Motor module

Abstract

The utility model relates to the technical field of linear motors, and discloses a motor module, which comprises a base module, a material taking module and a linear motor, and is characterized in that the base module comprises an upper cover, a lower shell and a guide rail, the lower shell is provided with an accommodating groove, and the guide rail extends along the length direction of the lower shell and is arranged in the accommodating groove; the material taking module is arranged in the accommodating groove and is in sliding connection with the guide rail; the linear motor is arranged in the containing groove and comprises a rotor, a first stator and a second stator, the first stator and the second stator extend in the direction of the guide rail, the rotor is arranged in a gap between the first stator and the second stator, and the rotor is fixedly connected with the material taking module; the first stator is fixed at the first installation position and is flush with the upper surface, and the second stator is fixed at the second installation position and is flush with the lower surface of the lower shell. The motor module provided by the utility model is simple in structure and light in size, has great structural advantages in equipment in a narrow operation space, and meets the requirements of thrust and stroke while reducing the size of the module.

Description

Technical Field

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

[0002] Linear motors are also called linear motors, linear motors or linear motors. They are transformed from rotary motors. They are made by cutting the rotary motor in the axial direction and expanding it in the circumferential direction.

[0003] In related technologies, in order to ensure greater thrust, the linear motor in the blade motor module is often made very large. When sucking tiny and high-value components, the blade motor module is not thin enough, which makes it impossible to pick up and place materials in high-precision and narrow equipment, seriously limiting the application and development of the blade motor module. Utility Model Content

[0004] The purpose of the utility model is to provide a motor module, aiming to solve the technical problem that the thickness of the blade motor module is not small enough and materials cannot be taken in and placed in high-precision and narrow equipment.

[0005] In order to achieve the above objectives, the present invention provides a motor module, which includes:

[0006] The base module includes an upper cover, a lower shell, and a guide rail, wherein the lower shell has a receiving groove, the upper cover is engaged with the lower shell to cover the receiving groove, and the guide rail extends along the length direction of the lower shell and is disposed in the receiving groove;

[0007] A material taking module, disposed in the receiving groove and slidably connected to the guide rail;

[0008] A linear motor is disposed in the accommodating slot, the linear motor comprising a mover, a first stator, and a second stator, the first stator and the second stator extending along the direction of the guide rail, the mover being disposed in a gap between the first stator and the second stator, and the mover being connected and fixed to the retrieving module;

[0009] The upper surface of the lower shell is provided with a first mounting position, the first stator is fixed at the first mounting position and is flush with the upper surface of the lower shell, the lower surface of the lower shell is provided with a second mounting position, the second stator is fixed at the second mounting position and is flush with the lower surface of the lower shell.

[0010] Optionally, the first stator includes a first magnetic yoke and a plurality of first magnets, the second stator includes a second magnetic yoke and a plurality of second magnets, the first magnetic yoke is fixed at the first mounting position and is flush with the upper surface of the lower shell, the second magnetic yoke is fixed at the second mounting position and is flush with the lower surface of the lower shell, the plurality of first magnets are arranged on a side of the first magnetic yoke facing the second magnetic yoke, the plurality of second magnets are arranged on a side of the second magnetic yoke facing the first magnetic yoke, and the mover is arranged in the gap between each of the first magnetic steels and each of the second magnetic steels.

[0011] Optionally, the lower shell includes a bottom plate, the sides of which are sequentially connected to a first side plate, a second side plate, a third side plate, and a fourth side plate, the first side plate, the second side plate, the third side plate, and the fourth side plate, together with the bottom plate, enclose the accommodating groove; the first side plate and the third side plate extend along the length direction of the lower shell, and the second side plate and the fourth side plate extend along the width direction of the lower shell;

[0012] A first notch is provided on the upper edge of the first side plate, a second notch is provided on the lower edge of the first side plate, the first magnetic yoke is embedded in the first notch and is flush with the upper surface of the lower shell, and the second magnetic yoke is embedded in the second notch and is flush with the lower surface of the lower shell.

[0013] Optionally, the base plate is provided with two mounting blocks, the two mounting blocks are spaced apart in the accommodating groove along the length direction of the lower shell, the first magnetic yoke is fixed to the top of the two mounting blocks, and the second magnetic yoke is fixed to the bottom of the two mounting blocks.

[0014] Optionally, the first magnetic yoke is fixed to the mounting block by screws; and / or the second magnetic yoke is fixed to the mounting block by screws.

[0015] Optionally, the mounting block is integrally formed with the first side plate and the bottom plate.

[0016] Optionally, the material taking module includes a fixed plate and a negative pressure tube for taking and placing materials, the fixed plate is fixedly connected to the mover, and the fixed plate is slidably connected to the guide rail, and the negative pressure tube is fixed to the fixed plate.

[0017] Optionally, the first end of the negative pressure tube is connected to an external negative pressure device, the second end of the negative pressure tube is used to take and place materials, and the negative pressure tube moves following the movement of the fixed plate.

[0018] Optionally, the material picking module includes an air guide block, which is arranged on the base plate. The air guide block is provided with an air pipe joint and an air suction joint. The first end of the negative pressure tube is connected to the air pipe joint, and the air suction joint is connected to the negative pressure equipment.

[0019] Optionally, the air suction joint is provided on the second side plate, and the second end of the negative pressure tube is provided on the fourth side plate.

[0020] Optionally, the fixing plate is provided with a mounting hole, the mounting hole passes through the fixing plate and is parallel to the guide rail, and the negative pressure tube is embedded in the mounting hole.

[0021] Optionally, the negative pressure tube is fixed to the fixing plate by screws.

[0022] Optionally, the material taking module includes a bushing, the fourth side plate is provided with a positioning hole, the bushing is fixed in the positioning hole, and the second end of the negative pressure tube is embedded in the bushing.

[0023] Optionally, the material taking module includes a slider, the slider is slidably arranged on the guide rail, the fixed plate is fixed on the slider, and there is a gap between the fixed plate and the bottom plate.

[0024] Optionally, the motor module includes a reading module, the reading module includes a reading head and a grating scale, the grating scale is fixed on the side of the fixed plate facing the base plate, the reading head is fixed on the base plate at a position facing the grating scale, and the reading head and the grating scale are arranged parallel to the extension direction of the guide rail.

[0025] Optionally, the lower shell is further provided with a wiring terminal connected to an external power supply, and the wiring terminal is electrically connected to the mover.

[0026] The utility model provides a motor module, which has the following beneficial effects:

[0027] The present invention achieves a compact design of the motor module in the thickness direction by fixing the first stator and the second stator of the linear motor on the upper surface and the lower surface of the lower shell respectively, and making them flush with the upper surface of the lower shell respectively, which helps to reduce the overall thickness of the motor module and successfully avoids the problem of the stator occupying a large space in the traditional design. Therefore, the motor module of the present invention can be flexibly applied to a narrow equipment environment with extremely high requirements for precision and space. Although the volume of the linear motor has been reduced, the dual-stator design structure composed of the first stator and the second stator enables the mover to still obtain sufficient thrust output, while maintaining the compact volume of the linear motor, ensuring that the mover has a strong driving force, and can drive the material collection module to achieve reciprocating motion in a compact space, thereby efficiently completing the material suction operation. The motor module provided by the present invention has a simple structure and a light volume. It has a very large structural advantage in equipment with a small operating space. It can meet the thrust and stroke requirements while reducing the volume of the module. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A schematic diagram of the structure of the motor module provided in an embodiment of the present utility model;

[0029] Figure 2 An exploded schematic diagram of a motor module provided by an embodiment of the present utility model;

[0030] Figure 3 A schematic diagram of the structure of the motor module provided by an embodiment of the utility model without the upper cover;

[0031] Figure 4 A schematic structural diagram of the lower shell provided in an embodiment of the present utility model;

[0032] Figure 5 Another structural schematic diagram of the lower shell provided by an embodiment of the utility model;

[0033] Figure 6 A schematic diagram of the structure of a linear motor provided in an embodiment of the present utility model;

[0034] Figure 7 An exploded schematic diagram of a linear motor provided by an embodiment of the present utility model;

[0035] Figure 8 Another exploded schematic diagram of the motor module provided in an embodiment of the present invention.

[0036] The following are marked in the figure:

[0037] 10. Base module; 11. Lower shell; 110. Bottom plate; 111. First side plate; 112. Second side plate; 113. Third side plate; 114. Fourth side plate; 115. Mounting block; 116. Positioning hole; 12. Guide rail; 13. Terminal block; 14. Upper cover; 20. Retrieving module; 21. Fixing plate; 22. Negative pressure tube; 23. Air guide block; 24. Air pipe connector; 25. Suction connector; 26. Slider; 30. Linear motor; 31. First stator; 311. First yoke; 312. First magnet; 32. Second stator; 321. Second yoke; 322. Second magnet; 33. Mover; 41. Reading head; 42. Grating scale; X, length direction; Y, width direction; Z, thickness direction. DETAILED DESCRIPTION

[0038] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inside", "outside", etc. used in the present invention to indicate the orientation or positional relationship are based on the positional relationship 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 devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In the description of this utility model, it should be understood that the terms "first," "second," etc. are used to describe various types of information, but such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information without departing from the scope of this utility model.

[0041] In the related art, the linear motor in an ordinary blade motor module is hidden in the cavity of the module. This design structure will increase the external volume of the blade motor module, which is not conducive to minimizing the volume and maximizing the thrust.

[0042] like Figures 1 to 6 As shown, the embodiment of the present invention provides a motor module, which includes a base module 10, a material taking module 20 and a linear motor 30. The base module 10 includes an upper cover 14, a lower shell 11 and a guide rail 12. The lower shell 11 has a receiving groove. The upper cover 14 covers the lower shell 11 to cover the receiving groove. The guide rail 12 extends along the length direction X of the lower shell 11 and is arranged in the receiving groove; the material taking module 20 is arranged in the receiving groove and is slidably connected to the guide rail 12; the linear motor 30 is arranged in the receiving groove, and the linear motor 30 includes a mover 33 , a first stator 31 and a second stator 32, the first stator 31 and the second stator 32 extend along the direction of the guide rail 12, the mover 33 is arranged in the gap between the first stator 31 and the second stator 32, and the mover 33 is connected and fixed to the material taking module 20; wherein, a first mounting position is provided on the upper surface of the lower shell 11, the first stator 31 is fixed at the first mounting position and is flush with the upper surface of the lower shell 11, and a second mounting position is provided on the lower surface of the lower shell 11, the second stator 32 is fixed at the second mounting position and is flush with the lower surface of the lower shell 11.

[0043] like Figure 1 and Figure 2 As shown, the length direction of the base module 10 is the X direction, the width direction of the base module 10 is the Y direction, and the thickness direction of the base module 10 is the Z direction.

[0044] In this embodiment, the base module 10 serves as the supporting structure for the motor module and comprises an upper cover 14, a lower housing 11, and guide rails 12. The lower housing 11 has a receiving slot for mounting and accommodating other components. The upper cover 14 covers the receiving slot of the lower housing 11, protecting the components within from external influences. The guide rails 12 extend along the longitudinal direction X of the lower housing 11 and are fixedly mounted within the receiving slot, providing a sliding path for the reclaiming module 20.

[0045] In this embodiment, the picker module 20 is disposed within the receiving slot and slidably connected to the guide rail 12, capable of linear reciprocating motion along the guide rail 12. The picker module 20 is used to grab or absorb tiny and high-value components, such as semiconductor chips, integrated circuits (ICs), and precision electronic components.

[0046] In this embodiment, the linear motor 30 is the core component that drives the movement of the material picking module 20, and includes a mover 33, a first stator 31, and a second stator 32. Among them, the mover 33 is the moving part of the linear motor 30, usually including a permanent magnet or a coil. The first stator 31 and the second stator 32 extend in the direction of the guide rail and are fixedly arranged on the upper and lower surfaces of the lower shell 11 respectively, and are used to generate a changing magnetic field to interact with the magnetic field in the mover 33, thereby generating a driving force for the mover 33 and generating movement relative to the stator. If the direction of the current is changed, the mover 33 will move in the opposite direction.

[0047] In this embodiment, the upper and lower surfaces of the lower shell 11 are respectively provided with a first mounting position and a second mounting position. The first stator 31 is fixed in the first mounting position and is flush with the upper surface of the lower shell 11. The first stator 31 and the surface of the upper cover 14 are coplanar. In other words, the first stator 31 is also flush with the upper surface of the first stator 31. At the same time, the second stator 32 is fixed in the second mounting position and is flush with the lower surface of the lower shell 11. This allows the stator of the linear motor 30 to be compactly embedded in the lower shell 11, greatly saving space. The mover 33 is located in the gap between the first stator 31 and the second stator 32 and is connected and fixed to the material reclaiming module 20. The electromagnetic force drives the material reclaiming module 20 to perform linear reciprocating motion along the guide rail 12.

[0048] Based on the above technical solution, this embodiment achieves a compact design of the motor module in the thickness direction (i.e., the Z-axis direction) by fixing the first stator 31 and the second stator 32 of the linear motor 30 to the upper and lower surfaces of the lower shell 11, respectively, and flush with the upper surface of the lower shell 11, which helps to reduce the overall thickness of the motor module and successfully avoids the problem of the stator occupying a large space in the traditional design. Therefore, the motor module of this embodiment can be flexibly applied to a narrow equipment environment with extremely high precision and space requirements. Although the volume of the linear motor 30 has been reduced, thanks to the dual-stator design structure composed of the first stator 31 and the second stator 32, the mover 33 can still obtain sufficient thrust output. While maintaining the compact volume of the linear motor 30, it ensures that the mover 33 has a strong driving force, which can drive the material retrieving module 20 to achieve reciprocating motion in a compact space, thereby efficiently completing the material suction operation. The motor module provided in this embodiment has a simple structure and a light volume. It has a very large structural advantage in equipment with a small operating space. It can meet the thrust and stroke requirements while reducing the module volume.

[0049] As an implementation method, Figure 6 and Figure 7 As shown, the first stator 31 includes a first magnetic yoke 311 and a plurality of first magnetic steels 312, the second stator 32 includes a second magnetic yoke 321 and a plurality of second magnetic steels 322, the first magnetic yoke 311 is fixed at a first mounting position and is flush with the upper surface of the lower shell 11, the second magnetic yoke 321 is fixed at a second mounting position and is flush with the lower surface of the lower shell 11, the plurality of first magnetic steels 312 are arranged on a side of the first magnetic yoke 311 facing the second magnetic yoke 321, the plurality of second magnetic steels 322 are arranged on a side of the second magnetic yoke 321 facing the first magnetic yoke 311, and the mover 33 is arranged in the gap between each first magnetic steel 312 and each second magnetic steel 322.

[0050] It is understandable that a magnetic yoke generally refers to a soft magnetic material that does not generate a magnetic field (magnetic lines of force) itself and only transmits magnetic lines of force in a magnetic circuit. Magnetic yokes are generally made of soft iron, steel, and soft magnetic alloys with relatively high magnetic permeability. In the linear motor 30, the magnetic yoke, as part of the stator, plays the role of supporting and fixing the magnetic steel, and transmits magnetic lines of force to make the electromagnetic field more stable. As the core part of the stator, the magnetic steel interacts with the mover 33 to generate electromagnetic force, thereby driving the mover 33 to perform linear motion.

[0051] In this embodiment, the first magnetic yoke 311 is fixed in the first mounting position and flush with the upper surface of the lower housing 11. This not only saves space but also serves as a structural component to enhance the structural stability of the motor module. A plurality of first magnetic steels 312 are neatly arranged on the inner surface of the first magnetic yoke 311 (i.e., the side facing the second magnetic yoke 321), generating an electromagnetic field and utilizing magnetic force to drive the mover 33.

[0052] Similarly, the structure of the second stator 32 is similar to that of the first stator 31. The second magnetic yoke 321 is fixed to the second mounting position and flush with the lower surface of the lower shell 11. A plurality of second magnetic steels 322 are neatly arranged on the inner surface of the second magnetic yoke 321 (i.e., the side facing the first magnetic yoke 311). The second magnetic steels 322 correspond to the first magnetic steels 312, and together form an electromagnetic field to drive the mover 33 to move. The mover 33 moves in the gap between the first magnetic steel 312 and the second magnetic steel 322, and through the interaction with the electromagnetic field, efficient thrust output is achieved. The mover 33 then drives the material picking module 20 to achieve reciprocating motion, thereby completing the material suction operation.

[0053] As an implementation method, Figure 4 and Figure 5 As shown, the lower shell 11 includes a base plate 110, and the sides of the base plate 110 are connected in sequence with a first side plate 111, a second side plate 112, a third side plate 113 and a fourth side plate 114, and the first side plate 111, the second side plate 112, the third side plate 113 and the fourth side plate 114 and the base plate 110 form a receiving groove; the first side plate 111 and the third side plate 113 extend along the length direction X of the lower shell 11, and the second side plate 112 and the fourth side plate 114 extend along the width direction Y of the lower shell 11; a first notch is provided on the upper edge of the first side plate 111, and a second notch is provided on the lower edge of the first side plate 111, the first magnetic yoke 311 is embedded in the first notch and is flush with the upper surface of the lower shell 11, and the second magnetic yoke 321 is embedded in the second notch and is flush with the lower surface of the lower shell 11.

[0054] Specifically, the lower housing 11 is composed of multiple parts, with the base plate 110 serving as the foundational support. The four sides of the base plate 110 are connected in sequence to a first side plate 111, a second side plate 112, a third side plate 113, and a fourth side plate 114. Together with the base plate 110, these four side plates form a receiving slot for mounting and accommodating the other components of the linear motor. The first and third side plates 111, 113 serve as the longitudinal support and positioning structure for the lower housing 11, while the second and fourth side plates 112, 114 serve as the width support and positioning structure for the lower housing 11.

[0055] Among them, the first side plate 111 is provided with a first notch and a second notch (not shown in the drawings), which are respectively located at the upper edge and the lower edge of the first side plate 111. The first notch and the second notch extend along the length direction of the first side plate 111. The first magnetic yoke 311 is embedded in the first notch and remains flush with the upper surface of the lower shell 11, and the second magnetic yoke 321 is embedded in the second notch and remains flush with the lower surface of the lower shell 11, thereby reducing the thickness of the linear motor 30, thereby reducing the thickness and volume of the motor module.

[0056] It should be understood that in a traditional motor module, a support structure is required to be set up in the gap between the first magnetic yoke 311 and the second magnetic yoke 321. If there is no support structure, the upper and lower magnetic yokes will be deformed due to the existence of magnetic attraction, resulting in insufficient gap between the mover and the stator or interference. However, after the support structure is set up, the magnetic yoke will occupy a certain volume space in the width direction (i.e., the Y-axis direction), which is not conducive to minimizing the volume and maximizing the thrust of the linear motor.

[0057] In this embodiment, the first side plate 111 is directly converted into a supporting structure for the first magnetic yoke 311 and the second magnetic yoke 321. The first magnetic yoke 311 and the second magnetic yoke 321 can extend a certain distance in the width direction (i.e., the Y-axis direction), which is beneficial to increase the size of the magnetic yoke and the rotor coil in the width direction (i.e., the Y-axis direction), thereby increasing the thrust of the linear motor.

[0058] This embodiment achieves a compact design of the motor module in the width direction (i.e., the Y-axis), reducing the number of parts while also enhancing the structural rigidity of the motor module. In practical applications, this significantly increases the thrust of the linear motor 30. Experiments have shown that, for a motor module of the same volume, this embodiment can increase the thrust of the linear motor 30 by approximately 15%.

[0059] It can be understood that although in this embodiment, the first magnetic yoke 311 and the second magnetic yoke 321 are fixed by being embedded in the notch of the first side plate 111, in other embodiments, the stator can also be embedded in the corresponding notch of other side plates (such as the second side plate 112, the third side plate 113 or the fourth side plate 114) as needed to achieve a similar compact design effect.

[0060] In this embodiment, the guide rail 12 is fixed to the bottom plate 110 by screws, and limiting members are provided on both sides of the guide rail 12 so that the material taking module 20 can move stably along the axial direction of the guide rail 12 .

[0061] As an implementation method, Figure 4 and Figure 5 As shown, the base plate 110 is provided with two mounting blocks 115 , which are spaced apart in the receiving groove along the length direction X of the lower shell 11 , the first magnetic yoke 311 is fixed to the top of the two mounting blocks 115 , and the second magnetic yoke 321 is fixed to the bottom of the two mounting blocks 115 .

[0062] In this embodiment, the first magnetic yoke 311 is fixed to the top of the two mounting blocks 115 and is flush with the upper surface of the lower shell 11 , and the second magnetic yoke 321 is fixed to the bottom of the two mounting blocks 115 and is flush with the lower surface of the lower shell 11 .

[0063] Mounting blocks 115 provide support surfaces for the first and second yokes 311 and 321. The first yoke 311 can be attached to the top of the two mounting blocks 115 using fasteners such as bolts and nuts, or by welding, adhesives, or other methods. The second yoke 321 can be similarly attached to the bottom of the two mounting blocks 115. This design provides stable support and fixation for the yokes, ensuring they are accurately positioned on the upper and lower surfaces of the lower housing 11. In practice, the height and width of mounting blocks 115 can be adjusted to accommodate yokes of varying sizes.

[0064] In some embodiments, mounting block 115 can be adjusted in size along the X-axis and Z-axis, allowing the motor module to accommodate motors with varying dimensions in the X-axis, Z-axis, and Y-axis. Depending on the application, mounting block 115 can be moved along the X-axis to increase the size of the yoke and mover coils along the X-axis, thereby increasing the thrust of the linear motor and minimizing its size while maximizing its thrust.

[0065] As an embodiment, the first magnetic yoke 311 is fixed to the mounting block 115 by screws; and / or the second magnetic yoke 321 is fixed to the mounting block 115 by screws.

[0066] Specifically, in order to achieve a stable connection between the first magnetic yoke 311 and the second magnetic yoke 321 and the mounting block 115, this embodiment adopts a screw fixing method. The screw fixing structure is simple and easy to implement, and can provide sufficient fastening force to ensure the stability and reliability of the stator during long-term use.

[0067] As an implementation method, Figure 4 and Figure 5 As shown, the mounting block 115 is integrally formed with the first side plate 111 and the bottom plate 110 .

[0068] Specifically, this embodiment may adopt injection molding, casting or other manufacturing processes to ensure that the mounting block 115 , the first side plate 111 and the bottom plate 110 are tightly combined during the manufacturing process to form an integral structure, thereby improving the strength of the lower shell 11 .

[0069] As an implementation method, Figure 8 As shown, the material taking module 20 includes a fixed plate 21 and a negative pressure pipe 22 for taking and placing materials. The fixed plate 21 is fixedly connected to the mover 33 and is slidably connected to the guide rail 12. The negative pressure pipe 22 is fixed to the fixed plate 21.

[0070] Specifically, the mover 33 may be fixed to the fixing plate 21 by fasteners such as bolts or nuts, and the fixing plate 21 may move on the guide rail 12 along with the movement of the mover 33 .

[0071] The fixed plate 21 serves as the supporting structure for the reclaiming module 20, and the negative pressure tube 22 serves as the material receiving and placing component of the reclaiming module 20. Mounting holes or slots are designed on the fixed plate 21 based on the shape and size of the negative pressure tube 22, and the negative pressure tube 22 is secured to the fixed plate 21 using fasteners such as bolts and nuts. As the fixed plate 21 moves along the guide rail 12 with the mover 33, the negative pressure tube 22 follows the same trajectory as the fixed plate 21, enabling the negative pressure tube 22 to extend and retract, thereby adsorbing and releasing the material.

[0072] It should be noted that in order to ensure the sealing of the structure, the traditional design of the material-retrieving module 20 designs the negative pressure tube 22 and the fixed plate 21 as an integrally molded structure. However, in order to reduce the volume of the motor module, the thickness of the material-retrieving module 20 is often made very thin, resulting in the motor module having greater flexibility. Its accuracy cannot be guaranteed during the machining process, affecting the stability of subsequent operation.

[0073] In this embodiment, the negative pressure tube 22 and the fixing plate 21 are of split-type design. The split-type structure is simple to machine, easy to assemble and disassemble, and is very applicable in practice.

[0074] As an embodiment, the first end of the negative pressure tube 22 is connected to an external negative pressure device (not shown in the drawings), the second end of the negative pressure tube 22 is used to take and place materials, and the negative pressure tube 22 moves with the movement of the fixed plate 21.

[0075] Specifically, the negative pressure device can be a vacuum pump or other device capable of creating a vacuum. The first end of the negative pressure tube 22 is connected to the external negative pressure device via a connection such as a pipe or hose. The negative pressure tube 22 can stably receive the negative pressure from the external negative pressure device, thereby adsorbing the material. When removing the material, the second end of the negative pressure tube 22 tightly adheres to the material, lifting it from its original position. When discharging the material, the second end of the negative pressure tube 22 releases the negative pressure, separating the material and placing it in the target location.

[0076] In this embodiment, to achieve material adsorption and release by the negative pressure tube 22, the negative pressure device is appropriately controlled to open and close. During material collection, the control system sends an open command to the negative pressure device, causing it to generate negative pressure and adsorb the material through the second end of the negative pressure tube 22. During material discharge, the control system sends a close command to the negative pressure device, causing it to cease generating negative pressure and release the material. To achieve stable adsorption of materials of varying shapes, sizes, and weights, the control system can also adjust the negative pressure generated by the negative pressure device as needed.

[0077] As an implementation method, Figure 3 as well as Figure 8As shown, the material taking module 20 includes an air guide block 23, which is arranged on the base plate 110. The air guide block 23 is provided with an air pipe joint 24 and an air suction joint 25. The first end of the negative pressure pipe 22 is connected to the air pipe joint 24, and the air suction joint 25 is connected to the negative pressure equipment.

[0078] Specifically, the air guide block 23 is mounted on the base plate 110 and securely connected to the base plate 110. The air guide block 23 serves as a component of the airflow channel, ensuring that the negative pressure generated by the negative pressure device is transmitted to the working area of ​​the reclaiming module 20. The air pipe connector 24 connects to the first end of the negative pressure tube 22 and communicates with the airflow channel within the air guide block 23. The air intake connector 25 is directly connected to the negative pressure device, transmitting the negative pressure generated by the negative pressure device to the air guide block 23.

[0079] During use, when the negative pressure equipment is working, the negative pressure generated is transmitted to the air guide block 23 through the suction joint 25, and is transmitted to the negative pressure pipe 22 from the air pipe joint 24. In this way, the material taking module 20 (negative pressure pipe 22) can use the negative pressure to suck up the material and place it in the designated position.

[0080] The linear motor assembly and its material handling module 20 in this embodiment achieve stable material suction and placement through the air guide block 23 and the connection between the negative pressure tube 22 and the negative pressure device. To achieve precise control of the negative pressure, a control element such as a regulating valve can be installed between the suction connector 25 and the negative pressure device. The regulating valve can adjust the negative pressure and flow rate to achieve stable material suction and release.

[0081] As an implementation method, Figure 8 As shown, the air suction connector 25 is provided through the second side plate 112 , and the second end of the negative pressure tube 22 is provided through the fourth side plate 114 .

[0082] Specifically, the suction connector 25 is provided through the second side plate 112 to facilitate connection with external negative pressure equipment, reducing installation difficulty. The second end of the negative pressure tube 22 is provided through the fourth side plate 114 so that the negative pressure tube 22 can contact the material from the other end and generate adsorption force.

[0083] As an embodiment, the fixing plate 21 is provided with a mounting hole, the mounting hole passes through the fixing plate 21 and is parallel to the guide rail 12 , and the negative pressure tube 22 is embedded in the mounting hole.

[0084] Specifically, the mounting hole is positioned parallel to the guide rail 12 to ensure that the negative pressure tube 22 remains consistent with the guide rail 12 during movement, and the size and shape of the mounting hole match the outer diameter of the negative pressure tube 22 so that the negative pressure tube 22 transitions with the mounting hole and is tightly embedded therein.

[0085] As an embodiment, the negative pressure tube 22 is fixed to the fixing plate 21 by screws.

[0086] Specifically, holes matching the screws are reserved on the fixing plate 21 so that the screws can pass through and fix the negative pressure tube 22, so that the negative pressure tube 22 can extend and retract outward from the fourth side plate 114 following the movement of the fixing plate 21, thereby facilitating the absorption and release of materials.

[0087] As an implementation method, the negative pressure tube 22 is provided with a sealing ring, which is embedded in the mounting hole of the fixing plate 21 to ensure good sealing and prevent the negative pressure effect from being affected.

[0088] As an implementation method, Figure 8 As shown, the material taking module 20 includes a bushing (not shown in the drawings), the fourth side plate 114 is provided with a positioning hole 116, the bushing is fixed in the positioning hole 116, and the second end of the negative pressure tube 22 is embedded in the bushing.

[0089] Specifically, in order to ensure the coaxiality of the negative pressure tube 22, the bushing is fixed in the positioning hole 116 of the fourth side plate 114. The negative pressure tube 22 cooperates with the bushing to ensure the concentricity of the negative pressure tube 22 during operation, thereby ensuring the stability and accuracy of adsorption.

[0090] As an implementation method, Figure 8 As shown, the material taking module 20 includes a slider 26 , which is slidably disposed on the guide rail 12 , and a fixed plate 21 is fixed on the slider 26 , with a gap between the fixed plate 21 and the bottom plate 110 .

[0091] Specifically, since there is a certain gap between the fixed plate 21 and the base plate 110, in order to avoid interference or collision of the fixed plate 21 during movement, this embodiment indirectly realizes the sliding connection between the fixed plate 21 and the guide rail 12 by sliding a smaller slider 26 on the guide rail 12 and then fixing the fixed plate 21 on the slider 26 with screws.

[0092] As an embodiment, the motor module includes a reading module, the reading module includes a reading head 41 and a grating scale 42, the grating scale 42 is fixed on the side of the fixed plate 21 facing the base plate 110, the reading head 41 is fixed on the base plate 110 facing the grating scale 42, and the reading head 41 and the grating scale 42 are arranged parallel to the extension direction of the guide rail 12.

[0093] Specifically, the grating scale 42 is a high-precision linear displacement sensor with fine lines engraved on its surface, used to measure displacement in conjunction with the readhead 41. In this embodiment, the grating scale 42 is fixed to the side of the fixed plate 21 facing the base plate 110. It can be fixed using adhesive, screws, or other fixing methods to ensure that the grating scale 42 does not move or deform during the measurement process. The readhead 41 is the component that reads the line information on the grating scale 42. It contains a photoelectric conversion element and signal processing circuitry, which can convert the displacement information on the grating scale 42 into an electrical signal output.

[0094] When the motor module is working, the mover 33 drives the fixed plate 21 to carry the grating scale 42 to move along the guide rail 12, while the reading head 41 is fixed on the base plate 110 and does not move. As the fixed plate 21 moves, the scale lines on the grating scale 42 are displaced relative to the reading head 41. The reading head 41 detects the changes in the scale lines and converts the displacement information into an electrical signal output, thereby analyzing the moving distance of the negative pressure tube 22 and achieving precise material removal and placement.

[0095] It can be understood that since the reading head 41 and the grating scale 42 are arranged in parallel along the extension direction of the guide rail 12, the space in the thickness direction of the lower shell 11 is fully utilized, which helps to reduce the thickness and occupied volume of the reading module.

[0096] To minimize the size of the motor module in the Z-axis direction, the gas flow paths of the fixed plate 21 and the negative pressure tube 22 do not adopt a fully through-hole pattern, but instead employ staggered punching. This design approach is adopted because a read head 41 and a grating scale 42 must be reserved below the flow path of the fixed plate 21. In other embodiments, a sideways placement of the read head 41 and grating scale 42 can also be employed. However, this arrangement cannot achieve a compact structure for the motor module in the Y-axis direction. If the size of the motor module in the Y-axis direction is too small, the size of the magnets and coils will inevitably be compressed, severely reducing the thrust of the linear motor, which is not conducive to minimizing the motor volume and maximizing the thrust.

[0097] As an implementation method, Figure 3 and Figure 8 As shown, the lower shell 11 is further provided with a connection terminal 13 connected to an external power source, and the connection terminal 13 is electrically connected to the mover 33 .

[0098] Specifically, the terminal blocks 13 provide a safe and reliable interface for electrically connecting the motor module to an external power source. In this embodiment, the terminal blocks 13 can be located on the second side plate 112 (or alternatively, the first side plate 111, the third side plate 113, or the fourth side plate 114). They are electrically connected to the mover 33 via an internal circuit. After receiving electrical energy from the external power source, the terminal blocks 13 transmit the electrical energy to the mover 33, causing the mover 33 to generate an internal magnetic field, achieving linear motion within the stator.

[0099] In a specific embodiment, the length, width and height of the motor module are 145×50×12 mm. The overall structure is compact, small in size and thin in thickness, and has a stroke of 36 mm. It can fully exert its performance and structural advantages in precise and narrow equipment.

[0100] It should be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. It should be noted that, in this document, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system.

[0101] The serial numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A motor module, characterized in that: include: The base module includes an upper cover, a lower shell, and a guide rail, wherein the lower shell has a receiving groove, the upper cover is engaged with the lower shell to cover the receiving groove, and the guide rail extends along the length direction of the lower shell and is disposed in the receiving groove; A material taking module, disposed in the receiving groove and slidably connected to the guide rail; A linear motor is disposed in the accommodating slot, the linear motor comprising a mover, a first stator, and a second stator, the first stator and the second stator extending along the direction of the guide rail, the mover being disposed in a gap between the first stator and the second stator, and the mover being connected and fixed to the retrieving module; The upper surface of the lower shell is provided with a first mounting position, the first stator is fixed at the first mounting position and is flush with the upper surface of the lower shell, the lower surface of the lower shell is provided with a second mounting position, the second stator is fixed at the second mounting position and is flush with the lower surface of the lower shell.

2. The motor module according to claim 1, characterized in that: The first stator includes a first magnetic yoke and a plurality of first magnetic steels, the second stator includes a second magnetic yoke and a plurality of second magnetic steels, the first magnetic yoke is fixed to the first mounting position and is flush with the upper surface of the lower shell, the second magnetic yoke is fixed to the second mounting position and is flush with the lower surface of the lower shell, the plurality of first magnetic steels are arranged on a side of the first magnetic yoke facing the second magnetic yoke, the plurality of second magnetic steels are arranged on a side of the second magnetic yoke facing the first magnetic yoke, and the mover is arranged in the gap between each of the first magnetic steels and each of the second magnetic steels.

3. The motor module according to claim 2, characterized in that: The lower shell includes a bottom plate, and the sides of the bottom plate are sequentially connected to a first side plate, a second side plate, a third side plate, and a fourth side plate, and the first side plate, the second side plate, the third side plate, and the fourth side plate and the bottom plate enclose the accommodating groove; the first side plate and the third side plate extend along the length direction of the lower shell, and the second side plate and the fourth side plate extend along the width direction of the lower shell; A first notch is provided on the upper edge of the first side plate, a second notch is provided on the lower edge of the first side plate, the first magnetic yoke is embedded in the first notch and is flush with the upper surface of the lower shell, and the second magnetic yoke is embedded in the second notch and is flush with the lower surface of the lower shell.

4. The motor module according to claim 3, characterized in that: The bottom plate is provided with two mounting blocks, which are spaced apart in the receiving groove along the length direction of the lower shell. The first magnetic yoke is fixed to the top of the two mounting blocks, and the second magnetic yoke is fixed to the bottom of the two mounting blocks.

5. The motor module according to claim 4, characterized in that: The first magnetic yoke is fixed to the mounting block by screws; and / or the second magnetic yoke is fixed to the mounting block by screws.

6. The motor module according to claim 4, characterized in that: The mounting block is integrally formed with the first side plate and the bottom plate.

7. The motor module according to claim 3, characterized in that: The material taking module includes a fixed plate and a negative pressure tube for taking and placing materials. The fixed plate is fixedly connected to the mover and is slidably connected to the guide rail. The negative pressure tube is fixed to the fixed plate.

8. The motor module according to claim 7, characterized in that: The first end of the negative pressure tube is connected to an external negative pressure device, the second end of the negative pressure tube is used for taking and placing materials, and the negative pressure tube moves along with the movement of the fixed plate.

9. The motor module according to claim 8, characterized in that: The material taking module includes an air guide block, which is arranged on the base plate. The air guide block is provided with an air pipe joint and an air suction joint. The first end of the negative pressure tube is connected to the air pipe joint, and the air suction joint is connected to the negative pressure equipment.

10. The motor module according to claim 9, characterized in that: The air suction joint is provided on the second side plate, and the second end of the negative pressure tube is provided on the fourth side plate.

11. The motor module according to claim 10, characterized in that: The fixing plate is provided with a mounting hole, which passes through the fixing plate and is parallel to the guide rail, and the negative pressure tube is embedded in the mounting hole.

12. The motor module according to claim 11, characterized in that: The negative pressure tube is fixed to the fixing plate by screws.

13. The motor module according to claim 11, characterized in that: The material taking module includes a bushing, the fourth side plate is provided with a positioning hole, the bushing is fixed in the positioning hole, and the second end of the negative pressure tube is embedded in the bushing.

14. The motor module according to claim 7, characterized in that: The material taking module includes a slider, which is slidably arranged on the guide rail. The fixed plate is fixed on the slider, and there is a gap between the fixed plate and the bottom plate.

15. The motor module according to claim 14, characterized in that: The motor module includes a reading module, which includes a reading head and a grating scale. The grating scale is fixed on the side of the fixed plate facing the base plate, and the reading head is fixed on the base plate at a position facing the grating scale. The reading head and the grating scale are arranged parallel to the extension direction of the guide rail.

16. The motor module according to claim 1, characterized in that: The lower shell is further provided with a connection terminal connected to an external power source, and the connection terminal is electrically connected to the mover.

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