Double-rotor cooperation device

Abstract

The utility model discloses a double-rotor cooperation device which comprises a first connecting piece, a first rotor, a first connecting rod, a second rotor and a second connecting rod. The first connecting piece comprises a first barrel, the first connecting rod is rotationally connected with the first rotor, the first connecting rod comprises a first connecting part, and the first barrel is sleeved with the first connecting part so as to be rotationally connected with the first barrel. The second connecting rod is rotationally connected with the second rotor and comprises a second connecting part, the second connecting part is arranged on the first cylinder in a sleeving mode so as to be rotationally connected with the first cylinder, and the second connecting part and the first connecting part are spaced in the axis direction of the first cylinder. According to the double-rotor cooperation device, the position of the first connecting piece can be adjusted on one device in the horizontal direction and the vertical direction, and therefore the position of a process device is adjusted. And the first connecting rod and the second connecting rod are sequentially assembled with the first connecting piece in a stacked mode, the structure is compact and stable, assembling is easy, and cost is low.

Description

Technical Field

[0001] The utility model relates to the field of magnetic drive transportation, in particular to a double-motor cooperation device. Background Art

[0002] In related technologies, a variety of different workstations and process flows are often required on an assembly line. In order to enable the conveyor line to adapt to a variety of process flows, the conveyor line needs to be equipped with multiple workstations to place the process equipment in different positions. For example, two guide rails in the horizontal and vertical directions can be added to adjust the position of the process equipment.

[0003] However, the addition of too many components makes the assembly process extremely cumbersome, as each new workstation requires precise installation and commissioning, which not only consumes a large amount of manpower and material resources but also prolongs the production line's construction cycle. Secondly, as the number of workstations increases, more and more components need to be controlled, which poses a great challenge to system control, increasing system complexity while also reducing overall stability. Finally, too many devices may interfere with each other, affecting the smooth operation of the conveyor line, and thus negatively impacting the reliability and efficiency of the entire production line. Utility Model Content

[0004] The main purpose of this utility model is to provide a dual-actuator cooperative device that can adjust the position of the first connecting member in both the horizontal and vertical directions, thereby adjusting the position of the process device. The first and second connecting rods are assembled to the first connecting rod in a stacked manner, resulting in a compact and stable structure, simple assembly, and low cost.

[0005] To achieve the above objectives, some embodiments of the present invention provide a dual-motor cooperation device, comprising:

[0006] A first connecting member includes a first cylinder;

[0007] The first mover,

[0008] a first connecting rod, rotatably connected to the first mover, the first connecting rod comprising a first connecting portion, the first connecting portion being sleeved on the first cylinder to be rotatably connected to the first cylinder;

[0009] The second mover,

[0010] a second connecting rod, rotatably connected to the second mover, the second connecting rod including a second connecting portion, the second connecting portion being sleeved on the first cylinder to be rotatably connected to the first cylinder, and the second connecting portion being spaced apart from the first connecting portion along the axis of the first cylinder;

[0011] In which, the first mover and the second mover are both configured to be able to move synchronously along the first direction so that the connecting member moves along the first direction; or, the first mover and the second mover are configured to be able to approach or move away from each other along the first direction so that the connecting member moves along the second direction, and the first direction, the second direction and the axial direction of the first cylinder are perpendicular to each other.

[0012] In some embodiments, the first connecting member further includes a first covering portion, a first bearing and a second bearing, the first bearing and the second bearing are both sleeved on the first cylinder, and the rotation axes of the first bearing and the second bearing are collinear, the first connecting portion is provided with a first through hole, the first through hole is sleeved on the first bearing, the second connecting portion is provided with a second through hole, the second through hole is sleeved on the second bearing, the first covering portion is inserted into the first cylinder along the axis direction of the first cylinder, the first covering portion is located on the side of the first bearing away from the second bearing, and the outer peripheral wall of the first covering portion around the axis direction of the first cylinder is suitable for abutting against the inner wall of the first through hole; and / or,

[0013] The first covering portion is located at a side of the second bearing facing away from the first bearing, and an outer peripheral wall of the first covering portion surrounding the axis of the cylinder is suitable for abutting against the second connecting rod.

[0014] In some embodiments, the first connecting member further includes a limiting collar, which is sleeved on the first cylinder and is located between the first bearing and the second bearing along the axial direction of the first cylinder.

[0015] In some embodiments, the first mover includes a first body, the first body is provided with two first mounting holes, the axes of the two first mounting holes are collinear and parallel to the axis of the first cylinder, the first mover also includes a second connecting member, the second connecting member includes a second cylinder and a third bearing, the first connecting rod includes a first mounting portion, the first mounting portion is sleeved on the third bearing to be rotatably connected to the first mover;

[0016] The second mover includes a second main body, which is provided with two second mounting holes. The axes of the two second mounting holes are collinear and parallel to the axis of the first cylinder. The second mover also includes a third connecting member, which includes a third cylinder and a fourth bearing. The third cylinder is passed through the second mounting hole, and the fourth bearing is sleeved on the third cylinder. The second connecting rod includes a second mounting portion, and the second mounting portion is sleeved on the third bearing to be rotatably connected with the second mover.

[0017] In some embodiments, the second connecting member further includes a second covering portion, which is inserted into the second cylinder along a direction parallel to the axis of the first cylinder. The first body further includes a first flange, which is connected to the inner wall of the first mounting hole and extends toward the axis of the first mounting hole. The second covering portion is adapted to abut against a side of the first flange along the axis of the second cylinder facing away from the third bearing.

[0018] The third connecting member also includes a third covering portion, which is inserted into the third cylinder along a direction parallel to the axis of the first cylinder. The second main body also includes a second flange, which is connected to the inner wall of the second mounting hole and extends toward the axis of the second mounting hole. The third covering portion is suitable for abutting the side of the second flange away from the fourth bearing along the axis direction of the third cylinder.

[0019] In some embodiments, the dual-motor cooperation device also includes a guide rail extending along a first direction, the first mover and the second mover are both slidingly connected to the guide rail, the first mounting portion and the first mover are rotatably connected, and the second mounting portion and the second mover are rotatably connected.

[0020] In some embodiments, the first mover further includes a first sliding roller, and the first sliding roller is connected to opposite sides of the guide rail along the axis direction of the first cylinder;

[0021] The second mover further includes a second sliding roller. Along the axis direction of the first cylinder, the second sliding roller is connected to two opposite sides of the guide rail.

[0022] In some embodiments, along the first direction, the first mover includes at least two first sliding rollers distributed at intervals, and the second mover includes at least two second sliding rollers distributed at intervals.

[0023] In some embodiments, the dual-motor cooperative device includes a coil mounting frame and a coil assembly. The coil mounting frame covers the guide rail and the coil assembly. The first mover and the second mover are both magnetic, so as to cooperate with the coil assembly and the guide rail to complete magnetic drive.

[0024] In some embodiments, the first connector has a mounting location suitable for mounting the process device.

[0025] According to the above embodiments, the beneficial effects of the present invention are:

[0026] The present application includes a first connecting member, a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are both sleeved on the first connecting member, and the first connecting member can be moved in a first direction or a second direction by adjusting the opening and closing angles of the first connecting rod and the second connecting rod.

[0027] Specifically, the first connecting rod and the second connecting rod of the present application are respectively rotatably connected to the first mover and the second mover, and the first mover and the second mover move along the first direction to adjust the opening and closing angles of the first connecting rod and the second connecting rod, or to make the first connecting rod and the second connecting rod move synchronously along the first direction. Therefore, the connecting member of the present application can move in both the vertical and horizontal directions, and the first connecting rod and the second connecting rod are successively stacked on the first connecting member, which has a compact structure and is more stable for controlling the first connecting member. The first connecting member has a simple structure and is easy to assemble. The first connecting member can be equipped with process devices such as nozzles to adapt to actual production. In addition, regarding the sleeve arrangement of the first connecting rod and the second connecting rod of the present application, during operation, the first cylinder itself will not rotate inversely, so the process device installed on the first cylinder will not rotate, and the process device can only move along the first direction or the second direction. Such an arrangement makes the double-moving-sub cooperative device of the present application more controllable.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0030] Figure 1 This is a structural diagram of a double-motor cooperation device in one embodiment of the present utility model;

[0031] Figure 2 yes Figure 1 Schematic diagram of the explosion structure of the double-actuator cooperative device;

[0032] Figure 3 This is a schematic structural diagram of a drive module in one embodiment of the present invention;

[0033] Figure 4 This is a schematic structural diagram of the first connecting rod and the second connecting rod in one embodiment of the present invention observed from a first viewing angle, intended to illustrate how the first connecting rod and the second connecting rod move to adjust the position of the first connecting member;

[0034] Figure 5 This is a schematic structural diagram of the first connecting rod and the second connecting rod in one embodiment of the present invention observed from a first viewing angle, and is intended to illustrate how the first connecting rod and the second connecting rod move to adjust the position of the first connecting member;

[0035] Figure 6 This is a schematic structural diagram of the first connecting rod and the second connecting rod in one embodiment of the present invention observed from a third viewing angle, intended to illustrate how the first connecting rod and the second connecting rod move to adjust the position of the first connecting member;

[0036] Figure 7 This is a schematic structural diagram of the first connecting rod in one embodiment of the present invention, which cooperates with the first connecting member and the second connecting member respectively;

[0037] Figure 8 yes Figure 7 Schematic diagram of the exploded structure of the middle structure;

[0038] Figure 9 is a structural diagram of the first main body and the second connecting member;

[0039] Figure 10 yes Figure 9 Schematic diagram of the exploded structure of the middle structure;

[0040] Figure 11 This is a partial structural diagram of the mover when the dual-motor cooperation device is configured in a magnetic drive mode in one embodiment of the present invention.

[0041] Description of Figure Numbers:

[0042] First connecting member 100; first cylinder 110; first bearing 120; second bearing 130; first covering portion 140; limiting collar 150;

[0043] First mover 200; first main body 210; first mounting hole 211; first flange 212; second connecting member 220; second cylinder 221; third bearing 222; second covering portion 223; first sliding roller 230;

[0044] Second mover 300; second body 310; second sliding roller 320; third connecting member 330;

[0045] First connecting rod 400; first connecting portion 410; first through hole 411; first mounting portion 420;

[0046] Second connecting rod 500; second connecting portion 510; second through hole 511; second mounting portion 520;

[0047] Guide rail 610; coil assembly 620; magnetic grid 630; permanent magnet 640; position feedback device 650; process device 660; coil mounting frame 670;

[0048] First direction X; second direction Y.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or", "and / or" or "and / or" appear in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] In related technologies, the addition of too many components makes the assembly process extremely cumbersome, because each new workstation requires precise installation and debugging, which not only consumes a lot of manpower and material resources, but also prolongs the construction period of the production line. Secondly, as the number of workstations increases, more and more components need to be regulated, which poses a great challenge to system control, increasing system complexity while also reducing overall stability. Finally, too many devices may interfere with each other, affecting the smooth operation of the conveyor line, thereby negatively affecting the reliability and efficiency of the entire production line.

[0054] Reference below Figures 1 to 11 To describe the double-motor cooperation device according to an embodiment of the present utility model.

[0055] Reference Figures 1 to 3In some embodiments, the double-acting sub-cooperation device of the embodiment of the present invention includes a first connecting member 100, a first connecting rod 400 and a second connecting rod 500. The first connecting member 100 includes a first cylinder 110, a first bearing 120 and a second bearing 130. The first bearing 120 and the second bearing 130 are both sleeved on the first cylinder 110, and the rotation axes of the first bearing 120 and the second bearing 130 are collinear. The arrangement of the first bearing 120 and the second bearing 130 enables the first connecting member 100 to move smoothly in the first direction. The first connecting rod 400 includes a first connecting portion 410 and a first mounting portion 420. The first connecting portion 410 and the first mounting portion 420 are respectively located on opposite sides of the first connecting rod 400 along the length direction. The first connecting portion 410 is provided with a first through hole 411, and the first through hole 411 is sleeved on the first bearing 120. The first connecting rod 400 is connected to the first bearing 120 via the first through-hole 411, achieving a stable connection between the first connecting rod 400 and the first connector 100, as well as a rotational connection between the first connecting rod 400 and the first cylindrical body 110. The second connecting rod 500 includes a second connecting portion 510 and a second mounting portion 520, which are respectively located on opposite sides of the second connecting rod 500 along its length. The second connecting portion 510 is provided with a second through-hole 511, which is sleeved by the second bearing 130. The second connecting rod 500 is connected to the second bearing 130 via the second through-hole 511, achieving a stable connection between the second connecting rod 500 and the first connector 100, as well as a rotational connection between the first connecting rod 400 and the first cylindrical body 110.

[0056] Reference Figures 1 to 3 as well as Figure 7 and Figure 8 The first mounting portion 420 and the second mounting portion 520 are both configured to move synchronously along the first direction, so that the connecting member moves along the first direction. Specifically, when the first mounting portion 420 and the second mounting portion 520 move simultaneously along the first direction, the first connecting rod 400, the second connecting rod 500, and the first connecting member 100 can be considered as a whole and move along with the first mounting portion 420 and / or the second mounting portion 520 in the first direction, that is, the first connecting member 100 moves along the first direction.

[0057] The first mounting portion 420 and the second mounting portion 520 are configured to be able to move closer to or further away from each other along a first direction so that the connecting member can move along a second direction, and the first direction, the second direction, and the axial direction of the connecting member are perpendicular to each other. Specifically, when the first mounting portion 420 and the second mounting portion 520 move away from each other, since the lengths of the first connecting rod 400 and the second connecting rod 500 remain unchanged, the angle between the first connecting rod 400 and the second connecting rod 500 will increase, so the height of the first connecting member 100 along the second direction will be lower. When the first mounting portion 420 and the second mounting portion 520 move closer to each other, since the lengths of the first connecting rod 400 and the second connecting rod 500 remain unchanged, the angle between the first connecting rod 400 and the second connecting rod 500 will decrease, so the height of the first connecting member 100 along the second direction will be higher.

[0058] Reference Figures 3 to 6 , the first direction, the second direction and the axial direction of the first cylinder 110 are perpendicular to each other. In summary, such a design ensures that the double-acting sub-cooperation device can move in both the first direction and the second direction. It can be understood that the double-acting sub-cooperation device can move in both the vertical direction and the horizontal direction. Therefore, the present application improves the flexibility and scope of application of the first connecting member 100. When the first connecting member 100 is equipped with a process device 660, the flexibility and scope of application of the process device 660 are improved. In addition, with such a configuration, the structure of the first connecting member 100 is compact. By stacking the first connecting rod 400 and the second connecting rod 500 on the first connecting member 100 in sequence, it not only simplifies the overall structure, but also improves the stability of the control of the first connecting member 100. In some embodiments, the first connecting member 100 of the present application adopts a hollow pin, and the axis of the hollow pin is parallel to the axis of the first cylinder 110. The first connecting member 100 is simple in structure and easy to assemble. It can be easily connected to workpieces such as nozzles to adapt to the needs of actual production.

[0059] In addition, it can be understood that, regarding the sleeve arrangement of the first connecting rod 400 and the second connecting rod 500 of the present application, specifically, during operation, the first cylinder 110 itself will not rotate in reverse, so the process device 660 installed on the first cylinder 110 will not rotate, and the process device 660 can only move along the first direction or the second direction. This arrangement makes the dual-acting sub-cooperative device of the present application better controllable.

[0060] It is understood that the first connecting member 100, the first connecting rod 400, and the second connecting rod 500 are all independently manufactured and then assembled together in a removable manner. This arrangement facilitates maintenance, and if a workpiece is severely damaged, it can be replaced individually. Furthermore, the assembly structure of the first connecting member 100 is simple. In actual use, the first bearing 120 and the second bearing 130 having different outer diameters can be replaced according to the aperture of the first through hole 411 and the aperture of the second through hole 511, further ensuring the applicability of the present application.

[0061] Reference Figure 7 and Figure 8 In some embodiments, the first connecting member 100 further includes a first covering portion 140, which is inserted into the first cylinder 110 along the axial direction of the first cylinder 110. The first covering portion 140 is located on the side of the first bearing 120 away from the second bearing 130. The outer peripheral wall of the first covering portion 140 around the axial direction of the first cylinder 110 is suitable for abutting the inner wall of the first through hole 411. The first covering portion 140 and the first bearing 120 jointly abut the inner wall of the first through hole 411. On the one hand, the connection between the first connecting rod and the first connecting member 100 is more stable, with strong damping, and high-precision control is easy to achieve; on the other hand, the addition of the first covering portion 140 adds a supporting structure to the inner wall of the first through hole 411, so the rotation of the first connecting rod 400 relative to the first connecting member 100 is more stable. In addition, the first covering portion 140 is inserted into the first cylinder 110 to achieve a detachable connection with the first cylinder 110 , thereby facilitating the installation of the first bearing 120 and the second bearing 130 .

[0062] In addition, the first covering portion 140 can also be located on the side of the second bearing 130 away from the first bearing 120. The outer peripheral wall of the first covering portion 140 around the axis of the cylinder is suitable for abutting the second connecting rod 500. The second covering portion 223 and the second bearing 130 jointly abut the inner wall of the second through hole 511, further improving the connection stability of the second connecting rod and the second connecting member 220, and also increasing the damping, which is conducive to achieving higher control accuracy.

[0063] Reference Figure 7 and Figure 8 In some embodiments, the first connector 100 further includes a limiting collar 150, which is sleeved on the first cylinder 110 and positioned between the first bearing 120 and the second bearing 130 along the axis of the cylinder. The positioning of the limiting collar 150 effectively prevents the first connecting rod 400 and the second connecting rod 500 from unnecessary deflection or tilting during movement, thereby ensuring smooth and reliable operation of the device.

[0064] It is understood that in some embodiments, the outer diameter of the limiting collar 150 can be flexibly selected. When the outer diameter of the limiting collar 150 is smaller than the diameter of the first through hole 411, the limiting collar 150 fits snugly within the first through hole 411, effectively preventing the first connecting rod from severely tipping over. When the outer diameter of the limiting collar 150 is larger than the diameters of the first through hole 411 and the second through hole 511, the first connecting rod 400 and the second connecting rod 500 will abut the sidewall of the limiting collar 150 when moving along the axis of the cylinder. This not only makes the structure more compact but also increases damping, thereby helping to improve the controllability of the device.

[0065] Reference Figures 3 to 6 In some embodiments, the dual-motor cooperation device includes a guide rail 610, a first mover 200, and a second mover 300. The guide rail 610 extends along the first direction, and the first mover 200 and the second mover 300 are both slidingly connected to the guide rail 610. The first mounting portion 420 is rotatably connected to the first mover 200, and the second mounting portion 520 is rotatably connected to the second mover 300. The first connecting rod 400 and the second connecting rod 500 are rotatably connected to the mounting seat. The guide rail 610 extends along the first direction, providing a guide reference for the entire device, ensuring that the first mover 200 and the second mover 300 move smoothly along the first direction. The first mover 200 ensures smooth movement in the first direction by slidingly connecting to the guide rail 610. The second mover 300 is similar to the first mover 200, and is also ensured to move in the first direction by slidingly connecting to the guide rail 610. The first mounting portion 420 is rotatably connected to the first mover 200, so that the first connecting rod 400 can move along the first direction with the movement of the first mover 200. The second mounting portion 520 is rotatably connected to the second mover 300, so that the second connecting rod 500 can move along the first direction with the movement of the second mover 300.

[0066] The first mover 200 and the second mover 300 are both connected to the guide rail 610 by sliding, so that they can move in the first direction. The first mounting portion 420 and the second mounting portion 520 are connected to the first mover 200 and the second mover 300 by rotation, ensuring that the first connecting rod 400 and the second connecting rod 500 can adaptively adjust their positions following the movement of the movers. Specifically, this rotational connection method enables the three points of the first mounting portion 420, the second mounting portion 520, and the first connecting member 100 to form an angle-adjustable triangular structure. The change in the angle at the first connecting member 100 causes the position of the first connecting member 100 to change along the second direction. The synchronous movement of the first mover 200 and the second mover 300 along the first direction causes the triangle to move as a whole along the first direction, that is, the first connecting member 100 moves along the first direction. In this way, the first connecting member 100 of the dual-motor cooperative device can move in both the vertical and horizontal directions, thereby improving the flexibility and practicality of the device. By setting the guide rail 610 and the mover, the first connecting rod 400 and the second connecting rod 500 can move smoothly along the first direction, thereby improving the overall stability of the device, simplifying the structure of the device, and making the control of the first connecting member 100 more stable. At the same time, the structure is simple and easy to assemble, and can be easily connected to workpieces such as nozzles to meet the needs of actual production.

[0067] It can be understood that in some embodiments, in order to further improve the sliding stability of the first mover 200 and the second mover 300 on the guide rail 610, the friction resistance can be reduced by increasing the contact area between the mover and the guide rail 610 or using lubricating materials, thereby improving the operating efficiency of the entire device.

[0068] Reference Figures 3 to 6 as well as Figure 9 and Figure 10 In some embodiments, the first mover 200 includes a first main body 210, which is provided with two first mounting holes 211. The axes of the two first mounting holes 211 are collinear and parallel to the axis of the first cylinder 110. The first mover 200 also includes a second connecting member 220, which includes a second cylinder 221 and a third bearing 222. The second cylinder 221 is inserted into the first mounting hole 211, the third bearing 222 is sleeved on the second cylinder 221, and the first mounting portion 420 is sleeved on the third bearing 222. This arrangement is structurally simple, and the second cylinder 221 can have the same structural parameters as the first cylinder 110. In other words, the first cylinder 110 can replace the second cylinder 221. Therefore, the accessories used in the dual-motor cooperative device of the present application are highly unified, highly versatile, and have low production costs.

[0069] Of course, it is understandable that in some embodiments, the second mover 300 includes a second body 310, the second body 310 is provided with two second mounting holes, the axes of the two second mounting holes are collinear and parallel to the axis of the first cylinder 110, the second mover 300 further includes a third connecting member 330, the third connecting member 330 includes a third cylinder and a fourth bearing, the third cylinder is inserted into the second mounting holes, the fourth bearing is sleeved on the third cylinder, and the second mounting portion 520 is sleeved on the third bearing 222. The specific effects are similar to those described above and will not be repeated here.

[0070] It is understandable that in some embodiments, in order to further improve the connection stability between the first mounting portion 420 and the second mounting portion 520 and the first mover 200 and the second mover 300, the load-bearing capacity of the connection can be improved by increasing the number of bearings or improving the design of the bearings, thereby improving the control accuracy of the entire device.

[0071] Reference Figure 9 and Figure 10In some embodiments, the second connecting member 220 further includes a second covering portion 223, which is inserted into the second cylinder 221 along the axis of the first cylinder 110. The first main body 210 further includes a first flange 212, which is connected to the inner wall of the first mounting hole 211 and extends toward the axis of the first mounting hole 211. The second covering portion 223 is suitable for abutting against the side of the first flange 212 along the axis of the second cylinder 221 away from the third bearing 222. The second covering parts 223 on both sides clamp the first flange 212, so that the second cylinder 221 is stably fixed between the two first mounting holes 211, ensuring that the first connecting member 100, that is, the process device 660 carried by the first connecting member 100, can operate smoothly during operation; and the design of the second covering part 223 facilitates the assembly of the third bearing 222. This design allows the second cylinder 221, the first mounting seat, the third bearing 222, and the second covering part 223 to be detachably connected together, which is convenient for the later maintenance and replacement of parts of the device, further saving costs.

[0072] Of course, it is understood that in some embodiments, the third connecting member 330 further includes a third covering portion, which is inserted into the third barrel along a direction parallel to the axis of the first barrel 110. The second body 310 further includes a second flange, which is connected to the inner wall of the second mounting hole and extends toward the axis of the second mounting hole. The third covering portion is adapted to abut the side of the second flange along the axis of the third barrel that is away from the fourth bearing. The second covering portion 223 is inserted into the second barrel 221 and contacts the first flange 212, thereby enhancing the connection stability between the first mounting portion 420 and the first mover 200. The first flange 212 is connected to the inner wall of the first mounting hole 211 and extends toward the axis of the first mounting hole 211, providing support for the second covering portion 223. The third covering portion is inserted into the third barrel and contacts the second flange, thereby enhancing the connection stability between the second mounting portion 520 and the second mover 300. The second flange is connected to the inner wall of the second mounting hole and extends toward the axis of the second mounting hole to provide support for the third covering portion.

[0073] The second covering portion 223 and the third covering portion contact the first flange 212 and the second flange, respectively, enhancing the connection stability between the first mounting portion 420 and the second mounting portion 520 and the first mover 200 and the second mover 300. This also simplifies assembly, reduces costs, and improves the practicality and durability of the device. The presence of the first flange 212 and the second flange allows the second connector 220 and the third connector 330 to be more securely fixed to the first mover 200 and the second mover 300, improving the control stability and precision of the entire device.

[0074] It can be understood that in some embodiments, in order to further optimize the connection structure between the first mounting portion 420 and the second mounting portion 520 and the first mover 200 and the second mover 300, the contact quality of the connection can be improved by adjusting the position or size of the first flange 212 and the second flange, or changing the shape or material of the second covering portion 223 and the third covering portion, thereby improving the control accuracy of the entire device.

[0075] Reference Figure 6 In some embodiments, the first mover 200 further includes first sliding rollers 230 connected to opposite sides of the guide rail 610 along the axis of the first cylinder 110; the second mover 300 further includes second sliding rollers 320 connected to opposite sides of the guide rail 610 along the axis of the first cylinder 110. The first sliding rollers 230 are disposed on the first mover 200 and connected to opposite sides of the guide rail 610 along the axis of the first cylinder 110, ensuring that the first mover 200 can slide smoothly on the guide rail 610. The second sliding rollers 320 are disposed on the second mover 300 and connected to opposite sides of the guide rail 610 along the axis of the first cylinder 110, ensuring that the second mover 300 can slide smoothly on the guide rail 610.

[0076] The provision of the first sliding roller 230 and the second sliding roller 320 reduces direct contact between the first and second movers 200 and 300 and the guide rail 610, reducing friction and improving the overall movement efficiency of the device. The first and second sliding rollers 230 and 320 ensure stable sliding of the first and second movers 200 and 300 on the guide rail 610, improving the overall stability of the device. This reduced direct contact reduces wear and tear, thereby extending the service life of the first and second movers 200 and 300.

[0077] It is understandable that in some embodiments, in order to further improve the sliding stability of the first mover 200 and the second mover 300 on the guide rail 610, higher precision rollers can be used, or the number of rollers can be increased to disperse the pressure, thereby improving the stability of the overall device.

[0078] Reference Figure 6 In some embodiments, along the first direction, the first mover 200 includes at least two first sliding rollers 230 spaced apart, and the second mover 300 includes at least two second sliding rollers 320 spaced apart. The at least two first sliding rollers 230 spaced apart on the first mover 200 along the first direction ensure more uniform contact between the first mover 200 and the guide rail 610. The at least two second sliding rollers 320 spaced apart on the second mover 300 along the first direction ensure more uniform contact between the second mover 300 and the guide rail 610.

[0079] The provision of multiple first sliding rollers 230 and second sliding rollers 320 improves the sliding stability of the first mover 200 and second mover 300 on the guide rail 610. The provision of multiple rollers allows the weight of the first mover 200 and second mover 300 to be more evenly distributed on the guide rail 610, thereby increasing the load capacity of the entire device. The provision of multiple first sliding rollers 230 and second sliding rollers 320 helps improve the positioning accuracy of the first mover 200 and second mover 300 on the guide rail 610, thereby improving the control accuracy of the entire device.

[0080] It is understandable that in some embodiments, in order to further improve the sliding stability of the first mover 200 and the second mover 300 on the guide rail 610, the layout of the rollers can be optimized, such as appropriately increasing the number of rollers or adjusting the spacing between the rollers, so as to better disperse the weight of the movers and improve the stability and accuracy of the device.

[0081] Reference Figure 2 and Figure 3 In some embodiments, the dual-motor cooperative device of the present application includes a coil mounting frame 670 and a coil assembly 620. The coil mounting frame 670 covers the guide rail 610 and the coil assembly 620. The first mover 200 and the second mover 300 are both magnetic, so as to cooperate with the coil assembly 620 and the guide rail 610 to complete magnetic drive. The coil mounting frame 670 is used to fix the coil assembly 620 and cover the guide rail 610 to ensure that the coil assembly 620 is not interfered with by external factors, and the guide rail 610 is covered to prevent dust from falling and be better protected. The coil assembly 620 is installed on the coil mounting frame 670, and generates a magnetic field through electric current, which interacts with the magnetic materials on the first mover 200 and the second mover 300 to realize the driving function. The first mover 200 and the second mover 300 both contain magnetic materials, which can respond under the action of the magnetic field to realize movement along the guide rail 610.

[0082] The coil assembly 620 generates a magnetic field by energizing it, interacting with the magnetic materials on the first mover 200 and the second mover 300, and using magnetic force to propel the first mover 200 and the second mover 300 along the guide rail 610. The adoption of a magnetic field drive method achieves non-contact drive, reduces friction and wear between the first mover 200 and the second mover 300 and the guide rail 610, and improves the service life of the device. By controlling the current of the coil assembly 620, the magnetic field strength can be precisely adjusted, thereby precisely controlling the moving distance and speed of the first mover 200 and the second mover 300. The magnetic field drive method reduces the energy loss caused by mechanical transmission and improves drive efficiency.

[0083] For further explanation of the magnetic drive method of this application, specifically, refer to Figures 1 to 6 as well as Figure 11When current passes through the coil assembly 620, a magnetic field is generated around the coil assembly 620. The direction of this magnetic field depends on the direction of the current. Both the first mover 200 and the second mover 300 are equipped with a permanent magnet 640 and a magnetic grid 630 for monitoring position. It can be understood that the first mover 200 and the second mover 300 are moving magnets. When the moving magnet is in this magnetic field, it is acted upon by a force due to the presence of the magnetic field. The direction of this force depends on the direction of the magnetic field and the polarity of the moving magnet itself. The direction of the force can be determined using the right-hand rule. If the direction of the magnetic field generated by the coil assembly 620 is opposite to the polarity of the moving magnet, the moving magnet will be pushed forward; conversely, if the direction of the magnetic field is the same as the polarity of the moving magnet, the moving magnet will be pulled backward. By adjusting the direction and magnitude of the current, the magnetic field generated by the coil assembly 620 can be controlled, thereby controlling the direction and speed of movement of the moving magnet.

[0084] Furthermore, by changing the direction of the current flowing through the coil assembly 620, the direction of the magnetic field can be changed, thereby changing the direction of the force exerted on the moving magnet and controlling the direction of movement of the moving magnet. The magnitude of the current directly affects the strength of the magnetic field. The greater the current, the stronger the magnetic field generated, and the greater the force exerted on the moving magnet, thereby accelerating or decelerating the moving magnet. In the magnetic drive method of the present application, the first mover 200 and the second mover 300 can both move independently (i.e., the structure with the permanent magnet 640) and can be independently controlled. This means that different motion parameters can be set for the first mover 200 and the second mover 300 to adapt to the needs of different production stations and improve the flexibility of the production line.

[0085] It is understood that in some embodiments, to further improve the driving accuracy and efficiency, the design of the coil assembly 620 can be optimized, such as by using higher-performance coil materials or improving the coil layout, to increase the magnetic field strength and stability, thereby improving the driving performance of the entire device. A position feedback device 650 can also be added to further improve the detection accuracy of the first mover 200 and the second mover 300, thereby achieving higher detection accuracy for the process device 660 attached to the first connector 100.

[0086] Reference Figures 1 to 4 In some embodiments, the first connector 100 has a mounting location suitable for mounting a process device 660. The mounting location's structural design allows for secure mounting of a process device 660, such as a nozzle or other tool, ensuring a reliable connection between the process device 660 and the first connector 100 and facilitating the execution of various processing tasks. The matching connection between the mounting location and the process device 660 ensures that the process device 660, driven by the dual-actuator cooperative mechanism, can accurately perform predetermined operations.

[0087] It is understood that in some embodiments, to further enhance the connection stability between the process device 660 and the first connector 100, the design of the mounting position can be optimized, such as by adding a locking mechanism or employing a more precise positioning structure, to ensure the stability and reliability of the process device 660 during operation. Furthermore, the size and shape of the mounting position can be adjusted to accommodate a wider variety of process devices 660, further expanding the application scope of the dual-actuator cooperative device.

[0088] Based on any of the above embodiments, an embodiment is disclosed that can be used in the field of industrial teaching. In the related art, the horizontal and vertical positions of current tool pens are independently controlled by two servo motors. Because the motor system typically relies on gears and belt drives, the control of the tool pen's movement trajectory in the existing technology has low accuracy, low automation, and insufficient flexibility.

[0089] In some embodiments, the process device 660 of the present application can be a tool pen, and teachers and engineers can use the tool pen to teach and guide activities. In this embodiment, the present application transforms the original structure of two servo motors independently controlled in sequence into two moving parts that simultaneously cooperate to adjust the trajectory of the tool pen through components such as the first connecting member 100. Specifically, refer to Figures 1 to 6 In the present application, the first mover 200 and the second mover 300 move synchronously along the first direction X to adjust the position of the tool pen in the first direction X; the first mover 200 and the second mover 300 move closer to or farther away from each other along the first direction X to adjust the position of the tool pen in the second direction Y. In the present application, the first mover 200 and the second mover 300 only move along the first direction X, that is, the present application causes the tool pen to move in two dimensions through the one-dimensional movement of the movers. For example, when the tool pen needs to be adjusted to a preset coordinate position, it is only necessary to first adjust the tool pen to a matching coordinate position in the first direction X by adjusting the first mover 200 and the second mover 300 to move synchronously, and then adjust the tool pen to a matching coordinate position in the second direction Y by adjusting the first mover 200 and the second mover 300 to move closer to or farther away from each other; when the tool pen needs to be adjusted to have a preset trajectory, by distinguishing the speeds of the first mover 200 and the second mover 300 moving along the first direction X, the tool pen can move in the second direction Y while moving in the first direction X, that is, the movement trajectory of the tool pen is a curve. Therefore, this application has high flexibility and automation, and can adapt to a variety of usage scenarios.

[0090] Furthermore, the present invention further refines the precision of control over the tool pen by stacking the first connecting rod 400 and the second connecting rod 500 on the first connecting member 100, and adjusting appropriate damping. Therefore, in addition to its high flexibility, high degree of automation, and adaptability to various usage scenarios, the present invention also offers higher precision, allowing for more accurate adjustment of the process device 660.

[0091] The above are only preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the utility model concept, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A double-actuator cooperation device, characterized in that: include: A first connecting member includes a first cylinder; The first mover, a first connecting rod, rotatably connected to the first mover, the first connecting rod comprising a first connecting portion, the first connecting portion being sleeved on the first cylinder to be rotatably connected to the first cylinder; The second mover, a second connecting rod, rotatably connected to the second mover, the second connecting rod comprising a second connecting portion, the second connecting portion being sleeved on the first cylinder to be rotatably connected to the first cylinder, and the second connecting portion being spaced apart from the first connecting portion along the axis of the first cylinder; In which, the first mover and the second mover are both configured to be able to move synchronously along the first direction so that the connecting member moves along the first direction; or, the first mover and the second mover are configured to be able to approach or move away from each other along the first direction so that the connecting member moves along the second direction, and the first direction, the second direction and the axial direction of the first cylinder are perpendicular to each other.

2. The double-motor cooperation device according to claim 1, characterized in that: The first connecting member further includes a first covering portion, a first bearing and a second bearing, the first bearing and the second bearing are both sleeved on the first cylinder, and the rotation axes of the first bearing and the second bearing are collinear, the first connecting portion is provided with a first through hole, the first through hole is sleeved on the first bearing, the second connecting portion is provided with a second through hole, the second through hole is sleeved on the second bearing, the first covering portion is inserted into the first cylinder along the axis direction of the first cylinder, the first covering portion is located on a side of the first bearing away from the second bearing, and the outer peripheral wall of the first covering portion around the axis direction of the first cylinder is suitable for abutting against the inner wall of the first through hole; and / or, The first covering portion is located on a side of the second bearing facing away from the first bearing, and an outer peripheral wall of the first covering portion around the axis of the cylinder is suitable for abutting against the second connecting rod.

3. The double-actuator cooperation device according to claim 2, characterized in that: The first connecting member further includes a limiting collar, which is sleeved on the first cylinder and located between the first bearing and the second bearing along the axial direction of the first cylinder.

4. The double-motor cooperation device according to claim 1, characterized in that: The first mover includes a first main body, the first main body is provided with two first mounting holes, the axes of the two first mounting holes are collinear and parallel to the axis of the first cylinder, the first mover also includes a second connecting member, the second connecting member includes a second cylinder and a third bearing, the second cylinder is inserted into the first mounting hole, the third bearing is sleeved on the second cylinder, the first connecting rod includes a first mounting portion, the first mounting portion is sleeved on the third bearing, so as to be rotatably connected to the first mover; The second mover includes a second main body, which is provided with two second mounting holes. The axes of the two second mounting holes are collinear and parallel to the axis of the first cylinder. The second mover also includes a third connecting member, which includes a third cylinder and a fourth bearing. The third cylinder is inserted into the second mounting hole, and the fourth bearing is sleeved on the third cylinder. The second connecting rod includes a second mounting portion, and the second mounting portion is sleeved on the third bearing to be rotatably connected to the second mover.

5. The double-motor cooperation device according to claim 4, characterized in that: The second connecting member further includes a second covering portion, which is inserted into the second cylinder along a direction parallel to the axis of the first cylinder. The first main body further includes a first flange, which is connected to the inner wall of the first mounting hole and extends toward the axis of the first mounting hole. The second covering portion is adapted to abut against a side of the first flange along the axis of the second cylinder away from the third bearing. The third connecting member also includes a third covering portion, which is inserted into the third cylinder along a direction parallel to the axis of the first cylinder. The second main body also includes a second flange, which is connected to the inner wall of the second mounting hole and extends toward the axis of the second mounting hole. The third covering portion is suitable for abutting the side of the second flange away from the fourth bearing along the axis direction of the third cylinder.

6. The double-motor cooperation device according to claim 4, characterized in that: The dual-mover cooperation device also includes a guide rail extending along the first direction. The first mover and the second mover are both slidingly connected to the guide rail. The first mounting portion is rotatably connected to the first mover, and the second mounting portion is rotatably connected to the second mover.

7. The double-motor cooperation device according to claim 6, characterized in that: The first mover further includes a first sliding roller connected to opposite sides of the guide rail along the axis of the first cylinder; The second mover further includes a second sliding roller, and along the axis direction of the first cylinder, the second sliding roller is connected to opposite sides of the guide rail.

8. The double-motor cooperation device according to claim 7, characterized in that: Along the first direction, the first mover includes at least two first sliding rollers distributed at intervals, and the second mover includes at least two second sliding rollers distributed at intervals.

9. The double-motor cooperation device according to claim 7, characterized in that: The dual-motor cooperative device includes a coil mounting frame and a coil assembly. The coil mounting frame covers the guide rail and the coil assembly. The first mover and the second mover are both magnetic, so as to cooperate with the coil assembly and the guide rail to complete magnetic drive.

10. The double-motor cooperation device according to claim 1, characterized in that: The first connecting member has an installation position, and the installation position is suitable for installing a process device.

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