Linear motor module with high force control precision

Abstract

The embodiment of the utility model discloses a linear motor module with high force control precision, which comprises a linear motor and an air floating guide rail, the linear motor consists of a stator and a rotor, the air floating guide rail consists of a guide rail seat and a guide rail, an air pipe joint is arranged on the guide rail seat, the guide rail seat is connected with the rotor of the linear motor, and the guide rail is connected with the stator of the linear motor. The guide rail base is composed of a front air floating plate, a rear air floating plate, a left air floating plate and a right air floating plate. According to the utility model, the air floating guide rail is used for guiding the linear motion mechanism, so that the motion friction resistance is reduced, the mechanical fatigue wear is avoided, the open-loop force control precision of the motor is improved, and the motor can realize lower force control precision due to low friction force.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and in particular to a linear motor module with high force control precision. Background Art

[0002] At present, most of the linear motion motor modules of products use linear motor + linear guide or linear bearing, lead screw + linear guide or linear bearing. For the grasping of some precise and small devices (such as small ICs, etc.), the linear motion motor module needs to be able to achieve very high force control accuracy.

[0003] However, the rails and sliding parts of linear guides and linear bearings are contact sliding friction, and the friction of linear guides and linear bearings is relatively large. Contact sliding friction can easily cause fatigue wear of parts after a long period of operation, thus affecting the movement accuracy of the structure. In addition, due to the problem of part accuracy, the contact friction cannot ensure that the entire stroke is in a uniform state. If the friction is not uniform, then for the motor in this direction of motion, when performing open-loop force control motor control, it will not be possible to achieve high force control repeatability accuracy and force control accuracy at low pressure values. Utility Model Content

[0004] The technical problem to be solved by the embodiments of the present utility model is to provide a linear motor module with high force control accuracy to improve the force control accuracy.

[0005] In order to solve the above technical problems, an embodiment of the utility model proposes a linear motor module with high force control precision, including a linear motor and an air-floating guide rail, the linear motor is composed of a stator and a mover, the air-floating guide rail is composed of a guide rail seat and a guide rail, an air pipe joint is provided on the guide rail seat, the guide rail seat is connected to the mover of the linear motor, the guide rail is connected to the stator of the linear motor, and the guide rail seat is composed of a front air-floating plate, a rear air-floating plate, a left air-floating plate, and a right air-floating plate.

[0006] Furthermore, the rear air floating plate is connected to the mover of the linear motor, and the air pipe joint is arranged on the front air floating plate.

[0007] Furthermore, the front air floating plate, the rear air floating plate, the left air floating plate, and the right air floating plate are all provided with air passages connected to the air pipe joints, and the inner sides of the front air floating plate, the rear air floating plate, the left air floating plate, and the right air floating plate are all provided with a plurality of throttles corresponding to the air passages.

[0008] Furthermore, it also includes an upper fixing member and a lower fixing member, and the upper and lower ends of the stator are connected to the upper and lower ends of the guide rail through the upper fixing member and the lower fixing member respectively.

[0009] The beneficial effects of the utility model are as follows: the utility model adopts an air-floating guide rail as the guide of the linear motion mechanism, reduces the friction resistance of the motion, avoids mechanical fatigue wear, improves the open-loop force control accuracy of the motor, and because of the low friction, the motor can achieve a lower force control accuracy. The utility model solves the problem that the current linear motion guide structure adopts a linear guide rail or a linear bearing, which has large and uneven friction resistance, affecting the open-loop force control of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a three-dimensional structural diagram of a linear motor module with high force control accuracy according to an embodiment of the utility model.

[0011] Figure 2 It is an exploded view of a linear motor module with high force control accuracy according to an embodiment of the utility model.

[0012] Figure 3 It is a structural schematic diagram of the front air floating plate of an embodiment of the utility model.

[0013] Description of Figure Numbers

[0014] Linear motor 10, stator 11, mover 12, upper fixing part 13, lower fixing part 14, air floating guide rail 20, front air floating plate 21, rear air floating plate 22, left air floating plate 23, right air floating plate 24, air pipe joint 25, air duct 26, throttle 27, sealing ring 28, guide rail 29, plug 30. DETAILED DESCRIPTION

[0015] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present utility model is further described in detail below in conjunction with the drawings and specific embodiments.

[0016] In the embodiments of the present invention, if there are directional indications (such as up, down, left, right, front, back, etc.), they are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0017] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0018] Please refer to Figure 1 to Figure 3 The linear motor module with high force control precision of the embodiment of the utility model includes a linear motor and an air-floating guide rail.

[0019] The linear motor is composed of a stator and a mover. In the specific application of the linear motor module of the utility model, the mover does not move, and the stator moves, that is, the mover is fixedly installed on the corresponding mounting seat, which avoids the cable moving with the linear motor when it moves, thereby further improving the accuracy.

[0020] The air-floating guide rail consists of a guide rail seat and a guide rail. The guide rail seat is provided with an air pipe joint for connecting an external air source. The guide rail seat is connected to the mover of the linear motor, and the guide rail is connected to the stator of the linear motor. The guide rail is used for guiding and loading linear motion.

[0021] The guide rail seat is composed of a front air floating plate, a rear air floating plate, a left air floating plate, and a right air floating plate. The front air floating plate, the rear air floating plate, the left air floating plate, and the right air floating plate are all provided with air ducts connected to the air pipe joint, and the inner sides of the front air floating plate, the rear air floating plate, the left air floating plate, and the right air floating plate are all provided with a number of throttles corresponding to the air ducts. The air ducts of the four air floating plates are connected in series. In specific implementation, two groups of throttles can be provided on the surface of the air floating plate, and the two groups of throttles are connected together through an air duct groove. When the air floating plate is working, high-pressure gas is ejected through the throttle, and the high-pressure gas flows through the air duct groove, and blows out air films from both sides of the air duct groove, so that a layer of air film is formed between the air floating plate surface and the guide rail surface. The four air floating plates form air films in four directions, so that the guide rail moves between the four surface air films.

[0022] The rear air flotation plate is connected to the mover of the linear motor, and the air pipe joint is set on the front air flotation plate. In specific implementation, a plug is set on the side of the air flotation plate to close the air path, because after the air path inside the air flotation plate is processed, the redundant holes that do not need ventilation need to be blocked. The air passages between the front and rear air flotation plates and the left and right air flotation plates can be sealed by a sealing ring.

[0023] When using a series gas circuit, the air pressure of the throttle close to the gas source will be greater than that of the throttle far from the gas source, which will have a certain impact on the flotation to a certain extent. However, this gas circuit connection method simplifies redundant pipelines. However, if space allows and structural movement allows, air pipe joints can be set up separately for the four flotation plates to connect the air pipes. From the perspective of air pressure stabilization, connecting a single flotation plate to the gas source is conducive to the pressure balance of the four flotation plates. What kind of pipeline connection method to use can be determined according to the actual application.

[0024] As an implementation method, the linear motor module with high force control accuracy also includes an upper fixing member and a lower fixing member, and the upper and lower ends of the stator are connected to the upper and lower ends of the guide rail through the upper and lower fixing members, respectively. The upper and lower ends of the stator and the guide rail are connected to improve the stability of the overall structure.

[0025] Air-floating guides are sliding guides that use gas as a lubricating medium. The thickness of the lubricating film is usually between submicron and tens of microns, and the bearing surface is diverse, such as rigid or flexible, smooth or grooved, flat or other shaped surfaces, etc. Since gas has the characteristics of low viscosity, good viscosity-temperature characteristics and radiation resistance, air-floating guides have shown excellent application prospects in special occasions such as high speed, high precision, low friction, low power consumption, high and low temperature, and radiation.

[0026] The utility model adopts an air-floating guide rail to replace the current linear guide rail or linear bearing. Because the stationary part and the moving part of the linear guide rail and the linear bearing belong to contact rolling friction, compared with the non-contact friction of the air-floating guide rail, the resistance of rolling friction will be greater than that of non-contact friction, and rolling friction is affected by the machining accuracy of parts, resulting in inconsistent movement resistance throughout the stroke. After long-term use, it will cause fatigue wear of parts and affect the movement accuracy. Since the air-floating guide rail is non-contact, there is no defect of mechanical wear, and the friction resistance of the air-floating guide rail is very small and uniform. The use of this air-floating guide rail for motion control and open-loop force control can improve the accuracy.

[0027] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A linear motor module with high force control accuracy, characterized in that: It includes a linear motor and an air-floating guide rail. The linear motor is composed of a stator and a mover. The air-floating guide rail is composed of a guide rail seat and a guide rail. An air pipe joint is provided on the guide rail seat. The guide rail seat is connected to the mover of the linear motor. The guide rail is connected to the stator of the linear motor. The guide rail seat is composed of a front air-floating plate, a rear air-floating plate, a left air-floating plate, and a right air-floating plate.

2. The linear motor module with high force control accuracy as claimed in claim 1, characterized in that: The rear air floating plate is connected to the mover of the linear motor, and the air pipe joint is arranged on the front air floating plate.

3. The linear motor module with high force control accuracy as claimed in claim 1, characterized in that: The front air floating plate, the rear air floating plate, the left air floating plate and the right air floating plate are all provided with air passages connected with the air pipe joints, and the inner sides of the front air floating plate, the rear air floating plate, the left air floating plate and the right air floating plate are all provided with a plurality of throttles corresponding to the air passages.

4. The linear motor module with high force control accuracy as claimed in claim 1, characterized in that: It also includes an upper fixing member and a lower fixing member, and the upper and lower ends of the stator are connected to the upper and lower ends of the guide rail through the upper and lower fixing members respectively.

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