Multi-rotor driving module

Abstract

The utility model provides a multi-mover driving module. The multi-mover driving module comprises a base, a driving module and a driving module, the two ends of the threaded rod are fixedly connected with the base; the guide direction of the linear guide assembly is parallel to the length direction of the threaded rod, and the linear guide assembly is arranged on the base; the mover units are arranged in the axial direction of the threaded rod, each mover unit comprises a driver, a transmission mechanism, a rotating nut and a bearing seat body, the bearing seat bodies are connected with the linear guide assemblies so as to move in the guide direction, the rotating nuts are meshed with the threaded rod and rotationally connected with the bearing seat bodies, and the transmission mechanisms transmit output of the drivers to the rotating nuts; and the driver of each mover unit independently drives the corresponding rotating nut to rotate around the threaded rod, so that the corresponding bearing seat body does linear motion. The multi-rotor driving module provided by the embodiment of the utility model is low in operation noise and high in motion precision.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of precision machinery, and more particularly to a multi-mover driving module. BACKGROUND

[0002] In related technologies, a screw servo motion module is driven by a servo motor to rotate a screw at high speed, so that a nut on the screw moves linearly to realize high-precision transfer and positioning.

[0003] However, this structure has obvious defects. When the module has a long movement stroke, the length of the ball screw increases, and under the influence of gravity, the high-speed rotation will generate centrifugal force and cause high-frequency vibration and large movement noise, resulting in a decrease in movement precision and load capacity. Therefore, the common screw module can only realize high-speed and high-precision linear movement in a short stroke, and the comprehensive performance and precision decrease in a long stroke. CONTENT OF THE INVENTION

[0004] The application provides a multi-mover driving module with small running noise and high movement precision.

[0005] The technical scheme adopted by the application is as follows: a multi-mover driving module is provided, which comprises:

[0006] a base;

[0007] a threaded rod, both ends of the threaded rod being fixedly connected with the base;

[0008] a linear guide assembly, the guide direction of the linear guide assembly being parallel to the length direction of the threaded rod and the linear guide assembly being arranged on the base;

[0009] at least two mover units, the mover units being arranged along the axial direction of the threaded rod, the mover unit comprising a driver, a transmission mechanism, a rotating nut, and a bearing seat body, the bearing seat body being connected with the linear guide assembly to move along the guide direction, the rotating nut being engaged with the threaded rod and rotationally connected with the bearing seat body, and the transmission mechanism transmitting the output of the driver to the rotating nut;

[0010] wherein the driver of each mover unit independently drives the corresponding rotating nut to rotate around the threaded rod, so that the corresponding bearing seat body moves linearly.

[0011] Further, the transmission mechanism comprises a box body, a hollow main shaft, a bearing assembly and a transmission assembly, the box body is arranged on the bearing seat body, the hollow main shaft is rotatably arranged on the box body through the bearing assembly, the hollow main shaft is provided with an axial through hole, the threaded rod is arranged in the through hole and has a gap with the inside of the through hole, the hollow main shaft is coaxially fixedly connected with the rotating nut, and the transmission assembly is connected with the driver and the hollow main shaft to transmit the output of the driver to the hollow main shaft.

[0012] Further, the transmission assembly is a belt transmission assembly or a gear transmission assembly.

[0013] When the transmission assembly is a belt transmission assembly, the box body comprises a main box body provided with an opening on one side and a mounting plate for closing the opening, the main box body is arranged on the bearing seat body, the belt transmission assembly is arranged in the main box body, the driver is arranged on the mounting plate, the output shaft of the driver is inserted into the main box body and is parallel to the hollow main shaft, and the mounting plate is adjustable in position on the main box body in the direction of approaching or moving away from the hollow main shaft to adjust the distance between the output shaft and the hollow main shaft.

[0014] Further, the transmission mechanism further comprises an adjusting screw, the adjusting screw is arranged in the main box body and is threadedly connected with the main box body, the axis of the adjusting screw is perpendicular to the axis of the hollow main shaft, the mounting plate is in sliding fit with the main box body, and one end of the adjusting screw inserted into the main box body is fixedly connected with the mounting plate.

[0015] Further, support locking assemblies are further arranged at the two ends of the threaded rod respectively, the support locking assembly comprises a support seat, an axial limiting piece and a pressing plate, the support seat is arranged on the base, the end of the threaded rod is provided with a first anti-rotation end face, the support seat is provided with a insertion hole through which the end of the threaded rod passes, the support seat is further provided with a slot in communication with the insertion hole, the first anti-rotation end face is located in the insertion hole and faces the slot, the pressing plate is fixed to the support seat and blocks the slot, the pressing plate is provided with a protrusion embedded in the slot, the protrusion has a second anti-rotation end face abutting against the first anti-rotation end face, and the axial limiting piece is located on the side of the support seat away from the other support seat, the axial limiting piece is fixedly connected with the threaded rod and abuts against the support seat.

[0016] Further, a buffer limiting block is further arranged on the base, and the buffer limiting block is located on the side of the support seat facing the other support seat.

[0017] Further, a position sensing sheet is arranged on the bearing seat body, and a position sensor corresponding to the position sensing sheet is arranged on the base to detect the position of the mover unit in real time.

[0018] Further, the linear guide assembly comprises a linear guide rail and a guide rail slider, the guide rail slider is arranged on the bearing seat body, and the linear guide rail is arranged on the base along the length direction of the threaded rod.

[0019] Further, a plurality of telescopic protective covers are arranged between the end of the base and the mover unit or between adjacent two mover units, and the telescopic protective cover covers the movement path of the linear guide assembly, the threaded rod and the mover unit.

[0020] The multi-mover driving module provided by the embodiment of the present application has the beneficial effects that in the embodiment of the present application, the threaded rod is fixed at both ends of the base and moves by rotating the rotating nut, thereby eliminating the centrifugal force swing problem caused by the weight when the traditional lead screw rotates at high speed, reducing the high-frequency jitter and noise in long-stroke movement, and improving the precision and load capacity. The mover units are arranged in the axial direction of the threaded rod, each unit is equipped with an independent driver, a rotating nut and a linear guide assembly, the driver drives the rotating nut to rotate around the threaded rod through a transmission mechanism, the threaded engagement converts the rotation into linear motion of the bearing seat body, and the linear guide assembly provides accurate guidance for the bearing seat body. The multi-mover units can realize synchronous or asynchronous motion through independent control, break through the limitation of traditional single-mover, and improve the flexibility of the system. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The three-dimensional structure schematic diagram of the multi-mover driving module provided by the embodiment of the present application is shown in the figure.

[0023] Figure 2 The partial schematic diagram of the multi-mover driving module provided by the embodiment of the present application is shown in the figure.

[0024] Figure 3 The three-dimensional structure schematic diagram of the bearing seat body provided by the embodiment of the present application is shown in the figure.

[0025] Figure 4 The three-dimensional structure schematic diagram of the transmission assembly provided by the embodiment of the present application is shown in the figure.

[0026] Figure 5 The three-dimensional structure schematic diagram of the transmission mechanism provided by the embodiment of the present application is shown in the figure.

[0027] Figure 6A perspective structural schematic view of the support locking assembly provided by the embodiment of the present application is shown in the figure.

[0028] Figure 7 A perspective structural schematic view of the multi-motor driving module provided by the embodiment of the present application is shown in the figure.

[0029] In the figure, the reference numerals are as follows:

[0030] 10, base; 11, position sensor;

[0031] 20, threaded rod; 21, first anti-rotation end face;

[0032] 30, linear guide assembly; 31, linear guide rail; 32, guide rail slider;

[0033] 40, motor unit; 41, driver; 42, transmission mechanism; 421, box body; 4211, main box body; 4212, mounting plate; 422, hollow spindle; 4221, through hole; 423, bearing assembly; 4231, deep groove ball bearing; 4232, angular contact bearing; 424, transmission assembly; 4241, synchronous belt; 4242, driving pulley; 4243, driven pulley; 425, adjusting screw; 43, rotating nut; 44, bearing seat body; 441, position sensing sheet;

[0034] 50, support locking assembly; 51, support seat; 511, insertion hole; 512, slot; 52, axial limiting piece; 53, pressing plate; 531, protrusion; 5311, second anti-rotation end face;

[0035] 60, buffer limiting block;

[0036] 70, telescopic protective cover. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used for convenience of description and simplification of description only, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0040] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0041] Please refer to Figure 1 and Figure 2 , now the multi-mover driving module provided by the embodiments of the application will be described.

[0042] Referring to Figure 1 , the multi-mover driving module provided by the embodiments of the application includes a base 10, a threaded rod 20, a linear guide assembly 30 and at least two mover units 40.

[0043] The base 10 is a support frame of the entire module, and the base 10 is internally designed with a precisely machined guide groove or mounting interface for fixing the threaded rod 20 and the linear guide assembly 30.

[0044] Referring to Figure 1 , both ends of the threaded rod 20 are fixedly connected with the base 10. The threaded rod 20 is a core transmission element, both ends of which are fixedly connected with the base 10, so as to ensure that the threaded rod 20 remains stationary during movement and does not move axially and rotate. In some embodiments, the threaded rod 20 is a lead screw.

[0045] The guide direction of the linear guide assembly 30 is parallel to the length direction of the threaded rod 20, and the linear guide assembly 30 is arranged on the base 10. The linear guide assembly 30 can adopt a combination of a high-precision linear guide rail 31 and a sliding block, or a composite structure of a ball screw and a sliding bearing, to provide low-friction, high-rigidity guide support. The cooperation of the linear guide assembly 30 and the threaded rod 20 enables the carrier seat body 44 to not only slide freely axially along the lead screw, but also to realize precise displacement control through the thread engagement of the rotating nut 43 and the lead screw.

[0046] Referring to Figure 2, at least two mover units 40 are arranged axially along the threaded rod 20, the mover unit 40 comprises a driver 41, a transmission mechanism 42, a rotating nut 43 and a bearing seat body 44, the bearing seat body 44 is connected with the linear guide assembly 30 to move along the guide direction, the rotating nut 43 is engaged with the threaded rod 20 and rotationally connected with the bearing seat body 44, and the transmission mechanism 42 transmits the output of the driver 41 to the rotating nut 43.

[0047] The structure of each mover unit 40 at least includes four key parts: a driver 41, a transmission mechanism 42, a rotating nut 43 and a bearing seat body 44. The driver 41 can adopt a servo motor or a stepper motor, which receives motion instructions through an independent control system and directly drives the rotation of the rotating nut 43. The transmission mechanism 42 is designed as a belt transmission assembly 424 or a gear transmission assembly 424 according to specific requirements, which accurately transmits the rotary motion of the driver 41 to the rotating nut 43. The threaded engagement of the rotating nut 43 with the threaded rod 20 is the core of realizing linear motion, and its thread parameters (such as lead and pitch) need to be completely matched with the lead screw to ensure that the rotation is converted into accurate axial displacement. The bearing seat body 44 serves as a mounting platform for the load, which is connected with the linear guide assembly 30 through a sliding block or a guide rail. The bottom of the bearing seat body 44 is connected with the rotating nut 43 through a bearing or a floating connection to realize the separation of rotation and translation, that is, when the rotating nut 43 rotates, the bearing seat body 44 only moves axially along the lead screw, and does not rotate itself.

[0048] Among them, the driver 41 of each mover unit 40 independently drives the corresponding rotating nut 43 to rotate around the threaded rod 20, so that the corresponding bearing seat body 44 moves linearly.

[0049] Each driver 41 can realize precise control of the rotating nut 43 through independent control signals, so that multiple bearing seat bodies 44 can not only move synchronously (such as multi-axis linkage precision machining scene), but also independently execute different trajectory movements (such as multi-station operation on an automatic assembly line). This design breaks through the limitations of traditional single-mover lead screw drive, and through the shared threaded rod 20 structure, it not only reduces the space occupied by the multi-lead screw system, but also improves the flexibility and reliability of the system through independent driving. For example, in the scene where multi-point synchronous handling is required, each mover unit 40 can move synchronously; while in the scene where time-sharing control is required, each mover can be independently started, stopped or varied in speed according to requirements, thereby optimizing the overall work efficiency.

[0050] Based on the above structure, when the driver 41 drives the rotating nut 43 to rotate, the axial thrust generated by the engagement of the nut and the threads of the threaded rod 20 will push the bearing seat body 44 to move along the guide assembly. Since all the movers share the same threaded track of the lead screw, the displacement accuracy is directly determined by the machining accuracy of the lead screw and the straightness of the guide assembly, so the overall positioning accuracy is high. At the same time, the independent driving characteristic makes each mover unit 40 able to bear different loads or dynamically adjust the speed during movement, which is especially suitable for high-precision equipment requiring multi-point collaborative operation, such as multi-arm handling systems in semiconductor manufacturing, multi-axis positioning platforms of precision detection equipment, etc.

[0051] Referring to Figure 2 , Figure 4 and Figure 5 , the transmission mechanism 42 includes a box body 421, a hollow main shaft 422, a bearing assembly 423, and a transmission assembly 424. The box body 421 is arranged on the bearing seat body 44. The hollow main shaft 422 is rotatably arranged in the box body 421 through the bearing assembly 423. The hollow main shaft 422 is provided with an axial through hole 4221. The threaded rod 20 passes through the through hole 4221 and has a gap with the inside of the through hole 4221. The hollow main shaft 422 is coaxially fixedly connected with the rotating nut 43. The transmission assembly 424 connects the driver 41 and the hollow main shaft 422 to transmit the output of the driver 41 to the hollow main shaft 422.

[0052] The transmission mechanism 42, as the core power conversion device of the multi-mover driving module, needs to consider power transmission efficiency, motion accuracy, and structural compactness. The transmission mechanism 42 is composed of a box body 421, a hollow main shaft 422, a bearing assembly 423, and a transmission assembly 424. Each component is precisely matched to efficiently convert the rotary motion of the driver 41 into the precise rotation of the rotating nut 43, thereby driving the bearing seat body 44 to move linearly along the threaded rod 20. This design not only solves the problem of power attenuation in long-stroke applications of traditional transmission systems, but also realizes independent control of multiple movers through a modular structure.

[0053] The box body 421, as the base 10 of the transmission mechanism 42, is fixed on the bearing seat body 44 to provide stable support for the internal components. The hollow main shaft 422 is provided with an axial through hole 4221, and the threaded rod 20 passes through the through hole 4221, but there is a small gap between them. This gap can ensure that the engagement of the rotating nut 43 and the threads of the threaded rod 20 is not disturbed, avoiding friction or jamming caused by direct contact.

[0054] The coaxial fixed connection of the hollow main shaft 422 and the rotating nut 43 enables the rotary motion of the hollow main shaft 422 to be directly converted into the rotation of the rotating nut 43, thereby pushing the bearing seat body 44 to move along the lead screw.

[0055] The bearing assembly 423 is used to keep the hollow spindle 422 rotating relative to the box 421. Specifically, the bearing assembly 423 can include a deep groove ball bearing 4231 and an angular contact bearing 4232, both of which are sleeved on the hollow spindle 422 and located in the bearing hole of the box 421. The deep groove ball bearing 4231 mainly bears the radial load to keep the rotation accuracy of the hollow spindle 422, and the angular contact bearing 4232 provides axial positioning to prevent the hollow spindle 422 from moving along the screw shaft axis. This bearing layout not only ensures the stability of high-speed rotation of the hollow spindle 422, but also ensures the precise coaxiality between the hollow spindle 422 and the threaded rod 20.

[0056] The transmission assembly 424 is the core path of power transmission, and usually adopts a belt transmission assembly 424 or a gear transmission assembly 424. The driver 41 drives the hollow spindle 422 to rotate through the transmission assembly 424, and then drives the rotating nut 43 to rotate around the threaded rod 20, so as to drive the bearing seat body 44 to move along the length direction of the threaded rod 20.

[0057] Referring to Figure 2 , Figure 4 and Figure 5 , the transmission assembly 424 is a belt transmission assembly 424 or a gear transmission assembly 424.

[0058] The belt transmission assembly 424 can include a synchronous belt 4241, a driving pulley 4242 and a driven pulley 4243. The output shaft of the driver 41 is connected to the driving pulley 4242, and the driven pulley 4243 is sleeved and fixed on the hollow spindle 422. The driven pulley 4243 and the hollow spindle 422 can rotate synchronously through interference fit or expansion sleeve, and the driving pulley 4242 and the driven pulley 4243 are connected through the synchronous belt 4241. The driver 41 drives the synchronous belt 4241 through the driving pulley 4242, and the synchronous belt 4241 drives the driven pulley 4243 on the hollow spindle 422 to rotate, so as to transmit power to the hollow spindle 422. The driven pulley 4243 is fixed on the hollow spindle 422, and the deep groove ball bearing 4231 is arranged at one end of the driven pulley 4243, and the angular contact bearing 4232 is arranged at the other end of the driven pulley 4243.

[0059] The gear transmission assembly 424 transmits power through gear engagement, has higher transmission rigidity and precision, and is suitable for high-load or high-precision demand scenarios. The gear transmission assembly 424 can include a gear box, a driving gear, and a driven gear. The output shaft of the driver 41 is engaged with the driven gear in the gear box through the driving gear, and the driven gear is connected with the hollow main shaft 422, so as to realize power transmission. In the connection with the hollow main shaft 422, the driven gear can be directly fixed coaxially with the hollow main shaft 422. For example, one end of the hollow main shaft 422 extends into the interior of the gear box, and the driven gear is fixed on the main shaft through a key groove or a precise interference fit, so as to ensure that the two do not slide relative to each other. The output shaft of the driver 41 is engaged with the driven gear through the driving gear, forming a gear transmission chain. The interior of the gear box can adopt multi-stage gear transmission (such as a planetary gear or a spur gear combination), so as to optimize the transmission ratio or improve the torque transmission capacity.

[0060] When the transmission assembly 424 is a belt transmission assembly 424, the box body 421 includes a main box body 4211 provided with an opening on one side and a mounting plate 4212 closing the opening, the main box body 4211 is arranged on the bearing seat body 44, the belt transmission assembly 424 is located in the main box body 4211, the driver 41 is arranged on the mounting plate 4212, the output shaft of the driver 41 is inserted into the main box body 4211 and is parallel to the hollow main shaft 422, and the mounting plate 4212 is adjustable in position on the main box body 4211 in a direction close to or away from the hollow main shaft 422, so as to adjust the distance between the output shaft and the hollow main shaft 422.

[0061] The box body 421 includes the main box body 4211 and the adjustable mounting plate 4212, the main box body 4211 is fixed on the bearing seat body 44, and one side thereof is provided with an opening to provide space for the installation of the driver 41 and the arrangement of the synchronous belt 4241. The mounting plate 4212 is used for closing the opening and serving as the installation base 10 of the driver 41, and is movable in position in a direction close to or away from the hollow main shaft 422. The adjustability enables the distance between the output shaft and the hollow main shaft 422 to be flexibly adjusted according to actual requirements, and the tension of the synchronous belt 4241 is accurately adjusted.

[0062] The core of the belt transmission assembly 424 is a synchronous belt 4241, which is connected to the output shaft of the driver 41 and the pulley on the hollow main shaft 422 at both ends. The driver 41 (such as a servo motor) is mounted on a movable mounting plate 4212, and its output shaft extends into the main box 4211 through the mounting plate 4212, parallel to the hollow main shaft 422. This layout ensures that the synchronous belt 4241 has a stable guide path during operation, and by adjusting the position of the mounting plate 4212, the horizontal distance between the output shaft and the hollow main shaft 422 can be changed. When the mounting plate 4212 is away from the hollow main shaft 422, the tension of the synchronous belt 4241 increases, reducing the risk of transmission slip; otherwise, the tension is relaxed, suitable for different load or speed requirements. This dynamic adjustment capability is particularly suitable for multi-actuator systems, and each actuator unit 40 can independently adjust the transmission tension according to the actual working conditions, avoiding efficiency loss or excessive wear caused by uniform settings.

[0063] The mounting plate 4212 and the main box 4211 are in sliding fit, in addition, the mounting plate 4212 and the main box 4211 are also connected by screws or bolts. When adjusting the tension of the synchronous belt 4241, first loosen the screws or bolts between the mounting plate 4212 and the main box 4211, move the mounting plate 4212 to make the tension of the synchronous belt 4241 appropriate, and then lock the screws or bolts.

[0064] The advantage of the belt transmission assembly 424 is that its structure is relatively simple, the cost is relatively low, and it is easy to maintain, especially suitable for low load or frequently adjusted transmission ratio scenarios. However, the elastic deformation and tension change of the synchronous belt 4241 may affect the transmission accuracy, so the adjustability of the mounting plate 4212 is critical. By precisely controlling the distance between the output shaft and the hollow main shaft 422, the elastic elongation of the synchronous belt 4241 can be controlled within a reasonable range, ensuring the stability of the rotary motion transmission. In a multi-actuator system, the belt transmission assembly 424 of each actuator unit 40 can be independently adjusted, thereby realizing personalized transmission parameter setting between different stations, for example, when some actuators need to run at high speed, the tension can be appropriately increased to improve the response speed, while other actuators in light load state can reduce the tension to reduce power consumption.

[0065] Referring to Figure 2 and Figure 5 , the transmission mechanism 42 further comprises an adjusting screw 425, which is threaded into the main box 4211 and is in threaded connection with the main box 4211, and the axis of the adjusting screw 425 is perpendicular to the axis of the hollow main shaft 422. The mounting plate 4212 and the main box 4211 are in sliding fit, and one end of the adjusting screw 425 inserted into the main box 4211 is fixedly connected with the mounting plate 4212.

[0066] Further, the design of the adjusting screw 425 is the core mechanical structure for achieving dynamic adjustment of the tension of the synchronous belt 4241 in the belt transmission assembly 424. It converts the rotary motion into linear displacement through precise screw transmission, thereby accurately controlling the distance between the mounting plate 4212 and the hollow spindle 422. The axis of the adjusting screw 425 is perpendicular to the axis of the hollow spindle 422. This layout ensures that the direction of the pushing force is consistent with the direction of the movement of the mounting plate 4212, avoiding transmission errors caused by force deviation. The screw and the main box body 4211 are connected by threads, usually high-precision trapezoidal threads or fine threads, to ensure micro-displacement control during rotation and anti-looseness during long-term use.

[0067] The main box body 4211 is designed with a threaded hole matching the adjusting screw 425. After the screw passes through the hole, its end is fixedly connected with the mounting plate 4212. The mounting plate 4212 covers the main box body 4211 and can slide on the main box body 4211. The end of the adjusting screw 425 is fixed with the mounting plate 4212, which can be directly welded, screwed or buckled to ensure that the two form a rigid linkage.

[0068] When the tension of the synchronous belt 4241 needs to be adjusted, the operator rotates the adjusting screw 425 to achieve precise displacement of the mounting plate 4212. For example, when the screw is rotated clockwise, its end will advance along the thread to the inside of the main box body 4211, driving the mounting plate 4212 to move towards the hollow spindle 422, thereby shortening the center distance between the output shaft of the driver 41 and the hollow spindle 422, and relaxing the synchronous belt 4241; conversely, counterclockwise rotation tightens the tension. After adjustment, the mounting plate 4212 and the main box body 4211 are fixed. Specifically, the mounting plate 4212 is fixed with a tensioning block, and the end of the adjusting screw 425 is fixed with the tensioning block.

[0069] The advantage of this design is that a small rotation angle can bring about precise displacement changes, for example, 0.5 mm per rotation, meeting the high-precision tensioning requirements. In addition, the coordinated use of multiple adjusting screws 425 (usually symmetrically arranged on both sides of the main box body 4211) can ensure that the mounting plate 4212 moves uniformly and avoids local deformation that causes the synchronous belt 4241 to be eccentric.

[0070] Preferably, the main box body 4211 may have an observation window or scale line on the outside to help the operator visually judge the tensioning degree. In long-term use, the threaded part may be worn due to frequent adjustment, so the material needs to be selected as high-hardness alloy steel and surface hardened to prolong the service life. In addition, to prevent dust from entering the threaded hole and affecting the precision, some designs add a dust cover or sealing ring to the end of the screw.

[0071] The adjustment mechanism simplifies the complex tension adjustment to a single screw rotation operation, without the need to disassemble the synchronous belt 4241 or re-center the pulley, significantly improving maintenance efficiency. Especially in a multi-mover system, the adjustment screw 425 of each mover unit 40 can be independently adjusted to adapt the tension of multiple transmission assemblies 424 to different operating conditions. For example, in heavy load conditions, the transmission rigidity can be improved by increasing the tension; while in light load or high speed operation, appropriate relaxation of the tension can reduce the friction loss of the synchronous belt 4241. This dynamic adjustment capability not only guarantees the long-term stability of the transmission system, but also provides flexible parameter optimization space for multi-mover collaborative operation, and is one of the key supports for static lead screw drive modules to achieve high precision and long stroke movement.

[0072] Referring to Figure 1 and Figure 6 Further comprising a support locking assembly 50 located at both ends of the threaded rod 20, the support locking assembly 50 comprises a support seat 51, an axial limiting piece 52 and a pressing plate 53, the support seat 51 is provided on the base 10, the end of the threaded rod 20 is provided with a first anti-rotation end face 21, the support seat 51 is provided with a insertion hole 511 through which the end of the threaded rod 20 passes, the support seat 51 is further provided with a slot 512 in communication with the insertion hole 511, the first anti-rotation end face 21 is located in the insertion hole 511 and faces the slot 512, the pressing plate 53 is fixed to the support seat 51 and blocks the slot 512, the pressing plate 53 is provided with a protrusion 531 embedded in the slot 512, the protrusion 531 has a second anti-rotation end face 5311 abutting against the first anti-rotation end face 21, the axial limiting piece 52 is located on the side of the support seat 51 away from the other support seat 51, and the axial limiting piece 52 is fixedly connected with the threaded rod and abuts against the support seat 51.

[0073] The support locking assembly 50, as a fixed structure of the static lead screw drive module, can simultaneously meet the requirements of axial positioning, radial anti-rotation and long-term operation stability of the lead screw.

[0074] The support seat 51 is fixed on the base 10 and provides a mounting reference for the threaded rod 20. The support seat 51 is provided with an insertion hole 511 matching the end of the lead screw, the shape of the insertion hole 511 is consistent with the cross section of the end of the lead screw, ensuring that the lead screw axis is strictly aligned with the guiding direction of the base 10. One side of the insertion hole 511 extends an open slot 512, which is in communication with the insertion hole 511, providing space for the installation of the pressing plate 53 and the positioning of the anti-rotation end face. After the first anti-rotation end face 21 of the end of the lead screw is inserted into the insertion hole 511, its plane direction faces the slot 512, and when the pressing plate 53 is installed in place, the protrusion 531 structure on the pressing plate 53 will directly abut against the first anti-rotation end face 21, forming a radial lock, so that the rotation freedom of the lead screw is limited.

[0075] The pressing plate 53 is fixed on the slotted 512 position of the support seat 51 by screw or bolt connection, and its function is to completely eliminate the possibility of rotation of the lead screw by mechanical limiting. The protrusion 531 part of the pressing plate 53 is embedded in the slotted 512 of the support seat 51, and the protrusion 531 part has a second anti-rotation end face 5311 which directly contacts the first anti-rotation end face 21 of the end of the threaded rod 20. This double-plane matching method has very high anti-rotation reliability: when the threaded rod 20 tries to rotate, the second anti-rotation end face 5311 will generate a blocking torque with the first anti-rotation end face 21, preventing any slight rotation. The design of the protrusion 531 not only ensures that the contact area is large enough to disperse the pressure, but also avoids excessive extrusion of the surface of the lead screw, prolonging the service life.

[0076] The axial limiting piece 52 is responsible for restraining the axial displacement of the lead screw. It is usually ring-shaped or flange-shaped, fixed on the end of the lead screw by screw or interference fit, located on the outside of the support seat 51 (the side away from the other support seat 51). The end face of the axial limiting piece 52 tightly abuts the outer wall of the support seat 51, forming an axial positioning point. When the lead screw is subjected to the axial thrust or tension generated by the mover unit 40 movement, the contact surface of the axial limiting piece 52 and the support seat 51 will directly bear the load, preventing the lead screw from moving along the axial direction.

[0077] Referring to Figure 2 The multi-mover driving module of the embodiment of the present application further comprises a buffer limiting block 60, which is arranged on the base 10 and located on the side of the support seat 51 facing the other support seat 51.

[0078] The buffer limiting block 60 serves as an end protection device for the static lead screw driving module, and its design aims to solve the problem of high-speed impact of the mover unit 40 at the end of the stroke, while taking into account positioning accuracy and mechanical safety. The component is fixed on the base 10, located between the two support seats 51 and on the side facing the other support seat 51, forming a physical limit and energy absorption for the moving range of the mover. The buffer limiting block 60 is a flexible structure, such as a rubber block, a silicone block, a polyurethane block, etc.

[0079] The buffer limiting block 60 can be fixed on the base 10 by screws or buckles, and its position strictly corresponds to the limit position of the mover movement. When the mover approaches the end of the stroke at high speed, the end face of its carrier body 44 first buffers the buffer limiting block 60, and the elastic material absorbs kinetic energy by deformation, converting the impact force into potential energy of material compression, thereby greatly reducing the noise and vibration of mechanical impact. This design not only protects the mover unit 40 and the threaded rod 20 from hard impact, but also prolongs the service life of the linear guide assembly 30 and the rotating nut 43, avoiding the aggravation of wear caused by sudden braking.

[0080] Referring to Figure 2The position sensing sheet 441 is arranged on the bearing seat body 44, and the base 10 is provided with a position sensor 11 corresponding to the position sensing sheet 441, which is used to detect the position of the mover unit 40 in real time.

[0081] The position sensing sheet 441 is usually made of high-reflective or magnetic material, and is fixed on the side wall or bottom of the bearing seat body 44 and moves synchronously with the mover. The position sensor 11 is fixed on the end or side of the linear guide rail 31 of the base 10, and forms a fixed spatial correspondence relationship with the sensing sheet. The cooperation of the position sensing sheet 441 and the position sensor 11 can provide accurate positioning data for the servo control system in real time, and ensure the accurate execution of the synchronous or asynchronous movement of multiple movers. The position sensor 11 can be an optical sensor or a magnetic sensor.

[0082] When the mover moves along the screw rod, the position sensing sheet 441 passes through the detection area of the sensor in sequence, triggering the generation of a position signal. The sensor converts the mechanical displacement into a digital or analog signal, which is transmitted to the servo driver 41 in real time, forming a position closed-loop control. For example, in high-speed motion, the control system dynamically adjusts the output torque and speed of the driver 41 by continuously sampling the sensor signal, and compensates for the positioning deviation caused by load changes or mechanical clearances. For the multi-mover cooperation scene, the signals of each sensor are processed centrally, and the motion trajectories of all movers are synchronized and calibrated through algorithms, to ensure their accurate arrangement or relative displacement on the predetermined path.

[0083] The innovation of this design lies in the combination of position detection accuracy and multi-mover independent control requirements. The sensing sheet and sensor of each mover unit 40 form an independent feedback loop, which guarantees the positioning accuracy of a single mover (repeatability error ≤0.005 mm), and through the unified coordination of the central controller, the synchronization error control of multi-mover movement is realized. For example, in the semiconductor wafer handling scene, multiple movers need to move synchronously with micron-level accuracy to complete multi-point grabbing, and the position sensing system ensures that all movers strictly follow the preset trajectory through real-time feedback and compensation, avoiding wafer collision or misplacement caused by positioning deviation. This high-precision, multi-channel position detection capability makes the static screw drive module exhibit significant technical advantages in complex automation scenarios.

[0084] Referring to Figure 2 and Figure 3 , the linear guide assembly 30 includes a linear guide rail 31 and a guide rail slider 32, the guide rail slider 32 is arranged on the bearing seat body 44, and the linear guide rail 31 is arranged on the base 10 along the length direction of the threaded rod 20.

[0085] Linear guide assembly 30 as the static screw drive module movement of the basic framework, including linear guide 31 and guide rail slider 32. Linear guide 31 is fixed on the base 10, its axis is strictly parallel to the screw rod 20, providing a high rigidity guide path for the mover. Guide rail slider 32 is installed at the bottom of the bearing seat body 44, and is in contact with the four rail surfaces of the guide rail through rolling elements (such as balls or rollers), converting friction into rolling friction, significantly reducing the movement resistance and improving stability.

[0086] The precision of linear guide assembly 30 cooperates with the static design of the screw: since the screw does not need to rotate, its weight and vibration will not be transmitted to the guide rail system, avoiding the guide rail vibration problem caused by high-speed rotation of the screw in traditional modules. The rolling design of linear guide 31 and the high-precision rail surface (surface hardness and wear resistance optimization) enable the mover unit 40 to maintain sub-micron level repeat positioning accuracy in long travel. For example, within a 5-meter travel range, the positioning deviation can be controlled within microns, meeting the needs of precision assembly or detection. In addition, the multi-column contact structure (such as four columns or cross roller layout) of the guide rail slider 32 can balance multi-directional load, prevent tilting and jamming, and further improve system reliability.

[0087] Referring to Figure 7 It also includes a plurality of telescopic protective covers 70, which are arranged between the end of the base 10 and the mover unit 40 or between two adjacent mover units 40, covering the movement path of the linear guide assembly 30, the screw rod 20 and the mover unit 40.

[0088] Telescopic protective cover 70 as a protective component of the static screw drive module covers the movement path of linear guide assembly 30, screw rod 20 and mover unit 40, its core function is to isolate the external environment and ensure the safety of movement. This component usually adopts a modular telescopic design, such as an accordion protective cover, which is made of corrugated engineering plastic or rubber sheets stacked together, and can adapt to the movement distance of the mover by folding or unfolding. For example, in semiconductor manufacturing equipment, the accordion protective cover can cover the screw and guide rail to prevent dust from entering the precision movement pair; in the logistics sorting system, the metal mesh protective cover can resist cargo impact while allowing the mover unit 40 to freely stretch and retract in long travel.

[0089] The installation position of telescopic protective cover 70 is divided into two categories: one end is fixed at the end of the base 10, and the other end is connected with the mover unit 40, covering the single side movement path; or arranged between adjacent movers, forming an independent protective interval. Taking the accordion cover as an example, its two ends are fixed with the base 10 or the mover bearing seat body 44 through buckles or flanges, and the corrugated structure dynamically telescopes when the mover moves, always maintaining a covered state.

[0090] The telescopic protective cover 70 has the following advantages: first, dynamic sealing reduces the risk of contamination of the guide rail and screw, prolonging the service life; second, physical isolation improves safety and avoids personnel contact with high-speed moving parts; finally, the segmented design is compatible with multiple mover systems, such as on a multi-station assembly line, the protective covers between adjacent movers are independently telescopic, preventing cross-contamination of lubricants. The bellows structure of the concertina protective cover also has self-cleaning capabilities, which can shake off surface dust during movement, further ensuring reliability. This design is widely used in precision manufacturing and automated production lines, balancing protection and freedom of movement.

[0091] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-motor driving module, characterized in that, The utility model provides a linear motion mechanism, including: a base; a threaded rod, both ends of which are fixedly connected with the base; a linear guide assembly, the guide direction of which is parallel to the length direction of the threaded rod and is arranged on the base; at least two mover units, which are arranged in the axial direction of the threaded rod, the mover unit including a driver, a transmission mechanism, a rotating nut and a bearing seat body, the bearing seat body being connected with the linear guide assembly to move in the guide direction, the rotating nut being engaged with the threaded rod and rotationally connected with the bearing seat body, the transmission mechanism transmitting the output of the driver to the rotating nut; wherein the driver of each mover unit independently drives the corresponding rotating nut to rotate around the threaded rod, so that the corresponding bearing seat body moves linearly.

2. The multi-motor driving module according to claim 1, wherein, The transmission mechanism includes a box body, a hollow main shaft, a bearing assembly and a transmission assembly, the box body being arranged on the bearing seat body, the hollow main shaft being rotationally arranged on the box body through the bearing assembly, the hollow main shaft being provided with an axial through hole, the threaded rod being arranged in the through hole and having a gap with the inside of the through hole, the hollow main shaft being coaxially fixedly connected with the rotating nut, the transmission assembly connecting the driver and the hollow main shaft to transmit the output of the driver to the hollow main shaft.

3. The multi-motor driving module according to claim 2, wherein, The transmission assembly is a belt transmission assembly or a gear transmission assembly; when the transmission assembly is a belt transmission assembly, the box body includes a main box body provided with an opening on one side and a mounting plate for closing the opening, the main box body being arranged on the bearing seat body, the belt transmission assembly being arranged in the main box body, the driver being arranged on the mounting plate, the output shaft of the driver being inserted into the main box body and being parallel to the hollow main shaft, the mounting plate being adjustable in position on the main box body in the direction of approaching or moving away from the hollow main shaft to adjust the distance between the output shaft and the hollow main shaft.

4. The multi-actuator driving module according to claim 3, wherein, The transmission mechanism further includes an adjusting screw, the adjusting screw being arranged in the main box body and being threadedly connected with the main box body, the axis of the adjusting screw being perpendicular to the axis of the hollow main shaft, the mounting plate being slidingly fitted with the main box body, one end of the adjusting screw inserted into the main box body being fixedly connected with the mounting plate.

5. The multi-actuator driving module according to claim 1, wherein Further included are support locking assemblies respectively arranged at both ends of the threaded rod, the support locking assembly including a support seat, an axial limiting piece and a pressing plate, the support seat being arranged on the base, the end of the threaded rod being provided with a first anti-rotation end face, the support seat being provided with a insertion hole through which the end of the threaded rod passes, the support seat being further provided with a slot in communication with the insertion hole, the first anti-rotation end face being located in the insertion hole and facing the slot, the pressing plate being fixed to the support seat and closing the slot, the pressing plate being provided with a protrusion embedded in the slot, the protrusion having a second anti-rotation end face abutting against the first anti-rotation end face, the axial limiting piece being located on the side of the support seat away from the other support seat, the axial limiting piece being fixedly connected with the threaded rod and abutting against the support seat.

6. The multi-actuator driving module according to claim 5, wherein, Further included are buffer limiting blocks, which are arranged on the base, the buffer limiting blocks being located on the side of the support seat facing the other support seat.

7. The multi-actuator driving module according to claim 5, wherein, The bearing seat body is provided with a position sensing sheet, and the base is provided with a position sensor corresponding to the position sensing sheet, which is used for detecting the position of the mover unit in real time.

8. The multi-actuator driving module according to claim 1, wherein, The linear guide assembly comprises a linear guide rail and a guide rail slider, the guide rail slider is arranged on the bearing seat body, and the linear guide rail is arranged on the base along the length direction of the threaded rod.

9. The multi-actuator driving module according to claim 1, wherein, Further comprising a plurality of telescopic protective covers arranged between the end of the base and the mover unit or between adjacent two mover units, the telescopic protective cover covers the movement path of the linear guide assembly, the threaded rod and the mover unit.

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