Linear module

Abstract

The utility model discloses a linear module which comprises an installation base, a lead screw assembly arranged on the installation base and a driving motor connected with the lead screw assembly. The lead screw assembly comprises a lead screw body connected with the driving motor and a nut seat suitable for moving in the axial direction of the lead screw body. The mounting base comprises a bottom plate used for being in sliding fit with the nut seat and at least one supporting plate arranged on the bottom plate and used for supporting the lead screw body. A grating sensing structure is arranged between the nut seat and the bottom plate; a photoelectric sensing assembly is arranged between the nut seat and at least one supporting plate; the driving motor is further provided with an encoder. The rationality of the overall structure of the linear module can be considered, and the positioning precision in the operation process of the linear module can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of linear drive production, in particular to a linear module. Background Art

[0002] The linear module is an automation upgrade unit following the linear guide and ball screw linear transmission mechanism. It can realize linear and curved motion of the load through the combination of various units, making the automation of light loads more flexible and the positioning more accurate.

[0003] Linear modules are widely used in a wide variety of devices. For some medical and industrial equipment with high precision requirements, closed-loop stepper module systems with linear encoders, such as those disclosed in Publication No. CN211266698U, typically use a single encoder to monitor feedback for motor step loss. This results in unstable positioning accuracy and reliability, and measurement results are easily disturbed, failing to meet operational requirements. Furthermore, the components used to position the linear module are susceptible to damage in harsh environments, resulting in a short service life for linear modules using a single positioning detection component.

[0004] It can be understood that increasing the number of positioning detectors can solve the above problem. However, as the number of positioning detectors increases, how to rationally arrange the distribution of multiple positioning detectors so that they do not interfere with each other and at the same time do not affect the normal operation of other components of the linear module, what type of positioning detector to use, and how to reduce the probability of damage during use when multiple positioning detectors are used simultaneously are all technical issues that need to be solved. Therefore, how to balance the rationality of the overall structure of the linear module and improve positioning accuracy requires further optimization of the overall structure of the linear module. Utility Model Content

[0005] The purpose of the utility model is to provide a linear module to solve the technical problems of both taking into account the rationality of the overall structure of the linear module and improving the positioning accuracy during its operation.

[0006] The electric linear module of the utility model is realized as follows:

[0007] A linear module, comprising:

[0008] A mounting base, a screw assembly provided on the mounting base, and a drive motor connected to the screw assembly; wherein

[0009] The screw assembly includes a screw body connected to a drive motor and a nut seat adapted to move along the axial direction of the screw body;

[0010] The mounting base includes a bottom plate for slidingly cooperating with the nut seat and at least one supporting plate provided on the bottom plate and for supporting the screw body; and

[0011] A grating sensing structure is provided between the nut seat and the base plate;

[0012] A photoelectric sensing component is provided between the nut seat and at least one of the support plates;

[0013] The drive motor is also equipped with an encoder.

[0014] In an optional implementation of the present invention, the support plates provided on the base plate include a first support plate and a second support plate arranged in pairs and located on both sides of the movement direction of the nut seat;

[0015] The photoelectric sensing component is provided between the nut seat and the first support plate and / or the second support plate.

[0016] In an optional implementation of the present invention, the photoelectric sensing component includes a first photoelectric sensing component provided between the nut seat and the first support plate.

[0017] In an optional implementation of the present invention, the first photoelectric sensing component includes a first photoelectric sensor provided on the first support plate and a first photoelectric sensor provided on the nut seat for sensing the first photoelectric sensor.

[0018] In an optional implementation of the present invention, the photoelectric sensing component includes a second photoelectric sensing component provided between the nut seat and the second support plate.

[0019] In an optional implementation of the present invention, the second photoelectric sensing component includes a second photoelectric sensor provided on the second support plate and a second photoelectric sensor provided on the nut seat for sensing the second photoelectric sensor.

[0020] In an optional embodiment of the present invention, the grating sensing structure includes a grating ruler provided on the base plate and a grating reader adapted to move synchronously with the movement of the nut seat and to cooperate with the grating ruler; wherein

[0021] The grating ruler is parallel to the axial direction of the screw rod body.

[0022] In an optional implementation of the present invention, a guide rail assembly is further provided between the base and the nut seat;

[0023] The guide rail assembly includes a guide rail fixed on the base and a slider connected to the nut seat and suitable for sliding cooperation with the guide rail;

[0024] The slider and the nut seat are detachably matched; or the slider is integrally formed on the nut seat.

[0025] In an optional implementation of the present invention, the screw body is provided with a screw nut that is threadably matched with the screw body;

[0026] The screw nut is fixedly connected to the nut seat.

[0027] In an optional implementation of the present invention, the nut seat has a through hole suitable for the screw body to pass through; and

[0028] The screw nut includes a connecting portion for connecting with at least one outer side wall surface of the nut seat, and an extending portion connected to the connecting portion and suitable for being inserted into the through hole.

[0029] In an optional implementation of the present invention, the encoder is connected to the main shaft of the drive motor; and

[0030] The encoder is located at one end of the driving motor facing away from the screw rod body.

[0031] By employing the above-mentioned technical solution, the present invention achieves the following beneficial effects: The linear module of the present invention improves the overall positioning accuracy of the linear module through the coordination of three positioning detection devices: an encoder, a photoelectric sensor assembly, and a grating sensing structure, making it suitable for applications requiring higher precision. Furthermore, the simultaneous operation of multiple positioning detection devices provides strong anti-interference capabilities, enabling use in complex environments, particularly harsh environments. If some positioning detection devices fail, the remaining positioning detection devices can ensure continued normal operation of the linear module, thereby improving the reliability and stability of positioning during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the exploded structure of the linear module of Example 1;

[0033] Figure 2 This is a schematic diagram of the overall structure of the linear module of Example 1;

[0034] Figure 3 This is a schematic cross-sectional structural diagram of the linear module of Example 1.

[0035] In the figure: the screw body 1, the nut seat 2, the mounting bracket 21, the drive motor 3, the through hole 31, the screw nut 4, the connecting part 41, the extension part 42, the base plate 51, the first support plate 52, the second support plate 53, the guide rail 61, the slider 62, the grating scale 71, the grating reader 72, the first photoelectric sensor 81, the first photoelectric sensor 82, the second photoelectric sensor 83, the second photoelectric sensor 84, and the encoder 9. DETAILED DESCRIPTION

[0036] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0037] See also Figures 1 to 3 As shown, this embodiment provides a linear module, including: a mounting base, a screw assembly provided on the mounting base, and a drive motor 3 connected to the screw assembly; wherein the drive motor 3 can be optionally fixed to the mounting base by, for example but not limited to, screws.

[0038] Specifically, the screw assembly includes a screw body 1 connected to a drive motor 3 and a nut seat 2 adapted to move axially along the screw body 1. In one optional embodiment, the nut seat 2 can be directly threadedly engaged with the screw body 1, so that when the screw body 1 rotates, the nut seat 2 can move linearly along the axial direction of the screw body 1. In another optional embodiment, the screw body 1 is provided with a screw nut 4 threadedly engaged therewith; the screw nut 4 is fixedly connected to the nut seat 2. This embodiment uses this embodiment as an example in conjunction with the accompanying drawings.

[0039] More specifically, the nut seat 2 has a through-hole 31 adapted for passage of the screw body 1. The inner diameter of the through-hole 31 can be larger than that of the screw body 1 to prevent interference between the screw body 1 and the nut seat 2 during rotation. The screw nut 4 includes a connecting portion 41 for connection to at least one outer wall of the nut seat 2, and an extension portion 42 connected to the connecting portion 41 and adapted to be inserted into the through-hole 31. The extension portion 42 and the through-hole 31 preferably have the same cross-sectional shape, for example, a cylindrical shape. For example, as shown in the accompanying drawings, the connecting portion 41 can be directly connected to one axial side end surface of the nut seat 2 via, for example, but not limited to, screws. The extension portion 42 only needs to be inserted into the through-hole 31, or a clearance fit can be formed between the through-hole 31 and the extension portion 42. Furthermore, the through-hole 31 can optionally have a uniform inner diameter, where the inner diameter of the through-hole 31 is measured based on the circumferential dimension of the extension portion 42, ensuring that the through-hole 31 can accommodate the insertion of the extension portion 42. Of course, the through hole 31 here can also adopt a variable diameter structure, that is, the inner diameter of the portion of the through hole 31 that adapts to the extension portion 42 is larger than the inner diameter of other portions, so that the overall cross-section of the through hole 31 forms a T-shape. The above-mentioned situations all meet the use requirements of this embodiment. Generally speaking, this embodiment, through the situation that the screw nut 4 is matched with the nut seat 2, enables the nut seat 2 to increase its overall volume to enhance the use strength, while at the same time, the increased volume of the nut seat 2 does not increase the difficulty of assembly with the screw body 1.

[0040] Next, it is to be explained that the mounting base includes a bottom plate 51 for slidingly cooperating with the nut seat 2 and at least one support plate provided on the bottom plate 51 and for supporting the screw body 1. At this time, for the screw body 1, one end is connected to the drive motor 3, and it is only necessary to realize the support function of its rotational movement through a support plate at the end away from the drive motor 3. This embodiment, in conjunction with the accompanying drawings, gives an example of a situation in which the support plates include a first support plate 52 and a second support plate 53 arranged in pairs and located on both sides of the movement direction of the nut seat 2; wherein the first support plate 52 is defined as being located on the side of the nut seat 2 away from the drive motor 3, and the second support plate 53 is defined as being located on the side of the nut seat 2 facing the drive motor 3. At this time, it is sufficient to form a rotational cooperation between the screw body 1 and the first support plate, and the second support plate is sufficient as long as it allows the screw body 1 to pass smoothly. Under this structure, the overall mounting base is roughly U-shaped, and a movable space suitable for the nut seat 2 to perform reciprocating motion is formed between the first support plate 52 and the second support plate 53.

[0041] In addition, a guide rail assembly is provided between the base and the nut seat 2; the guide rail assembly includes a guide rail 61 fixed on the base and a slider 62 connected to the nut seat 2 and suitable for sliding cooperation with the guide rail 61; wherein the slider 62 and the nut seat 2 are detachable and cooperated; or the slider 62 is integrally formed on the nut seat 2.

[0042] On the basis of the above structure, further, in order to accurately locate the trajectory of the nut seat 2 along the axial movement of the screw body, this embodiment designs a triple positioning detection device, specifically including: a grating sensing structure provided between the nut seat 2 and the base plate 51; a photoelectric sensing component provided between the nut seat 2 and the first support plate 52 and / or the second support plate 53; and an encoder 9 configured for the drive motor 3.

[0043] Next, let’s look at each repositioning detection device in detail. First, the grating sensing structure:

[0044] In a first optional implementation, the grating sensing structure includes a grating scale 71 disposed on the base plate 51 and a grating reader 72 adapted to move synchronously with the movement of the nut seat 2 and to cooperate with the grating scale 71. It should be noted that the grating reader 72 herein can be directly disposed on the nut seat 2, or, as illustrated in the accompanying drawings, a mounting bracket for securing the grating reader 72 can be provided on the nut seat 2. The design of the mounting bracket 21 allows the grating reader 72 to be closer to the grating scale 71. It is understood that the mounting bracket 21 herein can also be replaced with another designed portion on the nut seat 2, such as a raised portion, to mount the grating reader 72, and this embodiment does not impose any absolute limitation on the specific implementation.

[0045] Since the axial direction of the screw body 1 limits the movement direction of the integral nut seat 2, for the positioning of the nut seat 2 during movement, the direction of its position change also changes along the axial direction of the screw body 1, so the grating scale 71 here is parallel to the axial direction of the screw body 1.

[0046] Next is the photoelectric sensing assembly provided between the nut seat 2 and the first support plate 52 and / or the second support plate 53. Given the varying travel lengths of linear modules in actual use, this embodiment utilizes a configuration where the photoelectric sensing assembly includes a first photoelectric sensing assembly provided between the nut seat 2 and the first support plate 52, and a second photoelectric sensing assembly provided between the nut seat 2 and the second support plate 53, as an example to better accommodate linear modules of varying configurations. Based on this configuration, the position of the nut seat 2 on the screw body 1 can be precisely determined by sensing the positions of the two axial ends of the nut seat 2 along the screw body 1.

[0047] Based on the above structure, in more detail, the first photoelectric sensing assembly used in this embodiment includes a first photoelectric sensor 81 disposed on the first support plate 52 and a first photoelectric sensor 82 disposed on the nut seat 2 for sensing the first photoelectric sensor 81. The second photoelectric sensing assembly includes a second photoelectric sensor 83 disposed on the second support plate 53 and a second photoelectric sensor 84 disposed on the nut seat 2 for sensing the second photoelectric sensor 83. It should be noted that this embodiment does not impose any absolute restrictions on the specific installation position of the first photoelectric sensor 81 on the first support plate 52 or the specific installation position of the second photoelectric sensor 83 on the second support plate 53. Here, as long as the first photoelectric sensor 81 and the first photoelectric sensor 82 are positively aligned, and the second photoelectric sensor 83 and the second photoelectric sensor 84 are positively aligned, so that the first photoelectric sensor 81 and the first photoelectric sensor 82, and the second photoelectric sensor 83 and the second photoelectric sensor 84 can achieve sensing coordination as the nut seat 2 moves along the axial direction of the screw body 1, the use requirements of this embodiment are met.

[0048] Next, it should be explained that, whether it is the grating reader 72 or the first photoelectric sensor 82 and the second photoelectric sensor 84 of this embodiment, they are all arranged on the nut seat 2 and will move synchronously with the movement of the nut seat 2. Based on the actual movement of the nut seat 2, it may collide with the first support plate 52 and the second support plate 53. Therefore, in order to prevent the grating reader 72 or the first photoelectric sensor 82 and the second photoelectric sensor 84 from being damaged due to collision, an anti-collision structure can be provided between the nut seat 2 and the first support plate 52 and the second support plate 53. Considering the overall structure based on the simplified linear module, in order to prevent the nut seat 2 from causing damage to the first support plate 52 and the second support plate 53 even if a collision occurs, the grating reader 72 or the first photoelectric sensor 82 and the second photoelectric sensor 84 will not be damaged. This embodiment has the following design, and an example is given with reference to the accompanying drawings:

[0049] The first photoelectric sensor 82, the second photoelectric sensor 84, and the grating reader 72 are arranged on the side end surface of the nut seat 2 parallel to the axial direction of the screw body 1. At this time, the first support plate 52 and the second support plate 53 are symmetrical, and the end surfaces of the first support plate 52 and the second support plate 53 facing the nut seat 2 are both rectangular, while the end surfaces of the nut seat 2 facing the first support plate 52 and the second support plate 53 are symmetrically arranged rectangles. In this case, when the area of ​​the end surface of the nut seat 2 facing the first support plate 52 and the second support plate 53 is smaller than the area of ​​the end surface of the first support plate 52 and the second support plate 53 facing the nut seat 2, the first photoelectric sensor 81 and the second photoelectric sensor 83 can be arranged on the end surface of the first support plate 52 and the second support plate 53 facing the nut seat 2, as long as they avoid the parts where the first support plate 52 and the second support plate 53 may directly contact the nut seat 2. As for the grating ruler 71, it can be fixed on the end face of the base plate 51 facing the nut seat 2; when the area of ​​the end face of the nut seat 2 facing the first support plate 52 and the second support plate 53 is equal to or greater than the area of ​​the end face of the first support plate 52 and the second support plate 53 facing the nut seat 2, the first photoelectric sensor 81 and the second photoelectric sensor 83 are arranged on the side end faces of the first support plate 52 and the second support plate 53 parallel to the axial direction of the screw body 1. As for the grating ruler 71, it can be fixed on the side end face of the base plate 51 parallel to the axial direction of the screw body 1. That is to say, in combination with the specific shapes and sizes of the first support plate 52 and the second support plate 53 and the nut seat 2, the layout positions of the specific photoelectric sensor components and the grating sensing structure also need to be adaptively adjusted, that is, through reasonable layout and reasonable shape design, the normal use of the corresponding photoelectric sensor components can be ensured based on a simplified structure.

[0050] Finally, encoder 9:

[0051] In this embodiment, the encoder 9 is connected to the main shaft of the drive motor 3. For example, in an optional embodiment, the encoder 9 is a reflective grating encoder 9, which can achieve higher resolution in a smaller size. The encoder 9 is preferably mounted on the side of the drive motor 3 facing away from the lead screw body 1.

[0052] In summary, the linear module of this embodiment improves its overall positioning accuracy through the coordination of the three positioning detection devices—the encoder 9, the photoelectric sensor assembly, and the grating sensing structure—making it suitable for applications requiring even higher precision. Furthermore, the simultaneous operation of multiple positioning detection devices provides strong anti-interference capabilities, enabling use in complex environments. In particularly harsh environments, even if some positioning detection devices fail, the remaining positioning detection devices can ensure continued normal operation of the linear module, thereby improving the reliability and stability of positioning during operation.

[0053] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0054] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0055] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0056] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0057] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0058] In the present invention, unless otherwise expressly specified or limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

Claims

1. A linear module, characterized in that: include: A mounting base, a lead screw assembly disposed on the mounting base, and a drive motor connected to the lead screw assembly; in The screw assembly includes a screw body connected to a drive motor and a nut seat adapted to move along the axial direction of the screw body; The mounting base includes a bottom plate for slidingly cooperating with the nut seat and at least one supporting plate provided on the bottom plate and for supporting the screw body; and A grating sensing structure is provided between the nut seat and the base plate; A photoelectric sensing component is provided between the nut seat and at least one of the support plates; The drive motor is also equipped with an encoder.

2. The linear module according to claim 1, characterized in that: The support plates provided on the bottom plate include a first support plate and a second support plate arranged in pairs and located on both sides of the movement direction of the nut seat; The photoelectric sensing component is provided between the nut seat and the first support plate and / or the second support plate.

3. The linear module according to claim 2, characterized in that: The photoelectric sensing component includes a first photoelectric sensing component provided between the nut seat and the first support plate.

4. The linear module according to claim 3, characterized in that: The first photoelectric sensing component includes a first photoelectric sensor arranged on the first supporting plate and a first photoelectric sensor arranged on the nut seat for sensing the first photoelectric sensor.

5. The linear module according to any one of claims 2 to 4, characterized in that: The photoelectric sensing component includes a second photoelectric sensing component provided between the nut seat and the second support plate.

6. The linear module according to claim 5, characterized in that: The second photoelectric sensing component includes a second photoelectric sensor arranged on the second supporting plate and a second photoelectric sensor arranged on the nut seat for sensing the second photoelectric sensor.

7. The linear module according to claim 1, characterized in that: The grating sensing structure includes a grating ruler provided on the bottom plate and a grating reader adapted to move synchronously with the movement of the nut seat and to cooperate with the grating ruler; The grating ruler is parallel to the axial direction of the screw rod body.

8. The linear module according to claim 1, characterized in that: A guide rail assembly is also provided between the base and the nut seat; The guide rail assembly includes a guide rail fixed on the base and a slider connected to the nut seat and suitable for sliding cooperation with the guide rail; The slider and the nut seat are detachably matched; or the slider is integrally formed on the nut seat.

9. The linear module according to claim 1 or 2, characterized in that: The screw body is provided with a screw nut which is matched with its thread; The screw nut is fixedly connected to the nut seat; and The nut seat has a through hole suitable for the screw rod body to pass through; The screw nut includes a connecting portion for connecting with at least one outer side wall surface of the nut seat, and an extending portion connected to the connecting portion and suitable for being inserted into the through hole.

10. The linear module according to claim 1, characterized in that: The encoder is connected to the main shaft of the drive motor; and The encoder is located at one end of the driving motor facing away from the screw rod body.

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