A double-acting module

Abstract

The application relates to a double-mover module, belonging to the technical field of linear modules. The module comprises a shell, a first mover and a second mover symmetrically arranged, and a first driving unit and a second driving unit independently driven. The two movers are mounted on the shell along the same sliding path and are respectively controlled in movement by the independent driving units. The design solves the strong coupling problem of mover movement caused by a single driving source in the prior art double-mover module, and overcomes the defects that the position, speed and acceleration of the mover cannot be independently adjusted. Through decoupling control of the double driving units, the dynamic interference between the movers is significantly reduced, so that the system can maintain stability and positioning accuracy when the load suddenly changes.

Description

Technical Field

[0001] This application relates to the technical field of linear modules, and more specifically, to a dual-action sub-module. Background Technology

[0002] In precision automation equipment, such as semiconductor packaging, precision testing, and 3C electronics assembly, dual-moving linear modules are widely used due to their high efficiency and high load capacity. These modules typically employ a single motor drive mechanism to achieve synchronous motion of the two moving parts in a single degree of freedom. For example, a bidirectional lead screw can be integrated into the module housing, with each of its two threaded sections screwed to a moving part. A single motor drives the bidirectional lead screw to rotate, achieving synchronous motion of the two moving parts.

[0003] Using the above technical solution, the two movers always move with a fixed phase difference or in perfect synchronization, making it impossible to independently adjust their position, velocity, or acceleration according to task requirements. For example, in scenarios involving the grasping of irregularly shaped components, if the two movers need to reach different coordinate positions, the existing module cannot achieve this. Furthermore, the single drive source causes the dynamic behaviors of the two movers to interfere with each other. When the load on one mover changes abruptly, the other mover will be affected, resulting in vibration or positioning deviation, impacting the overall accuracy and stability of the system. Utility Model Content

[0004] To address the challenges of using a single drive source to drive two movers in linear modules, which makes it difficult to achieve separate coordinate positions for the two movers in scenarios involving the handling of irregularly shaped components, and to prevent changes in the load on one mover from affecting the overall accuracy and stability of the system, this application provides a dual-motor module.

[0005] A dual-moving-element module includes a housing, a first driving unit, a second driving unit, a first moving element, and a second moving element. The first moving element and the second moving element are slidably disposed on the housing and are symmetrically arranged with the same sliding path. The first driving unit is fixed to the housing and connected to the first moving element to drive the first moving element to reciprocate along the sliding path. The second driving unit is fixed to the housing and connected to the second moving element to drive the second moving element to reciprocate along the sliding path.

[0006] Preferably, the outer casing is provided with a slide rail, the length extension direction of the slide rail is the sliding path of the first mover and the second mover, and two sliders are slidably arranged on the slide rail, one slider is fixedly connected to the first mover, and the other slider is fixedly connected to the second mover.

[0007] Preferably, there are two slide rails, and the two slide rails are arranged in parallel and symmetrically.

[0008] Preferably, the first driving unit includes a first lead screw, a first nut seat, and a first rotation driving assembly; the second driving unit includes a second lead screw, a second nut seat, and a second rotation driving assembly. The first lead screw and the second lead screw are parallel and symmetrically arranged, and both the first lead screw and the second lead screw are rotatably connected to the housing. The first nut seat is screwed to the first lead screw, and the second nut seat is screwed to the second lead screw. The first moving part is fixed on the first nut seat, and the second moving part is fixed on the second nut seat. The first rotation driving assembly is connected to the first lead screw to drive the first lead screw to rotate in both directions, and the second rotation driving assembly is connected to the second lead screw to drive the second lead screw to rotate in both directions.

[0009] Preferably, the outer casing includes a first end plate, a second end plate, a bottom plate, and side plates. The first end plate and the second end plate are respectively fixed to both ends of the bottom plate. There are two side plates, each fixed to opposite sides of the bottom plate. The inner surfaces of the first end plate and the second end plate are respectively connected to both ends of the side plates. The bottom plate has a first bearing seat and a second bearing seat at the end where the first end plate is located, and a third bearing seat and a fourth bearing seat at the end where the second end plate is located. The first bearing seat and the fourth bearing seat are aligned, and the two ends of the first lead screw are rotatably connected to the first bearing seat and the fourth bearing seat, respectively. The second bearing seat and the third bearing seat are aligned, and the two ends of the second lead screw are rotatably connected to the second bearing seat and the third bearing seat, respectively. The first drive unit is fixed to the first end plate and connected to the first lead screw, and the second drive unit is fixed to the second end plate and connected to the second lead screw.

[0010] Preferably, the housing further includes a top plate, one end of which is fixedly connected to the top of the first end plate, and the other end of which is fixedly connected to the top of the second end plate. There is a gap between the two side plates and the top plate. First connecting members are provided on both sides of the top of the first mover, and the two first connecting members extend from the two gaps to the top of the top plate. Second connecting members are provided on both sides of the top of the second mover, and the two second connecting members extend from the two gaps to the top of the top plate.

[0011] Preferably, a first anti-collision member is provided on the inner side of both the first end plate and the second end plate, and a second anti-collision member is provided on the side of the first mover near the second mover or on the side of the second mover near the first mover.

[0012] The beneficial technical effects of this application are as follows: By equipping the first and second movers with independent drive units, the forced synchronization limitation of a single motor drive is broken. The two movers can independently set and control their respective positions, speeds, and accelerations according to task requirements. Furthermore, the independent drive sources physically isolate the power transmission chains of the two movers. When one mover encounters a sudden load change, the resulting vibration, impact, or positioning deviation will not be transmitted to the other mover through the shared drive mechanism. This significantly improves the overall stability, positioning accuracy, and reliability of the system. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of a dual-action sub-module in Example 1.

[0014] Figure 2 This is a schematic diagram of the outer shell of Example 1.

[0015] Figure 3 This is a schematic diagram of the connection structure between the first mover and the first driving unit, and between the second mover and the second driving unit in Embodiment 1.

[0016] Figure 4 This is a schematic diagram of the connection structure between the first mover and the first driving unit, and between the second mover and the second driving unit in Embodiment 2.

[0017] Reference numerals: 1. Outer shell; 11. First end plate; 12. Second end plate; 13. Base plate; 131. Slide rail; 132. First slider; 133. Second slider; 134. First bearing seat; 135. Second bearing seat; 136. Third bearing seat; 137. Fourth bearing seat; 14. Side plate; 15. Top plate; 16. First anti-collision component; 2. First drive unit; 21. First lead screw; 22. First nut seat; 23. First rotation drive assembly; 231. First servo motor; 232. First coupling; 233. Belt; 234. Pulley; 3. Second drive unit; 31. Second lead screw; 32. Second nut seat; 33. Second rotation drive assembly; 331. Second servo motor; 332. Second coupling; 4. First mover; 41. First connecting member; 42. Second anti-collision component; 5. Second mover; 51. Second connecting member. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] Example 1

[0020] Reference Figure 1 and Figure 2 A dual-moving module includes a housing 1, a first driving unit 2, a second driving unit 3, a first moving part 4, and a second moving part 5. The housing 1 includes a first end plate 11, a second end plate 12, a bottom plate 13, and side plates 14. The first end plate 11 and the second end plate 12 are respectively fixed to opposite ends of the bottom plate 13 by bolt locking. There are two side plates 14, and the two side plates 14 are respectively fixed to opposite sides of the bottom plate 13. The inner surfaces of the first end plate 11 and the second end plate 12 are... The sides are connected to both sides of the side plate 14 by bolts. Two slide rails 131 are provided on the top surface of the base plate 13. The two slide rails 131 are parallel and symmetrically arranged, and the extension direction of the slide rails 131 is the same as the length extension direction of the base plate 13. Each slide rail 131 has a first slider 132 and a second slider 133 slidably mounted on it. The first sliders 132 on both slide rails 131 are fixedly connected to the first moving part 4, and the two second sliders 133 are fixedly connected to the second moving part 4. A fixed connection is established to allow the first mover 4 and the second mover 5 to slide stably on the housing 1. The first mover 4 and the second mover 5 are symmetrically arranged, with the first mover 4 located on the side of the second mover 5 furthest from the second end plate 12. The first drive unit 2 is fixed to the housing 1 and connected to the first mover 4 to drive the first mover 4 to slide back and forth along the length of the slide rail 131. The second drive unit 3 is fixed to the housing 1 and connected to the second mover 5 to drive the second mover 5 to slide back and forth along the length of the slide rail 131. This application breaks the limitation of forced synchronization driven by a single motor by equipping the first mover 4 and the second mover 5 with independent drive units. The two movers can independently set and control their respective positions, speeds, and accelerations according to task requirements. Furthermore, the independent drive sources physically isolate the power transmission chains of the two movers. When one mover encounters a sudden change in load, the resulting vibration, impact, or positioning deviation will not be transmitted to the other mover through the shared drive mechanism. This significantly improves the overall stability, positioning accuracy, and reliability of the system.

[0021] Reference Figure 1 and Figure 3Furthermore, the first drive unit 2 includes a first lead screw 21, a first nut seat 22, and a first rotation drive assembly 23; the second drive unit 3 includes a second lead screw 31, a second nut seat 32, and a second rotation drive assembly 33; a first bearing seat 134 and a second bearing seat 135 are provided at one end of the base plate 13 where the first end plate 11 is located, and a third bearing seat 136 and a fourth bearing seat 137 are provided at the end of the base plate 13 where the second end plate 12 is located; the first bearing seat 134 and the fourth bearing seat 137 are aligned; and the two ends of the first lead screw 21 are rotatably connected to the first bearing seat 134 and the fourth bearing seat 137 respectively; the second bearing seat 135 and the third bearing seat 136 are aligned; and the two ends of the second lead screw 31 are rotatably connected to the second bearing seat 135 and the third bearing seat 137 respectively. 36 Rotary connection, the first rotation drive assembly 23 includes a first servo motor 231 and a first coupling 232. The first servo motor 231 is fixed to the outer side of the first end plate 11 and its drive shaft passes through the first end plate 11. The drive shaft of the first servo motor 231 is connected to the first lead screw 21 through the first coupling. The first lead screw 21 is driven to rotate in both directions by the first servo motor 231, which facilitates the control of the number of rotations and rotation speed of the first lead screw 21. The rotation of the first lead screw 21 drives the first nut seat 22 to move along the length direction of the first lead screw 21, thereby driving the first mover 4 to reciprocate along the length direction of the slide rail 131. The first servo motor 231 controls the number of rotations and rotation speed of the first lead screw 21 to control the stroke displacement and stroke speed of the first mover 4. The second rotation drive assembly 33 includes a second servo motor 331 and a second coupling 332. The second servo motor 331 is fixed to the outer side of the second end plate 12 and its drive shaft passes through the second end plate 12. The drive shaft of the second servo motor 331 is connected to the second lead screw 31 through the second coupling. The second lead screw 31 is driven to rotate in both directions by the second servo motor 331, which facilitates the control of the number of rotations and rotation speed of the second lead screw 31. The rotation of the second lead screw 31 drives the first nut seat 22 to move along the length direction of the second lead screw 31, thereby driving the second mover 5 to reciprocate along the length direction of the slide rail 131. The second servo motor 331 controls the number of rotations and rotation speed of the second lead screw 31 to control the stroke displacement and stroke speed of the first mover 4.

[0022] Reference Figure 1Furthermore, the outer casing 1 also includes a top plate 15. One end of the top plate 15 is bolted to the top of the first end plate 11, and the other end of the top plate 15 is bolted to the top of the second end plate 12. There is a gap between the two side plates 14 and the top plate 15. The top two sides of the first mover 4 are provided with first connecting members 41, which extend from the two gaps to the top of the top plate 15. The top two sides of the second mover 5 are provided with second connecting members 51, which extend from the two gaps to the top of the top plate 15. The top plate 15 is used to block dust and reduce the amount of dust entering the inner side of the side plate 14 to contaminate the screw. The first mover 4 supports the load through the first connecting members 41, and the second mover 5 supports the load through the second connecting members 51.

[0023] Reference Figure 2 and Figure 3 Furthermore, a first anti-collision member 16 is provided on the inner side of both the first end plate 11 and the second end plate 12, and a second anti-collision member 42 is provided on the side of the first mover 4 near the second mover 5. There are two first anti-collision members 16 arranged in parallel, and there are two second anti-collision members 42 arranged in parallel. Both the first anti-collision member 16 and the second anti-collision member 42 include a connecting rod and a rubber block provided at the end of the connecting rod. The first anti-collision member 16 and the second anti-collision member 42 buffer the collision and reduce the damage to the outer shell 1 or to each other caused by the collision of the first mover 4 and the second mover 5 when the control fails.

[0024] Example 2

[0025] Reference Figure 4 The difference between Embodiment 2 and Embodiment 1 is that the first rotation drive assembly 23 is different. The first rotation drive assembly 23 of Embodiment 2 includes a first servo motor 231, a belt 233 and two belt pulleys 233. The two belt pulleys 233 are respectively set on the drive shaft of the first lead screw 21 of the drive shaft of the first servo motor 231. The belt 233 is sleeved on the two belt pulleys 233. The first servo motor 231 is fixed to the outside of a side plate 14 and the belt 233 passes through the side plate 14.

[0026] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dual-action sub-module, characterized in that: The device includes a housing (1), a first drive unit (2), a second drive unit (3), a first mover (4), and a second mover (5). The first mover (4) and the second mover (5) are slidably disposed on the housing (1) and are arranged symmetrically with the same sliding path. The first drive unit (2) is fixed on the housing (1) and connected to the first mover (4) to drive the first mover (4) to slide back and forth along the sliding path. The second drive unit (3) is fixed on the housing (1) and connected to the second mover (5) to drive the second mover (5) to slide back and forth along the sliding path.

2. The dual-action sub-module according to claim 1, characterized in that: The outer shell (1) is provided with a slide rail (131), the length extension direction of the slide rail (131) is the sliding path of the first mover (4) and the second mover (5), and two sliders are slidably arranged on the slide rail (131). One slider is fixedly connected to the first mover (4), and the other slider is fixedly connected to the second mover (5).

3. A dual-action sub-module according to claim 2, characterized in that: The number of slide rails (131) is two, and the two slide rails (131) are arranged in parallel and symmetrically.

4. A dual-action sub-module according to claim 1, characterized in that: The first drive unit (2) includes a first lead screw (21), a first nut seat (22), and a first rotation drive assembly (23). The second drive unit (3) includes a second lead screw (31), a second nut seat (32), and a second rotation drive assembly (33). The first lead screw (21) and the second lead screw (31) are arranged parallel and symmetrically, and both the first lead screw (21) and the second lead screw (31) are rotatably connected to the outer shell (1). The first nut seat (22) is screwed to the first lead screw (21), and the second nut seat (32) is screwed to the second lead screw (31). The first mover (4) is fixed on the first nut seat (22), and the second mover (5) is fixed on the second nut seat (32). The first rotation drive assembly (23) is connected to the first lead screw (21) to drive the first lead screw (21) to rotate in both directions. The second rotation drive assembly (33) is connected to the second lead screw (31) to drive the second lead screw (31) to rotate in both directions.

5. A dual-action sub-module according to claim 4, characterized in that: The outer casing (1) includes a first end plate (11), a second end plate (12), a bottom plate (13), and side plates (14). The first end plate (11) and the second end plate (12) are respectively fixed to both ends of the bottom plate (13). There are two side plates (14), and both side plates (14) are fixed to opposite sides of the bottom plate (13). The inner surfaces of the first end plate (11) and the second end plate (12) are respectively connected to both ends of the side plates (14). The bottom plate (13) has a first bearing seat (134) and a second bearing seat (135) at the end where the first end plate (11) is located, and a third bearing seat (136) at the end where the second end plate (12) is located. The first bearing housing (134) and the fourth bearing housing (137) are aligned, and the two ends of the first lead screw (21) are rotatably connected to the first bearing housing (134) and the fourth bearing housing (137) respectively. The second bearing housing (135) and the third bearing housing (136) are aligned, and the two ends of the second lead screw (31) are rotatably connected to the second bearing housing (135) and the third bearing housing (136) respectively. The first drive unit (2) is fixed on the first end plate (11) and connected to the first lead screw (21). The second drive unit (3) is fixed on the second end plate (12) and connected to the second lead screw (31).

6. A dual-action sub-module according to claim 5, characterized in that: The outer casing (1) also includes a top plate (15), one end of which is fixedly connected to the top of the first end plate (11), and the other end of which is fixedly connected to the top of the second end plate (12). There is a gap between the two side plates (14) and the top plate (15). The top of the first mover (4) is provided with first connectors (41) on both sides. The two first connectors (41) extend from the two gaps to the top of the top plate (15). The top of the second mover (5) is provided with second connectors (51) on both sides. The two second connectors (51) extend from the two gaps to the top of the top plate (15).

7. A dual-action sub-module according to claim 5, characterized in that: The inner sides of the first end plate (11) and the second end plate (12) are provided with a first anti-collision member (16), and the first mover (4) is provided with a second anti-collision member (42) on the side of the second mover (5) or the second mover (5) is provided with the side of the first mover (4).

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