A dual-shaft linear motor

Abstract

The utility model discloses a double -shaft linear motor, including R axis rotating motor and Z axis linear motor, R axis rotating motor includes R axis stator subassembly and R axis rotor subassembly, and R axis rotor subassembly rotation sets up in R axis stator subassembly, Z axis linear motor includes Z axis stator subassembly and Z axis rotor subassembly, and Z axis rotor subassembly is relative to Z axis stator subassembly sliding arrangement, and R axis stator subassembly with Z axis rotor subassembly detachable connection. When the motor appears the failure of R axis rotating motor or Z axis linear motor any shafting part in the use process, need not to remove the whole double -shaft motor from the equipment whole, only need through the connection structure between R axis stator subassembly and Z axis rotor subassembly of dismounting, can alone to the stator subassembly or rotor subassembly of failure shafting carry out dismounting, maintenance or replacement operation. To reduce the complexity and workload of maintenance operation significantly, reduce the interference and touch to non -failure shafting part, also reduce the maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and in particular to a dual-axis linear motor. Background Technology

[0002] In modern industrial automation, precision manufacturing, and high-end equipment, dual-axis linear motors are widely used in semiconductor processing, precision measurement, robotics, and other applications requiring extremely high motion accuracy and response speed, thanks to their ability to achieve multi-dimensional precise motion control. By integrating rotary and linear motion drive functions, these motors effectively simplify the transmission system structure and improve the overall operating efficiency and control precision of the equipment.

[0003] Currently, most commercially available dual-axis linear motors adopt an integrated design structure, meaning that the rotary axis drive part and the linear axis drive part are fixedly connected to form an inseparable whole. This design has certain advantages in terms of initial assembly and structural compactness, reducing assembly gaps between components and theoretically reducing the accumulation of errors caused by the connection structure.

[0004] However, in actual use and maintenance, the drawbacks of the integrated design have gradually become apparent. When one axis (such as the rotary or linear axis) of a dual-axis linear motor malfunctions and needs repair or replacement, because the two shaft components are fixedly connected, it is impossible to disassemble the faulty axis individually; the entire dual-axis motor must be removed from the equipment. This not only significantly increases the complexity and workload of maintenance work, prolongs equipment downtime, and affects production progress, but also, during disassembly and reassembly, improper operation may cause secondary damage to the motor's precision components, further reducing the motor's performance stability and service life. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a dual-axis linear motor, which aims to solve the problem of inconvenience in maintenance and replacement.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a dual-axis linear motor, including an R-axis rotary motor and a Z-axis linear motor. The R-axis rotary motor includes an R-axis stator assembly and an R-axis mover assembly, with the R-axis mover assembly rotatably disposed within the R-axis stator assembly. The Z-axis linear motor includes a Z-axis stator assembly and a Z-axis mover assembly, with the Z-axis mover assembly slidably disposed relative to the Z-axis stator assembly. The R-axis stator assembly and the Z-axis mover assembly are detachably connected.

[0008] Furthermore, the R-axis stator assembly includes a coil, an encoder, an upper sealing plate, a lower sealing plate, and a coil housing. The coil is fixed inside the coil housing, the upper sealing plate and the lower sealing plate are fixed at both ends of the coil housing, the encoder is mounted on the coil housing, and the coil housing is connected to the Z-axis actuator assembly.

[0009] Furthermore, the Z-axis moving part assembly includes a motion plate, a magnet mounting plate, and several individual magnets. The motion plate has a groove, the magnet mounting plate is embedded in the groove, the individual magnets are connected to the magnet mounting plate, and the coil housing is connected to the motion plate.

[0010] Furthermore, the R-axis moving part assembly includes a rotating shaft, bearings, a grating ruler, and several permanent magnets. The bearings are provided at both ends of the rotating shaft. The coil is sleeved on the rotating shaft and located between the bearings at both ends of the rotating shaft. Several permanent magnets are fixed around the rotating shaft and located inside the coil. The grating ruler is fixed on the rotating shaft.

[0011] Furthermore, the Z-axis stator assembly includes a base and a core unit. The base has a mounting cavity, which is integrally formed with the base, and the core unit is fixed inside the mounting cavity.

[0012] Furthermore, the core unit includes several core groups arranged in a row. Each core group includes a core unit, a first coil, and a second coil. The core unit has a first connecting arm and a second connecting arm opposite to the first connecting arm. The first coil is sleeved on the first connecting arm, and the second coil is sleeved on the second connecting arm. The first coil and the second coil are arranged in parallel.

[0013] Furthermore, the iron core unit is provided with a groove with a top opening, the groove having a first sidewall and a second sidewall opposite to the first sidewall, the first sidewall forming the first connecting arm, and the second sidewall forming the second connecting arm.

[0014] Furthermore, an insulating element is provided between the first coil and the iron core unit, and the insulating element is also provided between the second coil and the iron core unit.

[0015] Furthermore, the Z-axis linear motor also includes a linear guide module, which is disposed between the Z-axis mover assembly and the Z-axis stator assembly. The linear guide module includes at least one guide rail and at least one slider, which is slidably disposed on the guide rail. The guide rail is fixedly connected to the base, and the slider is fixedly connected to the motion plate.

[0016] Furthermore, the Z-axis linear motor also includes a mounting plate, a first hook, a second hook, and an elastic element. The mounting plate is connected to the base, the first hook is connected to the mounting plate, the second hook is connected to the motion plate, and the two ends of the elastic element are respectively connected to the first hook and the second hook.

[0017] The advantages of this invention compared to existing technologies are as follows: A dual-axis linear motor includes an R-axis rotary motor and a Z-axis linear motor. The R-axis rotary motor includes an R-axis stator assembly and an R-axis mover assembly, with the mover assembly rotatably mounted within the stator assembly. The Z-axis linear motor includes a Z-axis stator assembly and a mover assembly, with the mover assembly slidably mounted relative to the stator assembly. The stator assembly and mover assembly are detachably connected. When a fault occurs in either the R-axis rotary motor or the Z-axis linear motor during operation, it is not necessary to remove the entire dual-axis motor from the equipment. Only the connection structure between the stator assembly and the mover assembly needs to be disassembled to individually disassemble, repair, or replace the faulty stator or mover assembly. This significantly reduces the complexity and workload of maintenance work, minimizes interference and contact with non-faulty shaft components, and also lowers maintenance costs.

[0018] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a dual-axis linear motor is provided for a specific embodiment of this utility model;

[0021] Figure 2 An exploded view of the R-axis rotary motor provided for a specific embodiment of this utility model;

[0022] Figure 3 An exploded view of the R-axis stator assembly provided in a specific embodiment of this utility model;

[0023] Figure 4 An exploded view of the R-axis moving part assembly provided in a specific embodiment of this utility model;

[0024] Figure 5 A schematic diagram of the structure of the Z-axis linear motor provided for a specific embodiment of this utility model;

[0025] Figure 6 An exploded view of the Z-axis linear motor provided in a specific embodiment of this utility model;

[0026] Figure 7 An exploded view of the Z-axis stator assembly provided in a specific embodiment of this utility model;

[0027] Figure 8 An exploded view of the core unit provided in a specific embodiment of this utility model;

[0028] Figure 9 A schematic diagram of the structure of a single iron core unit provided in a specific embodiment of this utility model;

[0029] Figure 10 An exploded view of the Z-axis moving part assembly provided in a specific embodiment of this utility model.

[0030] Figure Labels

[0031] 1. R-axis rotary motor; 11. R-axis stator assembly; 111. Coil; 112. Encoder; 113. Upper sealing plate; 114. Lower sealing plate; 115. Coil housing; 12. R-axis mover assembly; 121. Rotary shaft; 122. Bearing; 123. Grating ruler; 124. Permanent magnet; 2. Z-axis linear motor; 21. Z-axis stator assembly; 211. Core unit; 2111. Core assembly; 21111. Core unit; 211111. First connecting arm; 211112. Second connecting arm; 211113. 211114, bottom connecting part; 2111141, connecting hole; 21112, first coil; 21113, second coil; 212, base; 2121, mounting cavity; 21211, positioning groove; 213, end tooth; 22, Z-axis moving part assembly; 221, motion plate; 2211, slot; 222, magnet mounting plate; 223, single magnet; 23, linear guide module; 231, guide rail; 232, slider; 24, mounting plate; 25, first hook; 26, second hook; 27, elastic element. Detailed Implementation

[0032] The technical solution of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0038] like Figures 1 to 10 As shown, this utility model provides a dual-axis linear motor, including an R-axis rotary motor 1 and a Z-axis linear motor 2. The R-axis rotary motor 1 is used to realize rotational motion output around the R-axis, and the Z-axis linear motor 2 is used to realize linear motion output along the Z-axis. By combining these two motors, the needs of equipment for multi-dimensional movement in space can be met. The R-axis rotary motor 1 includes an R-axis stator assembly 11 and an R-axis mover assembly 12, with the R-axis mover assembly 12 rotatably disposed within the R-axis stator assembly 11. The Z-axis linear motor 2 includes a Z-axis stator assembly 21 and a Z-axis mover assembly 22, with the Z-axis mover assembly 22 slidably disposed relative to the Z-axis stator assembly 21. The R-axis stator assembly 11 and the Z-axis mover assembly 22 are detachably connected.

[0039] In practical applications, the Z-axis stator assembly 21 can be fixedly installed on a fixed base such as the frame of the equipment. The Z-axis mover assembly 22 moves in a reciprocating linear motion along the Z-axis direction under the drive of the Z-axis stator assembly 21, and synchronously drives the R-axis rotary motor 1 to move in a reciprocating linear motion along the Z-axis direction. At the same time, the R-axis rotary motor 1 can realize the output of rotational motion around the R-axis.

[0040] When a fault occurs in either the R-axis rotary motor 1 or the Z-axis linear motor 2 during operation, it is not necessary to remove the entire dual-axis motor from the equipment. Only the connection structure between the R-axis stator assembly 11 and the Z-axis mover assembly 22 needs to be disassembled, allowing for the individual disassembly, repair, or replacement of the faulty axis's stator or mover assembly. This significantly reduces the complexity and workload of maintenance work, minimizes interference and contact with non-faulty axis components, and also lowers maintenance costs.

[0041] In one embodiment, such as Figure 2 As shown, the R-axis stator assembly 11 includes a coil 111, an encoder 112, an upper sealing plate 113, a lower sealing plate 114, and a coil housing 115. The coil 111 is fixed inside the coil housing 115, the upper sealing plate 113 and the lower sealing plate 114 are fixed at both ends of the coil housing 115, the encoder 112 is mounted on the coil housing 115, and the coil housing 115 is connected to the Z-axis mover assembly 22.

[0042] The R-axis stator assembly 11 serves as the fixed part of the R-axis rotary motor 1. The coil housing 115 is the supporting frame of the entire R-axis stator assembly 11. It can be integrally formed from aluminum alloy, which has the characteristics of being lightweight, having excellent heat dissipation performance and high structural strength. A cylindrical assembly cavity is provided inside along the axial direction. The inner diameter of the assembly cavity is adapted to the outer diameter of the coil 111 to accommodate and fix the coil 111.

[0043] The coil 111 is made of enameled copper wire and has a ring-shaped cylindrical structure after winding. Its axial length matches the depth of the internal assembly cavity of the coil housing 115. The coil 111 is glued to the assembly cavity of the coil housing 115. The upper sealing plate 113 and the lower sealing plate 114 are both made of stainless steel and have a rectangular structure. Their diameter is equal to the outer diameter of the coil housing 115. The lower sealing plate 114 has a through hole at its center for the rotating shaft 121 of the R-axis mover assembly 12 to pass through. The inner diameter of the through hole is slightly larger than the outer diameter of the rotating shaft 121 to ensure smooth rotation of the rotating shaft 121. The upper sealing plate 113 and the lower sealing plate 114 are fixed to both ends of the coil housing 115 with bolts. The upper sealing plate 113 and the lower sealing plate 114 provide axial positioning and dust protection for the coil 111 inside the coil housing 115, preventing external dust and impurities from entering the coil housing 115 and affecting the normal operation of the coil 111. The encoder 112, used to detect the rotation angle and speed of the R-axis mover assembly 12, can be an incremental photoelectric encoder 112, which is fixed to the coil housing 115 with screws.

[0044] In one embodiment, such as Figure 4 As shown, the R-axis moving part assembly 12 includes a rotating shaft 121, bearings 122, a grating ruler 123, and several permanent magnets 124. Bearings 122 are provided at both ends of the rotating shaft 121. A coil 111 is sleeved on the rotating shaft 121 and located between the bearings 122 at both ends of the rotating shaft 121. Several permanent magnets 124 are fixed around the rotating shaft 121 and located inside the coil 111. The grating ruler 123 is fixed on the rotating shaft 121.

[0045] Several permanent magnets 124 are sequentially bonded to the rotating shaft 121 with an N / S magnetic pole arrangement using anaerobic AB adhesive. Two bearings 122 are fixed to both ends of the rotating shaft 121 with an interference fit or by using bearing 122 adhesive to ensure a tight connection. The grating ruler 123 is bonded to the rotating shaft 121 with UV adhesive and rotates synchronously with the rotating shaft 121.

[0046] Since the R-axis stator assembly 11 is fixed to the Z-axis mover assembly 22 as the fixed end, and the R-axis mover assembly 12 is the moving end that executes the rotational motion command, the rotary shaft 121 serves as both the rotational actuator and is directly bonded to the permanent magnet 124 (the enabling part). There are no unnecessary connecting structures between them, reducing mechanical errors caused by intermediate connecting structures and effectively improving the rotational accuracy of the R-axis rotary motor 1.

[0047] In one embodiment, such as Figure 10 As shown, the Z-axis moving part assembly 22 includes a motion plate 221, a magnet mounting plate 222, and several individual magnets 223. The motion plate 221 is provided with a groove 2211, the magnet mounting plate 222 is embedded in the groove 2211, the individual magnets 223 are connected to the magnet mounting plate 222, and the coil housing 115 is connected to the motion plate 221. When the motion plate 221 moves, it drives the R-axis rotary motor 1 to move synchronously as a whole.

[0048] Because the material used for magnet mounting must be a magnetically conductive material, such as 45# steel or Q235A, which are characterized by high density and weight, directly attaching the magnet to the motion plate 221 would require the motion plate 221 to be made of a magnetically conductive material, increasing its overall weight. However, by embedding the magnet mounting plate 222 into the motion plate 221, the motion plate 221 can be replaced with a lighter aluminum material, requiring only the magnet mounting plate 222 to be a magnetically conductive material. This effectively reduces the overall weight of the Z-axis mover assembly 22, thereby reducing the wasted power consumption of the Z-axis linear motor 2.

[0049] The magnet mounting plate 222 is fixed to the mounting plate 221 by screws through its own mounting holes, and then the magnets are glued to the magnet mounting plate 222 with anaerobic AB glue; several magnets on the magnet mounting plate 222 are arranged in N / S / N / S order.

[0050] In one embodiment, such as Figure 7 As shown, the Z-axis stator assembly 21 includes a base 212 and an iron core unit 211. The base 212 is provided with a mounting cavity 2121, which is integrally formed with the base 212. The iron core unit 211 is fixed in the mounting cavity 2121. End teeth 213 are also fixed in the mounting cavity 2121, and the end teeth 213 are located on both sides of the iron core unit 211.

[0051] Since the mounting cavity 2121 and the base 212 are integrally formed, that is, the mounting cavity 2121 and the base 212 are two-in-one, after the iron core unit 21111 is fixed in the mounting cavity 2121 after being externally stacked and riveted, the first coil 21112 and the second coil 21113 are then inserted, and finally the mounting cavity 2121 is cured with epoxy resin to form a whole. This saves the need for a large number of potting operations and helps with mass production.

[0052] In one embodiment, the core unit 211 includes a plurality of core groups 2111 arranged in a row. The core group 2111 includes a core unit 21111, a first coil 21112 and a second coil 21113. The core unit 21111 has a first connecting arm 211111 and a second connecting arm 211112 opposite to the first connecting arm 211111. The first coil 21112 is sleeved on the first connecting arm 211111, and the second coil 21113 is sleeved on the second connecting arm 211112. The first coil 21112 and the second coil 21113 are arranged in parallel.

[0053] The core unit 211 is formed by arranging several core groups 2111 sequentially along a preset direction. The number of core groups 2111 can be flexibly determined according to the power requirements in the actual application scenario, and adjacent core groups 2111 are arranged close together.

[0054] The core unit 21111 is made of laminated silicon steel sheets and has a first connecting arm 211111 and a second connecting arm 211112 that are parallel to each other and arranged opposite to each other, as well as a bottom connecting part 211114 connected to the bottom of both. The first coil 21112 and the second coil 21113 are both made of enameled copper wire. The hollow parts of the two form a socket area. The length and width of the socket area must be adapted to the length and width of the first connecting arm 211111 and the second connecting arm 211112 so that the first coil 21112 can be tightly fitted on the first connecting arm 211111 and the second coil 21113 can be tightly fitted on the second connecting arm 211112. The first coil 21112 and the second coil 21113 are arranged side by side along the length of the core unit 21111 and are arranged close to each other.

[0055] By dividing the core unit 211 into several independently arranged core groups 2111, users can flexibly increase or decrease the number of core groups 2111 according to actual power requirements, so that the overall layout of the core structure can be flexibly adjusted according to actual power requirements and installation space size, thereby improving the versatility and scalability of the linear motor.

[0056] In one embodiment, such as Figure 8 As shown, the iron core unit 21111 has a groove 211113 with a top opening. The groove 211113 has a first sidewall and a second sidewall opposite to the first sidewall. The two ends of the groove 211113 in the length direction are open ends. The first sidewall forms a first connecting arm 211111 and the second sidewall forms a second connecting arm 211112.

[0057] The first and second sidewalls of the groove 211113 extend along the height direction of the core unit 21111 and are both perpendicular to the bottom of the core unit 21111. The two ends of the groove 211113 along its length are open ends, which penetrate the corresponding end faces of the core unit 21111, forming a through-channel structure inside the groove 211113. The first sidewall constitutes the aforementioned first connecting arm 211111, and the second sidewall constitutes the aforementioned second connecting arm 211112. Both sidewalls have the same thickness and are integrally formed with the bottom of the core unit 21111 to ensure the integrity and stability of the structure.

[0058] During assembly, the first coil 21112 and the second coil 21113 can be respectively fitted into the first connecting arm 211111 and the second connecting arm 211112 through the top opening of the groove 211113. Since the two ends of the groove 211113 are open along its length, they will not obstruct or interfere with the fitting of the first coil 21112 and the second coil 21113. After the first coil 21112 and the second coil 21113 are fitted in, a portion of both will be located within the groove 211113, and their axial directions will be consistent with the length direction of the groove 211113.

[0059] The first and second sidewalls of the groove 211113 respectively form the first connecting arm 211111 and the second connecting arm 211112, making the structural design of the iron core unit 21111 more integrated, reducing the assembly process of the traditional split connecting arm, and reducing production errors. The open end design of the groove 211113 in the length direction provides a convenient operation path for the fitting of the first coil 21112 and the second coil 21113, which facilitates the rapid assembly and subsequent maintenance of the first coil 21112 and the second coil 21113. At the same time, the closed bottom connecting part 211114 of the groove 211113 can provide a certain support for the coil 111, preventing the first coil 21112 and the second coil 21113 from being displaced due to vibration during operation, thus improving the stability of the structure.

[0060] In one embodiment, an insulating element is provided between the first coil 21112 and the second coil 21113 and the core unit 21111 to achieve electrical isolation between the first coil 21112 and the second coil 21113 and the core unit 21111. The insulating element can be made of insulating paper made of polyimide material. During installation, the insulating element is first placed in the groove 211113, and then the first coil 21112 and the second coil 21113 are respectively inserted into the first connecting arm 211111 and the second connecting arm 211112.

[0061] In one embodiment, the bottom of the mounting cavity 2121 is provided with a positioning groove 21211. The bottom of each core unit 21111 in the core unit 211 is embedded in the positioning groove 21211 to achieve precise positioning and fixation of the core unit 211 in the mounting cavity 2121. The number of positioning grooves 21211 is the same as the number of core units 21111 in the core unit 211, and they are arranged sequentially along the arrangement direction of the core group 2111. The spacing between each positioning groove 21211 is adapted to the spacing between adjacent core groups 2111.

[0062] The cross-sectional shape of the positioning groove 21211 matches the cross-sectional shape of the bottom connecting part 211114 of the iron core unit 21111. Its length is slightly greater than the length of the bottom of the iron core unit 21111, and its width is slightly greater than the width of the bottom of the iron core unit 21111, so as to ensure that the bottom of the iron core unit 21111 can be smoothly inserted and there is no obvious shaking after insertion.

[0063] To further enhance the fixing effect, connection holes 2111141 can be provided at the bottom connecting part 211114 of the iron core unit 21111 and at the bottom of the positioning groove 21211. The iron core unit 21111 and the mounting cavity 2121 can be fixedly connected by screwing screws into the connection holes 2111141.

[0064] In one embodiment, such as Figure 5 and Figure 6 As shown, the Z-axis linear motor 2 also includes a linear guide module 23, which is located between the Z-axis mover assembly 22 and the Z-axis stator assembly 21. The linear guide module 23 includes at least one guide rail 231 and at least one slider 232. The slider 232 is slidably disposed on the guide rail 231. The guide rail 231 is fixedly connected to the base 212, and the slider 232 is fixedly connected to the motion plate 221.

[0065] The guide rail 231 is made of alloy steel and has an "I"-shaped cross-section. It includes a rail head, rail web, and rail base extending along its length. The width of the rail base is greater than the width of the rail head, and several through holes evenly distributed along its length are formed on the rail base. The top of the base 212 has a mounting surface corresponding to the guide rail 231, which is adapted to the rail base. Threaded holes corresponding to the through holes in the rail base are formed on the mounting surface. The guide rail 231 is screwed to the threaded holes in the base 212 by bolts passing through its rail base through holes. The bolt heads are recessed into the countersunk holes in the rail base to avoid interference with the slider 232. The length of the guide rail 231 extends along the sliding direction of the Z-axis moving part assembly 22. The top of the slider 232 is fixedly connected to the bottom of the moving plate 221 by screws.

[0066] In one embodiment, such as Figure 6As shown, two sets of guide rails 231 of equal height are arranged on each side of the mounting cavity 2121 of the base 212, that is, a total of four sets of guide rails 231. Each guide rail 231 is equipped with a slider 232, and the two sets of guide rails 231 on the same side of the mounting cavity 2121 are arranged side by side. This design improves the load-bearing capacity and has stronger torsional resistance compared to a single set of guide rails 231.

[0067] It should be noted that with the expansion of the width and length of the Z-axis linear motor 2, four sets of guide rails 231 may not meet the usage requirements. Therefore, two or more sets of guide rails 231 can be added or removed according to actual needs. The expansion can be carried out by adding or removing guide rails in the side-by-side arrangement direction.

[0068] In one embodiment, the Z-axis linear motor 2 further includes a mounting plate 24, a first hook 25, a second hook 26, and an elastic element 27. The mounting plate 24 is connected to the base 212, the first hook 25 is connected to the mounting plate 24, the second hook 26 is connected to the motion plate 221, and the two ends of the elastic element 27 are respectively connected to the first hook 25 and the second hook 26.

[0069] Mounting plate 24 is a flat plate made of steel plate. The bottom of mounting plate 24 is fixedly connected to the end of base 212 by bolts, so that mounting plate 24 and base 212 are perpendicular. Mounting plate 24 is provided with threaded holes. The first hook 25 is fastened in the threaded hole of mounting plate 24 through the threaded end to realize the connection between the first hook 25 and mounting plate 24. Similarly, the threaded end of the second hook 26 is fastened in the threaded hole of moving plate 221 to realize the connection between the second hook 26 and moving plate 221. The two ends of elastic member 27 are hung between the first hook 25 and the second hook 26.

[0070] During operation, as the Z-axis mover assembly 22 moves vertically downward relative to the base 212, the elastic element 27 also stretches. The Z-axis mover assembly 22 and the R-axis linear motor will fall downwards due to their weight. The installed elastic element 27 counteracts the weight of the Z-axis mover assembly 22 with the tension of the elastic element 27, allowing the Z-axis mover assembly 22 and the R-axis linear motor to remain in a static equilibrium state at the upper-middle position of the base 212 of the Z-axis stator assembly 21. When the Z-axis linear motor 2 is energized and the Z-axis mover assembly 22 moves, the weight of the Z-axis mover assembly 22 and the R-axis linear motor itself does not need to be considered, thereby reducing the force output and improving the utilization of useful work.

[0071] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A dual-axis linear motor, characterized in that, The device includes an R-axis rotary motor and a Z-axis linear motor. The R-axis rotary motor includes an R-axis stator assembly and an R-axis mover assembly, with the R-axis mover assembly rotatably disposed within the R-axis stator assembly. The Z-axis linear motor includes a Z-axis stator assembly and a Z-axis mover assembly, with the Z-axis mover assembly slidably disposed relative to the Z-axis stator assembly. The R-axis stator assembly and the Z-axis mover assembly are detachably connected.

2. A dual-axis linear motor according to claim 1, characterized in that, The R-axis stator assembly includes a coil, an encoder, an upper sealing plate, a lower sealing plate, and a coil housing. The coil is fixed inside the coil housing, and the upper and lower sealing plates are fixed at both ends of the coil housing. The encoder is mounted on the coil housing, and the coil housing is connected to the Z-axis mover assembly.

3. A dual-axis linear motor according to claim 2, characterized in that, The Z-axis moving part assembly includes a motion plate, a magnet mounting plate, and several individual magnets. The motion plate has a groove, the magnet mounting plate is embedded in the groove, the individual magnets are connected to the magnet mounting plate, and the coil housing is connected to the motion plate.

4. A dual-axis linear motor according to claim 2, characterized in that, The R-axis moving part assembly includes a rotating shaft, bearings, a grating ruler, and several permanent magnets. The bearings are provided at both ends of the rotating shaft. The coil is sleeved on the rotating shaft and located between the bearings at both ends of the rotating shaft. Several permanent magnets are fixed around the rotating shaft and located inside the coil. The grating ruler is fixed on the rotating shaft.

5. A dual-axis linear motor according to claim 3, characterized in that, The Z-axis stator assembly includes a base and a core unit. The base has a mounting cavity, and the core unit is fixed inside the mounting cavity.

6. A dual-axis linear motor according to claim 5, characterized in that, The core unit includes several core groups arranged in a row. Each core group includes a core unit, a first coil, and a second coil. The core unit has a first connecting arm and a second connecting arm opposite to the first connecting arm. The first coil is sleeved on the first connecting arm, and the second coil is sleeved on the second connecting arm. The first coil and the second coil are arranged in parallel.

7. A dual-axis linear motor according to claim 6, characterized in that, The iron core unit has a groove with a top opening. The groove has a first sidewall and a second sidewall opposite to the first sidewall. The first sidewall forms the first connecting arm, and the second sidewall forms the second connecting arm.

8. A dual-axis linear motor according to claim 7, characterized in that, An insulating element is provided between the first coil and the iron core unit, and the same insulating element is also provided between the second coil and the iron core unit.

9. A dual-axis linear motor according to claim 5, characterized in that, The Z-axis linear motor further includes a linear guide module, which is disposed between the Z-axis mover assembly and the Z-axis stator assembly. The linear guide module includes at least one guide rail and at least one slider. The slider is slidably disposed on the guide rail. The guide rail is fixedly connected to the base, and the slider is fixedly connected to the motion plate.

10. A dual-axis linear motor according to claim 5, characterized in that, The Z-axis linear motor also includes a mounting plate, a first hook, a second hook, and an elastic element. The mounting plate is connected to the base, the first hook is connected to the mounting plate, the second hook is connected to the motion plate, and the two ends of the elastic element are connected to the first hook and the second hook, respectively.

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