figure 5 , Figure 7 and Figure 8The cleaning brush 92 is also equipped with a cleaning frame 95 and a moving mechanism 10. Each moving mechanism 10 includes a sliding frame 101, a drive frame 102, a reversing gear set 103, and an abutment frame 104. In this embodiment, the number of abutment frames 104, drive frames 102, and reversing gear sets 103 are all two, and each is located at one end of the corresponding cleaning brush 92 along its length. Each abutment frame 104 is fixedly installed inside the receiving box 91 and is located directly above the opening of the cleaning box 94.

[0055] Reference Figure 7 and Figure 8 Each drive frame 102 is slidably connected to the side wall of the corresponding cleaning brush 92 via a slide rail, and the sliding direction is the height direction of the cleaning brush 92. One end of each drive frame 102 extends towards the cleaning box 94, so that the corresponding abutment frame 104 is located on its own displacement path as it moves with the cleaning brush 92.

[0056] Reference Figure 7 and Figure 8 In this embodiment of the application, a reset pressure spring is also provided above the abutment frame 104. The pressure spring is sleeved on the end of the cleaning brush 92, with its bottom end abutting against the top of the abutment frame 104 and its top end abutting against the top of the cleaning brush 92, so as to allow the abutment frame 104 to return to the initial position by its own elasticity.

[0057] Reference Figure 7 and Figure 8 The reversing gear set 103 includes two racks 1031 and one gear 1032. One rack 1031 is fixedly connected to the corresponding drive frame 102, and the other rack 1031 is fixedly connected to the sliding frame 101. The gear 1032 is located between the two corresponding racks 1031 and meshes with both racks 1031. The sliding frame 101 is slidably connected to the cleaning brush 92 via a slide rail, and the sliding direction is the height direction of the cleaning brush 92.

[0058] Reference Figure 7 and Figure 8 The top of the cleaning frame 95 is fitted onto the sliding frame 101 and slidably connected to it, with the sliding direction being the width direction of the sliding frame 101. The bottom of the cleaning frame 95 extends downward, and a plurality of cleaning portions 951 extend from the bottom towards the side near the bristles of the cleaning brush 92. The plurality of cleaning portions 951 are distributed along the length direction of the cleaning frame 95 and are all integrally formed with the cleaning frame 95. The end of each cleaning portion 951 extends into the gap between the bristles and abuts against the sidewall of the bristles.

[0059] Reference Figure 7 and Figure 8The cleaning frame 95 is also equipped with a linkage frame 105. In this embodiment, the number of linkage frames 105 is set to two, and the two linkage frames 105 are respectively located on opposite sides of the cleaning brush 92 along its own length. One end of each linkage frame 105 is rotatably connected to the top of the cleaning brush 92 by a pin, and the other end is rotatably connected to the top of the cleaning frame 95 by a pin, so as to drive the sliding of the cleaning frame 95.

[0060] Reference Figure 5 , Figure 7 and Figure 8 In the initial state, the bristles at the bottom of the cleaning frame 95 are in contact with the surface of the dustproof belt 81. At this time, the cleaning brush 92 is located on one side of the cleaning box 94, the drive frame 102 is located at the bottom of its own sliding path, the sliding frame 101 is located at the top of its own sliding path, and the cleaning frame 95 is located on the side of its own sliding path closer to the bristles.

[0061] Reference Figure 7 and Figure 8 As the moving part 932 drives the corresponding moving frame 931 to rotate, thereby causing the moving frame 931 to move the cleaning frame 95 to move and gradually approach the cleaning box 94, when the cleaning brush 92 moves to directly above the opening of the cleaning box 94 and approaches the liquid surface of the cleaning liquid in the cleaning box 94, when the abutting frame 104 abuts against the driving frame 102, the driving frame 102 moves upward relative to the cleaning brush 92.

[0062] Reference Figure 7 and Figure 8 At this time, the drive frame 102, through the rack 1031 and gear 1032, drives the sliding frame 101 to slide downward relative to the cleaning brush 92, thereby causing the cleaning part 951 on the cleaning frame 95 to push the impurities on the bristles downward. During this process, the linkage frame 105 rotates, thereby causing the linkage frame 105 to drive the cleaning frame 95 to slide relative to the sliding frame 101, thereby causing the cleaning part 951 on the cleaning frame 95 to gradually detach from the bristles from one side, so that when the cleaning frame 95 is reset later, the cleaning part 951 can be inserted into the gap between the bristles from the side.

[0063] The implementation principle of an embedded linear module in Embodiment 2 of this application is as follows: When it is necessary to clean the bristles on the cleaning brush 92, the moving part 932 drives the corresponding moving frame 931 to rotate, thereby causing the moving frame 931 to drive the cleaning frame 95 to move and gradually approach the cleaning box 94. When the cleaning brush 92 moves to directly above the opening of the cleaning box 94 and approaches the liquid surface of the cleaning liquid in the cleaning box 94, the abutment frame 104 abuts against the drive frame 102, and the drive frame 102 moves upward relative to the cleaning brush 92.

[0064] At this time, the drive frame 102, through the rack 1031 and gear 1032, drives the sliding frame 101 to slide downward relative to the cleaning brush 92, thereby causing the cleaning part 951 on the cleaning frame 95 to push the impurities on the bristles downward. During this process, the linkage frame 105 rotates, thereby causing the linkage frame 105 to drive the cleaning frame 95 to slide relative to the sliding frame 101, thereby causing the cleaning part 951 on the cleaning frame 95 to gradually detach from the bristles on one side.

[0065] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An embedded linear module, comprising a main body (1), a slide (2), and a driving mechanism (3), wherein the slide (2) is slidably connected to the main body (1), and the driving mechanism (3) is used to drive the slide (2) to slide, characterized in that: The main body (1) is also provided with a calibration detection module (4) and a control module (5). The calibration detection module (4) is used to detect the specific position of the slide (2) on the main body (1). The control module (5) is used to control the drive mechanism (3) to drive the slide (2) to slide and adjust the slide (2) to a specified position based on the specific position data detected by the calibration detection module (4).

2. The embedded linear module according to claim 1, characterized in that: The main body (1) is also provided with a limit detection module (6), which is communicatively connected to the control module (5). The limit detection module (6) is used to detect whether the slide (2) has slid to the end of the main body (1). The control module (5) is used to control the drive mechanism (3) to stop driving the slide (2) when the limit detection module (6) detects that the slide (2) is close to the end of the main body (1).

3. An embedded linear module according to claim 2, characterized in that: The main body (1) is also provided with an early warning module (7), which is communicatively connected to the control module (5). The control module (5) is used to control the early warning module (7) to emit an early warning light when the limit detection module (6) detects that the slide (2) has slid to the end of the main body (1).

4. An embedded linear module according to claim 1, characterized in that: The calibration and detection module (4) includes a grating ruler (41) and a reading head (42). The reading head (42) and the drive mechanism (3) are both communicatively connected to the control module (5). The grating ruler (41) is set on the main body (1) and extends in the direction of sliding of the slide (2). The reading head (42) is set on the slide (2) and is used to read the specific scale at its position in the extension direction of the grating ruler (41). The control module (5) is used to control the drive mechanism (3) to slide the slide (2) based on the data read by the reading head (42) and adjust the slide (2) to a specified position.

5. An embedded linear module according to claim 1, characterized in that: The main body (1) is also provided with a dustproof mechanism (8), which includes a dustproof belt (81) and an adapting roller (82). The two ends of the dustproof belt (81) are respectively connected to the two sides of the slide block (2) along its own sliding direction. The number of adapting rollers (82) is set to several, and they are respectively located on both sides of the main body (1) along the sliding direction of the slide block (2). Each adapting roller (82) is rotatably connected to the main body (1) and is used to guide the dustproof belt (81) so that one side of the dustproof belt (81) is located below the slide block (2).

6. An embedded linear module according to claim 5, characterized in that: The main body (1) is provided with cleaning mechanisms (9) at both ends along the sliding direction of the slide (2). The cleaning mechanism (9) includes a cleaning brush (92), a moving component (93) and a cleaning box (94). The bottom of the cleaning brush (92) is provided with bristles, and the bristles abut against the surface of the dustproof belt (81). The cleaning box (94) is provided on the main body (1) and has an opening at the top for containing cleaning liquid. The moving component (93) is used to drive the cleaning brush (92) to move, so that the bristles at the bottom of the cleaning brush (92) are immersed in the cleaning liquid in the cleaning box (94).

7. An embedded linear module according to claim 6, characterized in that: The cleaning brush (92) is also provided with a cleaning frame (95). One end of the cleaning frame (95) extends toward the side close to the bristles and has a plurality of cleaning parts (951). Each cleaning part (951) passes through the gap between the bristles and abuts against the side wall of the bristles. The cleaning brush (92) is also provided with a moving mechanism (10). The moving mechanism (10) is used to drive the cleaning frame (95) away from the cleaning brush (92) along the extension direction of the bristles.

8. An embedded linear module according to claim 7, characterized in that: The moving mechanism (10) includes a sliding frame (101), a drive frame (102), a reversing gear set (103), and a contact frame (104). The sliding frame (101) and the drive frame (102) are both slidably connected to the cleaning brush (92), and the sliding direction of the sliding frame (101) is the extension direction of the brush bristles. The cleaning frame (95) is disposed on the sliding frame (101), and the contact frame (104) is disposed above the opening of the cleaning box (94) and is located on the displacement path when the drive frame (102) moves together with the cleaning brush (92). The drive frame (102) drives the sliding frame (101) to slide through the reversing gear set (103).

9. An embedded linear module according to claim 8, characterized in that: The cleaning frame (95) is slidably connected to the sliding frame (101), and the sliding direction is different from the sliding direction of the sliding frame (101). The cleaning brush (92) is also provided with a linkage frame (105). One end of the linkage frame (105) is rotatably connected to the cleaning brush (92), and the other end is rotatably connected to the cleaning frame (95).

10. An embedded linear module according to claim 6, characterized in that: The moving component (93) includes a moving frame (931) and a moving part (932). The number of moving frames (931) is set to several. One end of each of the moving frames (931) is rotatably connected to the cleaning brush (92), and the other end is rotatably connected to the main body (1). The moving part (932) is used to drive one of its moving frames (931) to rotate relative to the main body (1).

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