Linear module structure

Abstract

The application relates to the technical field of linear module, and particularly discloses a linear module structure, which comprises a shell, a nut arranged in the shell, a bearing support connected with the end of the shell and provided with a support end face, an encoder assembly arranged in close contact with the support end face, a magnetic cake assembly connected with the end of the nut and arranged on the same side of the bearing support as the nut, and a gap control tool, wherein the gap control tool comprises a nut press-fitting piece which is axially movably sleeved on the bearing support and is used for pushing and press-fitting the encoder assembly or the magnetic cake assembly through the nut press-fitting piece.

Description

Technical Field

[0001] This application relates to the field of linear module technology, and more specifically to a linear module structure. Background Technology

[0002] Currently, the linear module of humanoid robots is the core execution component for realizing high-speed and high-precision linear motion of robots. The encoder built into the linear module can detect the angular position information of the motor rotor shaft in real time and feed this information back to the driver to realize the high-speed and high-precision motion control of the linear module.

[0003] Since the size of the air gap between the encoder circuit board and the magnetic disc is the main factor affecting the accuracy of the encoder in detecting the rotation angle of the motor rotor shaft, the relative positional accuracy of the encoder circuit board and the magnet is critical. However, the control of the encoder's magnetic field air gap is mainly achieved by controlling the dimensional tolerances of the various components of the linear module. Because this involves the cumulative dimensional chain of multiple components such as bearing supports, nuts, and magnetic disc supports, this method requires high machining accuracy for each component, resulting in high manufacturing costs. Furthermore, the cumulative tolerance effect leads to a large variation range in the actual value of the magnetic field air gap, making precise control impossible. At the same time, the poor consistency of the magnetic field air gap among linear modules in the same batch makes it difficult to guarantee the encoder's detection accuracy and performance stability, further complicating encoder debugging and calibration. Summary of the Invention

[0004] The purpose of this application is to provide a linear module structure to avoid air gap deviation caused by the accumulation of dimensional tolerances of various components.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a linear module structure is provided, comprising: a housing; a nut disposed within the housing; a bearing bracket connected to the end of the housing, the bearing bracket having a bracket end face; an encoder assembly for fitting against the bracket end face; a magnetic disc assembly connected to the end of the nut, the magnetic disc assembly and the bearing bracket being disposed on the same side of the nut; and an air gap control fixture, the air gap control fixture including a nut pressing component, the nut pressing component being axially movable and sleeved on the bearing bracket, thereby pushing and pressing the encoder assembly or the magnetic disc assembly.

[0006] Further preferably, the magnetic disc assembly includes a magnetic disc support and a magnetic disc, the magnetic disc support is connected to the end of the nut, and the magnetic disc is connected to the magnetic disc support; the nut pressing member includes a first pressing surface and a first stop surface, the nut pressing member abuts against the magnetic disc through the first pressing surface to apply a pressing force to the magnetic disc to press the magnetic disc support into the nut, and when the first stop surface abuts and flattens against the end face of the support, the magnetic disc assembly is pressed to a predetermined depth.

[0007] Further preferably, the nut has an inner hole end face on the side near the magnetic disc bracket, and the magnetic disc bracket includes a first outer circle portion and a second outer circle portion integrally formed. The first outer circle portion is sleeved with the inner hole of the nut, and the second outer circle portion has an outer circle end face disposed opposite to the inner hole end face. A first gap is formed between the outer circle end face and the inner hole end face, and the value of the first gap is greater than 0 mm.

[0008] Preferably, a second gap is formed between the bottom of the magnetic disc holder and the inner wall end face of the nut, and the value of the second gap is greater than 0 mm.

[0009] Preferably, when the nut press-fitting component presses the magnetic disc assembly, the housing and the nut maintain a relatively fixed positional relationship.

[0010] Preferably, the encoder assembly includes an encoder disk bracket and an encoder plate, the encoder plate being connected to the encoder disk bracket, and the encoder disk bracket being sleeved with the bearing bracket; the nut pressing component includes a second pressing surface and a second stop surface, the encoder disk bracket includes a first end face, the second pressing surface is flush with the first end face to apply a pressing force to the encoder disk bracket, and when the second stop surface abuts against and flushes the magnetic disc assembly, the encoder disk bracket is pressed to a predetermined depth.

[0011] As a preferred embodiment, the encoder disk bracket further includes a second end face, the first end face and the second end face are disposed opposite to each other, the second end face is disposed close to the bracket end face, and a third gap is formed between the second end face and the bracket end face, the value of the third gap being greater than 0 mm.

[0012] As another preferred embodiment, a bearing is also included, which is disposed between the bearing bracket and the nut.

[0013] As another preferred embodiment, the bearing bracket is fixedly connected to the housing, and when the nut press-fitting component presses onto the encoder disc bracket, the bearing bracket and the nut maintain a relatively fixed positional relationship during the press-fitting process.

[0014] As another preferred embodiment, the air gap control fixture further includes a nut support member, which is coaxially sleeved with the nut, and the nut support member and the nut pressing member are respectively disposed at the two ends of the nut in the axial direction; wherein, the nut support member is used to abut against the end face of the nut and provide axial support force during the pressing process, so as to restrict the nut from axially moving along the pressing direction when the nut pressing member presses the magnetic disc assembly or the encoder assembly.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: The encoder assembly or magnetic disc assembly is pushed and pressed by a nut press-fit component. In different implementations, the nut press-fit component can selectively push the magnetic disc assembly or encoder assembly to achieve precise control of the magnetic field air gap. Through the above structure, the linear module structure directly controls the pressing depth of the magnetic disc assembly or encoder assembly during the assembly process using an air gap control fixture. This avoids the tolerance accumulation problem caused by the traditional solution of indirectly ensuring the air gap by controlling the dimensional tolerances of each component, improves the detection accuracy of the encoder, and ensures the consistency of the magnetic field air gap between different products. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a linear module.

[0017] Figure 2 This is a side sectional view of the linear module structure in Embodiment 1.

[0018] Figure 3 for Figure 2 A magnified view of a portion of point A in the middle.

[0019] Figure 4 for Figure 3 A magnified view of a section at point B in the middle.

[0020] Figure 5 This is a cross-sectional view of the linear module structure in Example 1, excluding the air gap control fixture.

[0021] Figure 6 This is a side sectional view of the linear module structure in Embodiment 2.

[0022] Figure 7 for Figure 6 A magnified view of a section at point C.

[0023] Figure 8 This is a cross-sectional view of the linear module structure in Example 2, excluding the air gap control fixture.

[0024] In the diagram: 1. Linear module structure; 10. Housing; 20. Nut; 21. Inner hole end face; 30. Bearing bracket; 31. Bracket end face; 40. Encoder assembly; 41. Encoder disk bracket; 411. First end face; 412. Second end face; 413. Cylindrical surface; 414. Third gap; 42. Encoder plate; 50. Magnetic disc assembly; 51. Magnetic disc bracket; 511. First outer circle; 512. Second outer circle; 513. Outer circle end face; 514. First gap; 515. Second gap; 516. Inner wall end face; 52. Magnetic disc; 60. Air gap control fixture; 61. Nut press-fit component; 611. First press-fit surface; 612. First stop surface; 613. Second press-fit surface; 614. Second stop surface; 62. Nut support component; 70. Bearing. Detailed Implementation

[0025] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0026] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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. They should not be construed as limiting the specific protection scope of this application.

[0027] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0029] In a preferred embodiment, see Figures 1 to 8This application provides a linear module structure 1, which enables precise control of the air gap of the encoder magnetic field. The linear module structure 1 includes a housing 10, a nut 20, a bearing bracket 30, an encoder assembly 40, a bearing 70, a magnetic disc assembly 50, and an air gap control fixture 60. The housing 10 serves as the basic support component of the entire linear module structure 1, and has an internal accommodating space. The nut 20 is disposed inside the housing 10 and can rotate relative to the housing 10 around its own axis. The bearing bracket 30 is connected to the end of the housing 10; specifically, the bearing bracket 30 is fixedly connected to one end of the housing 10 and extends axially outward from the end of the housing 10. The bearing 70 is disposed between the bearing bracket 30 and the nut 20. The inner ring of the bearing 70 mates with the outer circumferential surface of the nut 20, and the outer ring of the bearing 70 mates with the inner circumferential surface of the bearing bracket 30. The bearing 70 allows the nut 20 to rotate smoothly relative to the bearing bracket 30 and the housing 10. The bearing bracket 30 has a bracket end face 31, which is the outermost end face of the bearing bracket 30. This bracket end face 31 is a precision-machined mounting reference surface. The encoder assembly 40 is fitted to the bracket end face 31. The magnetic disc assembly 50 is connected to the end of the nut 20, and the magnetic disc assembly 50 and the bearing bracket 30 are located on the same side of the nut 20. Specifically, the nut 20 has two axial ends, with the end closer to the bearing bracket 30 being the first end and the end farther from the bearing bracket 30 being the second end. The magnetic disc assembly 50 is connected to the first end of the nut 20, that is, the magnetic disc assembly 50 is located on the side of the nut 20 facing the bearing bracket 30.

[0030] The air gap control fixture 60 is a special fixture used during the assembly of the linear module structure 1. This fixture includes a nut press-fit component 61, which is axially movable and sleeved onto the bearing bracket 30. During assembly, the nut press-fit component 61 moves along the axial direction of the bearing bracket 30, and its inner circumferential surface engages with the outer circumferential surface of the bearing bracket 30. The nut press-fit component 61 pushes and presses the encoder assembly 40 or the magnetic disc assembly 50. In different embodiments, the nut press-fit component 61 can selectively push the magnetic disc assembly 50 or the encoder assembly 40 to achieve precise control of the magnetic field air gap. Through the above structure, the linear module structure 1 uses the air gap control fixture 60 to directly control the pressing depth of the magnetic disc assembly 50 or the encoder assembly 40 during the assembly process. This avoids the tolerance accumulation problem caused by the traditional solution of indirectly ensuring the air gap by controlling the dimensional tolerance of each component. It improves the detection accuracy of the encoder and ensures the consistency of the magnetic field air gap between different products.

[0031] Example 1: As a further preferred embodiment of the above-described linear module structure 1, see [link to relevant documentation]. Figures 2 to 5In this embodiment, the magnetic disc assembly 50 includes a magnetic disc support 51 and a magnetic disc 52. The magnetic disc support 51 is connected to the end of the nut 20, and the magnetic disc support 51 and the bearing support 30 are disposed on the same side of the nut 20. The magnetic disc 52 is connected to the magnetic disc support 51. Specifically, the magnetic disc support 51 is an integral cylindrical stepped shaft structure. One end of the magnetic disc support 51 is inserted into the inner hole of the nut 20 and forms a mating relationship with the inner hole of the nut 20. The other end of the magnetic disc support 51 extends towards the bearing support 30. The magnetic disc 52 is a disc-shaped permanent magnet, which is fixedly installed at the end of the magnetic disc support 51. The magnetic disc 52 and the magnetic disc support 51 constitute an integral assembly, which rotates synchronously with the nut 20. The nut pressing component 61 includes a first pressing surface 611 and a first stop surface 612. The first pressing surface 611 is the force-applying portion on the end face of the nut pressing component 61 facing the magnetic disc assembly 50. The shape of the first pressing surface 611 matches the end face of the magnetic disc 52 to ensure uniform pressure distribution during the pressing process. The nut pressing component 61 abuts against the magnetic disc 52 through the first pressing surface 611 to apply a pressing force to the magnetic disc 52 to press the magnetic disc support 51 into the nut 20. Specifically, during the pressing process, external pressure drives the nut pressing component 61 to move axially towards the magnetic disc assembly 50. The first pressing surface 611 first contacts and abuts against the end face of the magnetic disc 52, and then continues to apply pressure to press the magnetic disc 52 and the magnetic disc support 51 fixedly connected to the magnetic disc 52 into the inner hole of the nut 20. The first stop surface 612 is a limiting plane located behind the first pressing surface 611 on the nut press-fit component 61. The first stop surface 612 is axially opposite to the support end face 31 of the bearing bracket 30. When the first stop surface 612 abuts against and flattens against the support end face 31, the nut press-fit component 61 can no longer move axially, and the magnetic disc assembly 50 is pressed to a predetermined depth. Through the above structure, the pressing depth of the magnetic disc assembly 50 in the end of the nut 20 is precisely determined by the axial distance between the first pressing surface 611 and the first stop surface 612 of the nut press-fit component 61. This distance is precisely machined to a predetermined size during the manufacturing process of the nut press-fit component 61, thereby accurately determining the relative positional relationship between the end face of the magnetic disc assembly 50 and the support end face 31 after pressing, ultimately achieving precise control of the magnetic field air gap. Meanwhile, since the first pressing surface 611 directly abuts against the end face of the magnetic disc 52 during the pressing process, the pressing force is directly transmitted to the magnetic disc 52 and the magnetic disc support 51, avoiding force transmission deviation caused by other intermediate force transmission components, ensuring the parallelism between the pressing direction and the axis of the nut 20, and further improving the pressing accuracy. In this embodiment, through the cooperation of the first pressing surface 611 and the first stop surface 612, when the same set of air gap control fixtures 60 is used for the assembly of different linear module structures 1, it can ensure that the pressing depth of the magnetic disc assembly 50 of each linear module is consistent, thereby ensuring the stable encoder performance of the same batch of products.

[0032] As a further optimization of the above specific implementation method, see [link to relevant documentation]. Figure 3 and Figure 4 The nut 20 has an inner hole end face 21 on the side near the magnetic disc holder 51. Specifically, the nut 20 has a through-hole formed along the axial direction, and the inner hole has an opening at the end of the nut 20 near the magnetic disc holder 51. The end face of the opening is the inner hole end face 21. The inner hole end face 21 is an annular plane surrounding the opening of the inner hole of the nut 20. The inner hole end face 21 is used to mate with the corresponding end face of the magnetic disc holder 51 in an axial positional relationship. The magnetic disc holder 51 includes a first outer circular portion 511 and a second outer circular portion 512 integrally formed. The first outer circular portion 511 and the second outer circular portion 512 are arranged sequentially along the axial direction of the magnetic disc holder 51, wherein the first outer circular portion 511 is located at the end of the magnetic disc holder 51 near the nut 20, and the second outer circular portion 512 is located at the end of the magnetic disc holder 51 near the nut pressing member 61. The first outer circular portion 511 is sleeved with the inner hole of the nut 20. Specifically, the diameter of the outer circumferential surface of the first outer circular portion 511 matches the diameter of the inner hole of the nut 20. The first outer circular portion 511 is inserted into the inner hole of the nut 20 and extends a certain distance axially, thereby achieving radial positioning and axial guidance of the magnetic disc holder 51 within the nut 20. The outer circumferential surface of the first outer circular portion 511 and the inner circumferential surface of the inner hole of the nut 20 can be fixed by interference fit or glue, as long as it can ensure that the magnetic disc holder 51 moves smoothly axially during the pressing process and remains relatively fixed with the nut 20 after pressing. The second outer circular portion 512 is provided with an outer circular end face 513 that is disposed opposite to the inner hole end face 21. That is, the outer circular end face 513 is located on the side end face of the second outer circular portion 512 facing the nut 20. The outer circular end face 513 is the side end face of the second outer circular portion 512 that is close to the first outer circular portion 511. The outer circular end face 513 and the inner hole end face 21 are disposed opposite to each other in the axial direction and face each other. A first gap 514 is formed between the outer circular end face 513 and the inner hole end face 21. The value of the first gap 514 is denoted as G1. The value of the first gap 514 G1 is greater than zero millimeters.

[0033] Specifically, after the magnetic disc holder 51 is pressed to a predetermined depth, the axial distance between the outer circular end face 513 and the inner hole end face 21 is the value G1 of the first gap 514. When the value G1 of the first gap 514 is greater than zero, there is an axial gap between the outer circular end face 513 and the inner hole end face 21. The first outer circular part 511 of the magnetic disc holder 51 has not been fully inserted into the inner hole of the nut 20 to the limit depth. At this time, the magnetic disc holder 51 still has a certain axial adjustment margin in the nut 20. By ensuring that the value G1 of the first gap 514 is greater than zero millimeters, interference between the magnetic disc holder 51 and the inner hole end face 21 of the nut 20 can be effectively avoided during the pressing process, ensuring the smooth progress of the pressing process and the accurate relative position between the components after pressing.

[0034] Furthermore, a second gap 515 is formed between the bottom of the magnetic disc support 51 and the inner wall end face 516 of the nut 20. The value of the second gap 515 is denoted as G2, and the value of the second gap 515 G2 is greater than 0 mm. By setting the value of the second gap 515 G2 to be greater than zero, it is ensured that the bottom end face of the magnetic disc support 51 will not contact or collide with the inner wall end face 516 of the inner hole of the nut 20 after press-fitting, thereby effectively avoiding the problem of the magnetic disc support 51 failing to be press-fitted into place due to bottom interference. The value of the second gap 515 G2 and the value of the first gap 514 G1 together constitute a complete dimensional chain constraint on the axial positional relationship between the magnetic disc support 51 and the nut 20. The setting that both gaps are greater than zero ensures that the axial position of the magnetic disc support 51 in the nut 20 does not interfere with the outer circle end face 513 or the inner wall end face 516, thereby ensuring that the press-fitting position of the magnetic disc assembly 50 in the nut 20 is accurate and reliable. The specific value of the second gap 515 G2 is determined by dimensional chain calculation based on the design dimensions and machining tolerances of each component in the linear module structure 1, so as to provide a safe clearance space for the axial position of the magnetic disc bracket 51 without interference.

[0035] As a further limitation of the above embodiment, when the nut pressing component 61 presses the magnetic disc assembly 50, the housing 10 and the nut 20 maintain a relatively fixed positional relationship. Specifically, during the process of pressing the magnetic disc assembly 50 into the nut 20 using the nut pressing component 61, it is necessary to ensure that the axial relative position between the housing 10 and the nut 20 remains unchanged. The bearing bracket 30 is fixedly connected to the housing 10, and the bracket end face 31 of the bearing bracket 30 serves as the limiting reference surface of the first stop surface 612 of the nut pressing component 61, and its axial position is determined by the housing 10. If the nut 20 moves axially relative to the housing 10 during the pressing process, the axial position of the inner hole of the nut 20 relative to the bracket end face 31 will change, resulting in a deviation in the actual position of the end face of the magnetic disc 52 relative to the bracket end face 31 when the magnetic disc assembly 50 is pressed to the predetermined depth, ultimately affecting the accuracy of the magnetic field air gap. Therefore, during the press-fitting process, the position of the inner bore end face 21 of the nut 20 relative to the bracket end face 31 of the bearing bracket 30 remains unchanged, thus ensuring that when the first stop surface 612 of the nut press-fitting component 61 is in contact with the bracket end face 31, the press-fitting depth of the magnetic disc assembly 50 within the nut 20 is the predetermined value. By setting the above-mentioned fixed positional relationship, the positioning error introduced by the axial movement of the nut 20 during the press-fitting process is eliminated, further improving the control accuracy of the magnetic field air gap.

[0036] See Figure 5In this embodiment, after the magnetic disc assembly 50 is pressed into the end of the nut 20 by the nut press-fitting member 61 and the first stop surface 612 of the nut press-fitting member 61 abuts against the support end face 31 of the bearing bracket 30, the magnetic disc assembly 50 is pressed to a predetermined depth. At this time, the axial position of the end face of the magnetic disc 52 relative to the support end face 31 has been accurately determined. Subsequently, the air gap control fixture 60 is disassembled and removed from the linear module structure 1, including removing the nut press-fitting member 61 axially from the bearing bracket 30, so that the support end face 31 of the bearing bracket 30 is restored to an exposed state. At this time, the support end face 31 is the mounting reference end face for the assembly of the encoder assembly 40.

[0037] Example 2: See Figures 6 to 8 In another parallel implementation, the encoder assembly 40 includes an encoder disk bracket 41 and an encoder plate 42. The encoder plate 42 is connected to the encoder disk bracket 41, and the encoder disk bracket 41 is sleeved with the bearing bracket 30. Specifically, the encoder disk bracket 41 is a cylindrical structural component. The inner hole of the encoder disk bracket 41 and the outer peripheral surface of the bearing bracket 30 form a sleeve fit relationship. The encoder disk bracket 41 is axially sleeved on the outer side of the end of the bearing bracket 30, and the encoder disk bracket 41 includes a first end face 411. The encoder plate 42 is a printed circuit board. The encoder plate 42 is provided with a sensing chip and corresponding signal processing circuits, and the encoder plate 42 is fixedly connected to the encoder disk bracket 41. The nut pressing component 61 includes a second pressing surface 613 and a second stop surface 614. The second pressing surface 613 is the force-applying portion on the end face of the nut pressing component 61 facing the encoder disk bracket 41. The shape of the second pressing surface 613 matches the first end face 411 of the encoder disk bracket 41, which is the end face of the encoder disk bracket 41 away from the bearing bracket 30, i.e., the end face of the encoder disk bracket 41 facing the nut pressing component 61. The second pressing surface 613 is flush with the first end face 411, meaning that the second pressing surface 613 and the first end face 411 are in close contact and abut against each other during the pressing process to apply a pressing force to the encoder disk bracket 41, pressing the encoder disk bracket 41 axially toward the bracket end face 31 of the bearing bracket 30. When the second stop surface 614 abuts against the flat magnetic disc assembly 50, the encoder disk bracket 41 is pressed to a predetermined depth. Specifically, the second stop surface 614 is a limiting plane on the nut press-fit component 61. During the press-fitting process, the second stop surface 614 moves axially with the nut press-fit component 61. When the second stop surface 614 and the end face of the magnetic disc assembly 50 facing the nut press-fit component 61 are in contact and abut against each other, the axial movement of the nut press-fit component 61 is restricted. At this time, the encoder disk bracket 41 is pressed to a predetermined depth, and the relative position between the encoder disk bracket 41 and the magnetic disc assembly 50 is accurately determined.

[0038] In this embodiment, precise control of the magnetic field air gap is achieved by pressing the encoder disk bracket 41, i.e., keeping the magnetic disc assembly 50 relative to the nut 20 unchanged, and precisely controlling the installation position of the encoder disk bracket 41 on the bearing bracket 30, so that the air gap between the encoder plate 42 on the encoder disk bracket 41 and the magnetic disc assembly 50 reaches a predetermined value. This embodiment is parallel to the aforementioned embodiment that achieves air gap control by pressing the magnetic disc assembly 50, and both are based on the same inventive concept, i.e., using the air gap control fixture 60 to directly and precisely control the axial position related to the magnetic field air gap, but the pressing objects are different. In this embodiment, since the encoder plate 42 is fixed on the encoder disk bracket 41, after the encoder disk bracket 41 is pressed to a predetermined depth, the axial distance between the sensing chip on the encoder plate 42 and the magnetic disc assembly 50 is precisely determined, thereby achieving precise control of the magnetic field air gap. This embodiment is particularly suitable for application scenarios where the magnetic disc assembly 50 is pre-fixed to the end of the nut 20 and it is inconvenient to perform pressing adjustments during the overall assembly process.

[0039] As a further optimization of the above embodiment, the encoder disk support 41 also includes a second end face 412. The first end face 411 and the second end face 412 are disposed opposite to each other. The second end face 412 is disposed close to the support end face 31, and a third gap 414 is formed between the second end face 412 and the support end face 31. The value of the third gap 414 is denoted as G3, and the value of the third gap 414 G3 is greater than zero millimeters. Specifically, the encoder disk support 41 is a disk-shaped component with axial thickness. Its two axial ends are the first end face 411 and the second end face 412, respectively. The first end face 411 is the end face of the encoder disk support 41 away from the bearing support 30, and the second end face 412 is the end face of the encoder disk support 41 close to the bearing support 30. After the encoder disk support 41 is pressed to a predetermined depth, the second end face 412 and the support end face 31 of the bearing support 30 are disposed opposite to each other and face each other, and the gap between them is the third gap 414. When the value of the third gap 414 G3 is greater than zero, there is an axial gap between the second end face 412 and the bracket end face 31. At this time, the encoder disc bracket 41 has not yet contacted the bracket end face 31 of the bearing bracket 30. The encoder disc bracket 41 still has a certain axial adjustment margin on the bearing bracket 30. By ensuring that the value of the third gap 414 G3 is greater than zero millimeters, interference between the encoder disc bracket 41 and the bracket end face 31 of the bearing bracket 30 during the pressing process can be effectively avoided, ensuring the smooth progress of the pressing process and the accurate relative position between the components after pressing.

[0040] Further preferably, the encoder disk support 41 also includes a cylindrical surface 413, which is the inner or outer circumferential surface of the encoder disk support 41 used to form a sleeve fit with the bearing support 30. The axial dimension of the cylindrical surface 413 is denoted as L1, which is the length of the cylindrical surface 413 extending axially, i.e., the axial fit length for the sleeve fit between the encoder disk support 41 and the bearing support 30. The axial dimension of the sleeve fit section between the bearing support 30 and the cylindrical surface 413 of the encoder disk support 41 is denoted as X1, which is the axial length of the outer circumferential surface of the bearing support 30 used to form a sleeve fit with the cylindrical surface 413 of the encoder disk support 41. The value G3 of the third gap 414 is the axial gap value between the second end face 412 of the encoder disk support 41 and the support end face 31 of the bearing support 30. Its dimensions satisfy L1 ≥ G. 3max +X1, in millimeters, where G 3max The value of the third gap 414, G3, is the preset maximum value. This formula expresses the geometric relationship between the axial dimension of the cylindrical surface 413 of the encoder disk bracket 41, the axial dimension of the sleeve-fitting section of the bearing bracket 30, and the value of the third gap 414, G3. Specifically, the axial dimension L1 of the cylindrical surface 413 of the encoder disk bracket 41 determines the axial coverage range of the encoder disk bracket 41 fitted onto the bearing bracket 30, and the axial dimension X1 of the sleeve-fitting section determines the effective axial length on the bearing bracket 30 for the encoder disk bracket 41 to fit. When the encoder disk bracket 41 is pressed to a predetermined depth, the difference between the axial dimension L1 of the cylindrical surface 413 and the axial dimension X1 of the sleeve-fitting section determines the size of the third gap 414, G3, between the second end face 412 and the bracket end face 31. When L1 is greater than G3, the value of the third gap 414, G3, is determined. 3max When +X1, the axial dimension of the cylindrical surface 413 of the encoder disk bracket 41 is relatively large. After the encoder disk bracket 41 is press-fitted into place, a portion of the cylindrical surface 413 extends beyond the sleeve mating section of the bearing bracket 30. However, due to the existence of the third clearance 414 value G3, the second end face 412 and the bracket end face 31 do not interfere with each other, and the extended portion of the cylindrical surface 413 will not interfere with other components. When L1 equals G... 3max When +X1 is applied, under maximum clearance conditions, the cylindrical surface 413 of the encoder disc bracket 41 completely covers the fitting section of the bearing bracket 30. This dimensional constraint ensures that, under any tolerance combination, the cylindrical surface 413 of the encoder disc bracket 41 will not interfere with the bearing bracket 30 during press-fitting, and simultaneously, the second end face 412 of the encoder disc bracket 41 will not interfere with the bracket end face 31 of the bearing bracket 30, thus ensuring a safe and reliable press-fitting process for the encoder disc bracket 41. This dimensional design ensures that the fitting between the encoder disc bracket 41 and the bearing bracket 30 guarantees positioning accuracy while avoiding assembly difficulties or interference problems caused by improper dimensional chain calculations.

[0041] As a further limitation of the above embodiment, the bearing bracket 30 is fixedly connected to the housing 10. When the nut pressing component 61 presses the encoder disk bracket 41, the bearing bracket 30 and the nut 20 maintain a relatively fixed positional relationship during the pressing process. Specifically, during the process of pressing the encoder disk bracket 41 onto the bearing bracket 30 using the nut pressing component 61, it is necessary to ensure that the axial relative position between the bearing bracket 30 and the nut 20 remains unchanged. Since the magnetic disc assembly 50 is connected to the end of the nut 20, the axial position of the magnetic disc assembly 50 is determined by the nut 20. If the axial relative position between the bearing bracket 30 and the nut 20 changes during the pressing process, when the second stop surface 614 of the nut pressing component 61 abuts against the magnetic disc assembly 50, the actual position of the encoder disk bracket 41 relative to the magnetic disc assembly 50 will deviate, thereby affecting the accuracy of the magnetic field air gap. Therefore, during the pressing process, the relative positions of the bearing bracket 30 and the nut 20 are fixed by a fixing device, so that the position of the magnetic disc assembly 50 relative to the bracket end face 31 of the bearing bracket 30 remains unchanged. This ensures that when the second stop surface 614 of the nut pressing part 61 is in contact with the magnetic disc assembly 50, the encoder disc bracket 41 is pressed to a predetermined depth that corresponds exactly to the position of the magnetic field air gap. By setting the above-mentioned fixed position relationship, the positioning error introduced by the relative movement between the bearing bracket 30 and the nut 20 during the pressing process is eliminated, further improving the control accuracy of the magnetic field air gap. This embodiment is particularly suitable for cases where the encoder disc bracket 41 and the bearing bracket 30 have a clearance fit or transition fit. In this case, the axial force generated by the encoder disc bracket 41 on the bearing bracket 30 during the pressing process is small, and the relative positions of the bearing bracket 30 and the nut 20 can be kept fixed by a simple fixing method. In this embodiment, since the bearing bracket 30 is fixedly connected to the housing 10, and the nut 20 is supported inside the housing 10 by the bearing 70, the relative position of the bearing bracket 30 and the nut 20 can be fixed by fixing the relative position of the housing 10 and the nut 20. This makes the tooling structure simpler and the operation more convenient.

[0042] See Figure 8 In this embodiment, when the encoder disk bracket 41 is pressed to a predetermined depth by the nut press-fitting component 61, the axial position of the encoder disk bracket 41 has been precisely determined. Subsequently, the air gap control fixture 60 is disassembled and removed from the linear module structure 1, including withdrawing the nut press-fitting component 61 axially, so that the first end face 411 of the encoder disk bracket 41 is restored to an exposed state. At this time, the first end face 411 is the mounting reference end face for the assembly of the encoder board 42.

[0043] Furthermore, the air gap control fixture 60 also includes a nut support member 62. The nut support member 62 is applicable to any of the above embodiments. The nut support member 62 is coaxially sleeved with the nut 20, that is, the inner circumferential surface of the nut support member 62 and the outer circumferential surface of the nut 20 cooperate with each other. The nut support member 62 is sleeved on the outer side of the end of the nut 20, and the central axis of the nut support member 62 coincides with the central axis of the nut 20. The nut support member 62 and the nut pressing member 61 are respectively disposed at the two axial ends of the nut 20. That is, the nut support member 62 is disposed at the end of the nut 20 away from the magnetic disc assembly 50, while the nut pressing member 61 is disposed at the end of the nut 20 close to the magnetic disc assembly 50. Both act on the nut 20 from the two axial ends respectively. Among them, the nut support member 62 is used to abut against the end face of the nut 20 and provide axial support force during the pressing process, so as to limit the axial movement of the nut 20 along the pressing direction when the nut pressing member 61 presses the magnetic disc assembly 50 or the encoder assembly 40. Specifically, when the nut pressing component 61 presses the magnetic disc assembly 50, the pressing force is transmitted to the inner hole mating surface of the nut 20 through the magnetic disc 52 and the magnetic disc support 51. This pressing force tends to cause the nut 20 to move axially along the pressing direction. At this time, the nut support component 62 abuts against the end face of the nut 20 away from the magnetic disc assembly 50, applying a supporting force in the opposite direction to the nut 20 to balance the axial component force generated by the pressing force, thereby limiting the axial movement of the nut 20 along the pressing direction.

[0044] Similarly, when the nut pressing component 61 presses the encoder disk bracket 41, although the main object of the pressing force is the encoder disk bracket 41, the reaction force of the pressing force is transmitted to the housing 10 and the nut 20 through the bearing bracket 30. At this time, the nut support component 62 also plays the role of limiting the axial movement of the nut 20. By setting the nut support component 62, the nut 20 is kept in a fixed axial position during the pressing process, thereby ensuring that the magnetic disc assembly 50 or the encoder assembly 40 can be accurately pressed to the predetermined depth, avoiding the pressing depth deviation caused by the axial displacement of the nut 20 during the pressing process. The nut support component 62 can adopt a ring structure, with its inner hole and the outer peripheral surface of the nut 20 having a clearance fit, so that the nut support component 62 can be removed from the nut 20 after pressing. The nut support component 62 can be kept axially fixed by an external clamp or locking device to provide a stable supporting force to the nut 20. The nut support 62 further improves the overall rigidity and positioning accuracy of the air gap control fixture 60, ensuring the stability of the relative positions of each component during the pressing process.

[0045] In the above embodiments, the distance between the first pressing surface 611 and the first stop surface 612 of the nut pressing component 61, or the distance between the second pressing surface 613 and the second stop surface 614, is the sum of the median value of the magnetic field air gap and the thickness of the sensing chip. Specifically, in the embodiment where air gap control is achieved by pressing the magnetic disc assembly 50, the axial distance between the first pressing surface 611 and the first stop surface 612 of the nut pressing component 61 is precisely machined to the sum of the median value of the magnetic field air gap and the thickness of the sensing chip. When the first stop surface 612 is in contact with the support end face 31, the axial position of the first pressing surface 611 is fixed relative to the support end face 31, and at this time, the distance between the end face of the magnetic disc assembly 50 and the support end face 31 is equal to the sum of the median value of the magnetic field air gap and the thickness of the sensing chip. When the encoder assembly 40 is subsequently mounted on the bracket end face 31, the sensing chip is located on the side of the encoder plate 42 facing the magnetic disc assembly 50. The surface of the sensing chip protrudes beyond the thickness of the sensing chip relative to the bracket end face 31. Therefore, the actual air gap between the end face of the magnetic disc assembly 50 and the surface of the sensing chip is equal to the median value of the magnetic field air gap. In the embodiment where air gap control is achieved by pressing the encoder disc bracket 41, the axial distance between the second pressing surface 613 and the second stop surface 614 of the nut pressing component 61 is also precisely machined to the sum of the median value of the magnetic field air gap and the thickness of the sensing chip, with the same principle as described above. Through the above-mentioned dimensional relationship settings, the final size of the magnetic field air gap no longer depends on the cumulative dimensional tolerances of each component, but is determined by the single dimensional accuracy of the air gap control fixture 60, thereby achieving high-precision control and high consistency of the magnetic field air gap.

[0046] In the linear module structure 1 provided in this application, two embodiments are described, respectively, of technical solutions for achieving precise control of the magnetic field air gap by pressing a magnetic disc assembly 50 and by pressing an encoder disk support 41. Both embodiments are based on the same inventive concept, utilizing an air gap control fixture 60 to directly and precisely control the axial position related to the magnetic field air gap; the only difference lies in the pressing object. In practical applications, either of the two embodiments can be selected for implementation based on the specific structural design of the linear module, the component processing technology, and the convenience of the assembly process. Both embodiments can achieve precise control of the magnetic field air gap, ensuring the encoder's detection accuracy while reducing the requirements for component processing accuracy, exhibiting good versatility and applicability.

[0047] In the actual assembly process of the linear module structure 1, regardless of which of the two embodiments described above is adopted, the assembly process includes the following steps. First, the bearing 70 is installed between the bearing bracket 30 and the nut 20, so that the nut 20 is rotatably supported in the bearing bracket 30 via the bearing 70. The bearing bracket 30 is fixedly connected to the end of the housing 10. The magnetic disc assembly 50 is pre-installed on the end of the nut 20. The nut support 62 is sleeved on the end of the nut 20 away from the magnetic disc assembly 50, so that the nut support 62 abuts against the end face of the nut 20. The nut press-fitting member 61 is sleeved on the bearing bracket 30, so that the pressing surface of the nut press-fitting member 61 faces the component to be pressed. A pressing force is applied to the nut press-fitting member 61 in the axial direction, and the nut press-fitting member 61 moves along the bearing bracket 30 towards the component to be pressed. When the stop surface of the nut press-fitting component 61 is in contact with the corresponding limit reference surface, the nut press-fitting component 61 stops moving and waits for the press-fitting component to be pressed to the predetermined depth before further completing other subsequent assembly steps.

[0048] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. A linear module structure, characterized in that, include: chassis; A nut, wherein the nut is disposed inside the housing; A bearing bracket, which is connected to the end of the housing, and the bearing bracket is provided with a bracket end face; An encoder assembly, the encoder assembly being fitted to the end face of the bracket; A magnetic disc assembly is connected to the end of the nut, and the magnetic disc assembly and the bearing bracket are disposed on the same side of the nut; An air gap control fixture includes a nut press-fitting component, which is axially movable and sleeved on the bearing bracket. The nut press-fitting component is used to push and press the encoder assembly or the magnetic disc assembly.

2. The linear module structure as described in claim 1, characterized in that, The magnetic disc assembly includes a magnetic disc support and a magnetic disc, wherein the magnetic disc support is connected to the end of the nut, and the magnetic disc is connected to the magnetic disc support; The nut pressing component includes a first pressing surface and a first stop surface. The nut pressing component abuts against the magnetic disc through the first pressing surface to apply a pressing force to the magnetic disc to press the magnetic disc support into the nut. When the first stop surface abuts against and flattens the end face of the support, the magnetic disc assembly is pressed to a predetermined depth.

3. The linear module structure as described in claim 2, characterized in that, The nut has an inner hole end face on the side near the magnetic disc bracket. The magnetic disc bracket includes a first outer circle and a second outer circle integrally formed. The first outer circle is sleeved with the inner hole of the nut. The second outer circle has an outer circle end face that is set opposite to the inner hole end face. A first gap is formed between the outer circle end face and the inner hole end face. The value of the first gap is greater than 0 mm.

4. The linear module structure as described in claim 3, characterized in that, A second gap is formed between the bottom of the magnetic disc holder and the inner wall end face of the nut, and the value of the second gap is greater than 0 mm.

5. The linear module structure as described in claim 2, characterized in that, When the nut press-fitting component presses the magnetic disc assembly, the housing and the nut maintain a relatively fixed positional relationship.

6. The linear module structure as described in claim 1, characterized in that, The encoder assembly includes an encoder disk bracket and an encoder board, the encoder board being connected to the encoder disk bracket, and the encoder disk bracket being sleeved with the bearing bracket; The nut pressing component includes a second pressing surface and a second stop surface. The encoder disk bracket includes a first end face. The second pressing surface is flush with the first end face to apply a pressing force to the encoder disk bracket. When the second stop surface abuts against and is flush with the magnetic disc assembly, the encoder disk bracket is pressed to a predetermined depth.

7. The linear module structure as described in claim 6, characterized in that, The encoder disk bracket also includes a second end face, the first end face and the second end face are disposed opposite to each other, the second end face is disposed close to the bracket end face, and a third gap is formed between the second end face and the bracket end face, the value of the third gap being greater than 0 mm.

8. The linear module structure as described in claim 6, characterized in that, The bearing bracket is fixedly connected to the housing. When the nut press-fitting component presses the encoder disc bracket, the bearing bracket and the nut maintain a relatively fixed positional relationship during the press-fitting process.

9. The linear module structure as described in any one of claims 1-8, characterized in that, It also includes a bearing, which is disposed between the bearing bracket and the nut.

10. The linear module structure as described in any one of claims 1-8, characterized in that, The air gap control fixture also includes a nut support component, which is coaxially sleeved with the nut, and the nut support component and the nut press-fit component are respectively located at the two axial ends of the nut. The nut support member is used to abut against the end face of the nut and provide axial support force during the press-fitting process, so as to limit the nut from axially moving along the press-fitting direction when the nut press-fitting member presses the magnetic disc assembly or the encoder assembly.

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