A small volume moving module based on a stacked linear motor

Abstract

The utility model discloses a kind of small volume moving module based on stacked linear motor, including first movable seat and second movable seat of staggered up-down arrangement;First movable seat is installed with the first magnetic yoke and a plurality of first slide rail of same direction setting, first magnetic yoke is cooperated with first mover, second movable seat is installed with the second magnetic yoke and a plurality of second slide rail of same direction setting, second magnetic yoke is cooperated with second mover, second mover and first mover are fixedly set back to back, further include a plurality of sliding blocks, a plurality of sliding blocks fixed first mover or / and second mover, and first sliding groove and second sliding groove are equipped on each sliding block, first sliding groove is cooperated with first slide rail, the second sliding groove is cooperated with second slide rail, there is no any transition installation part between first mover and second mover, the space between first sliding seat and second movable seat is used to the extreme, and the structure of high integration greatly reduces overall volume.

Description

Technical Field

[0001] This utility model belongs to the field of mobile module technology, specifically a small-volume mobile module based on stacked linear motors. Background Technology

[0002] To achieve a small size, planar motion modules typically use linear motors as the driving force. Compared to the combination of rotary motors and lead screws, linear motors are smaller, more integrated, and easier to maintain, as shown in publicly available technical documents such as "CN214755900U, a compact linear motor XY orthogonal motion platform" or "CN113001030A, an embedded linear motor motion module for laser engraving machines".

[0003] Taking the former as an example, an X-axis movable slide needs to be set between the X-axis movable sub-base and the Y-axis base. A Y-axis slide is also installed on the Y-axis movable sub-base mounted on the Y-axis base. Although a single linear motor module can indeed improve integration and facilitate miniaturization, for a multi-axis motion module, multiple linear motor modules need to be set up, and there are still many parts and a relatively large thickness. Utility Model Content

[0004] The purpose of this invention is to provide a small-volume mobile module based on stacked linear motors to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A small-volume moving module based on stacked linear motors includes a first movable seat and a second movable seat arranged alternately on top of each other.

[0007] The first movable seat is equipped with a first magnetic yoke and several first slide rails arranged in the same direction. The first magnetic yoke cooperates with the first moving part.

[0008] The second movable seat is equipped with a second magnetic yoke and several second slide rails arranged in the same direction. The second magnetic yoke cooperates with the second mover. The second mover is fixed back to back with the first mover. It also includes several sliders. Several sliders fix the first mover and / or the second mover. Each slider is provided with a first slide groove and a second slide groove. The first slide groove cooperates with the first slide rail, and the second slide groove cooperates with the second slide rail.

[0009] In a further technical solution, the first mover and the second mover are an integral structure sharing the same fixing part. On one side of the fixing part, a plurality of first magnetic conductive parts are provided along one of the extending directions. A first coil is provided on the first magnetic conductive part to form a first magnetic induction part. On the other side of the fixing part, a plurality of second magnetic conductive parts are provided along another extending direction. A second coil is provided on the second magnetic conductive part to form a second magnetic induction part. The first magnetic induction part and the second magnetic induction part are arranged in a back-to-back staggered manner.

[0010] A further technical solution is that the fixing part includes a plurality of first silicon steel sheets, a plurality of second silicon steel sheets, and a plurality of third silicon steel sheets;

[0011] A plurality of first silicon steel sheets are stacked at the center, a plurality of first magnetic conductive parts are formed on one end face of the first silicon steel sheets, and a portion of second magnetic conductive parts are formed on the other end face of the first silicon steel sheets;

[0012] Several second silicon steel sheets and several third silicon steel sheets are stacked and symmetrically arranged on both sides of the first silicon steel sheet. Several second magnetic conductive parts are formed on the second silicon steel sheets and the third silicon steel sheets respectively. The first silicon steel sheet and the second silicon steel sheet are fixed together by a first connector, and the first silicon steel sheet and the third silicon steel sheet are fixed together by a second connector.

[0013] In a further technical solution, the upper and lower end faces of the first, second, and third silicon steel sheets forming the fixing part are located on the same plane.

[0014] A further technical solution is that the fixing part includes a plurality of first silicon steel sheets and a plurality of second silicon steel sheets;

[0015] A plurality of first magnetic conductive parts are formed on one end face of the first silicon steel sheet, and a first notch is provided in the middle of the other end face;

[0016] Several second magnetic conductive parts are formed on one end face of the second silicon steel sheet, and a second notch is provided in the middle of the other end face;

[0017] The first and second silicon steel sheets fit together at the first and second notches and are fixed by the third connector.

[0018] In a further technical solution, the upper and lower end faces of the first and second silicon steel sheets forming the fixing part are located on the same plane.

[0019] In a further technical solution, a shielding layer is provided at the first and second gaps.

[0020] In a further technical solution, both the first and second magnetic yokes are plate-shaped, and a mounting plate is provided between two adjacent sliders, with the second mover fixed between the two mounting plates.

[0021] A further technical solution involves providing limit blocks at both ends of the first and second slide rails.

[0022] The beneficial effects of this utility model are:

[0023] This utility model uses a slider in conjunction with two slide rails to reduce the use of extra sliders and can initially compress the overall height. It should be noted that the first and second movers are provided with outer shells, and the slider is connected to the outer shells by screws and other parts to prevent the movers from being misaligned during longitudinal installation and to ensure that the movers correspond to the magnetic yoke.

[0024] During operation, the first and second moving parts remain stationary with respect to the slider. Therefore, by using several sliders as supports to fix the first and / or second moving parts, no additional parts are needed. This not only reduces the size but also reduces the number of parts used. There are no transitional mounting parts between the first and second moving parts, making the best use of the space between the first sliding seat and the second movable seat. The highly integrated structure greatly reduces the overall size.

[0025] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] Figure 1 : A three-dimensional structural diagram of this utility model.

[0027] Figure 2 : Internal structure diagram of this utility model.

[0028] Figure 3 : Exploded view of this utility model.

[0029] Figure 4 : Structural diagrams of the first and second movers of this utility model.

[0030] Figure 5 Disassembly of Embodiment 1 of the First and Second Moving Parts of this Utility Model Figure 1 .

[0031] Figure 6 Disassembly of Embodiment 1 of the First and Second Moving Parts of this Utility Model Figure 2 .

[0032] Figure 7 : Disassembly diagram of the first and second moving parts of this utility model in embodiment two.

[0033] Reference numerals: 11-First movable seat, 12-First magnetic yoke, 13-First slide rail, 21-Second movable seat, 22-Second magnetic yoke, 23-Second slide rail, 31-First mover, 32-Second mover, 33-Fixing part, 331-First silicon steel sheet, 332-Second silicon steel sheet, 333-Third silicon steel sheet, 334-First connector, 335-Second connector, 341-First notch, 342-Second notch, 343-Third connector, 35-First magnetic induction part, 351-First magnetic conductive part, 352-First coil, 36-Second magnetic induction part, 361-Second magnetic conductive part, 362-Second coil, 51-Slider, 52-First slide groove, 53-Second slide groove, 54-Mounting plate, 55-Limiting block. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0035] Please refer to Figure 1-7 ;

[0036] The mobile module described herein aims to further reduce its size with high integration, making it suitable for more scenarios. Specifically, it includes a first movable seat 11 and a second movable seat 21 arranged alternately vertically. In the prior art, planar mobile modules are usually XY oriented, but it is not excluded that they may adopt an obliquely staggered orientation due to special circumstances, such as "X" or "+". The first movable seat 11 is equipped with a first magnetic yoke 12 and several first slide rails 13 arranged in the same direction. The first magnetic yoke 12 cooperates with the first mover 31. The second movable seat 21 is equipped with a second magnetic yoke 22 and several second slide rails 23 arranged in the same direction. The second magnetic yoke 22 cooperates with the second mover 32. It also includes several sliders 51. Each slider 51 is provided with a first slide groove 52 and a second slide groove 53. The first slide groove 52 cooperates with the first slide rail 13, and the second slide groove 53 cooperates with the second slide rail 23.

[0037] In existing technologies, such as the publicly available technical document "CN214755900U, a compact linear motor XY orthogonal motion platform", the two XY linear motors are set separately, and an X-axis sliding seat is set on the X-axis module for mounting the Y-axis module. A Y-axis sliding seat is set on the Y-axis module for mounting external devices to realize the movement of the XY axes. Obviously, such a structure has a very large longitudinal height, and a lot of space needs to be reserved for installation.

[0038] In this embodiment, the first mover 31 and the second mover 32 are fixed back to back, that is, their magnetic conductive parts are arranged opposite to each other. According to the direction of the first movable seat 11 and the second movable seat 21, a number of sliders 51 are also included. The number of sliders 51 fixes the first mover 31 and / or the second mover 32. Each slider 51 is provided with a first sliding groove 52 and a second sliding groove 53. The first sliding groove 52 cooperates with the first slide rail 13, and the second sliding groove 53 cooperates with the second slide rail 23. By using one slider 51 to cooperate with two slide rails, the use of extra sliders 51 can be reduced, and the overall height can be initially reduced. It should be noted that the first mover 31 and the second mover 32 are provided with a shell around their periphery. The slider 51 is connected to the shell by screws and other parts to prevent the mover from being misaligned during longitudinal installation and to ensure that the mover corresponds to the magnetic yoke.

[0039] During operation, the first movable seat 11 is relatively stationary. The first mover 31 interacts with the first magnetic yoke 12, causing the first mover 31, the second mover 32, and the second movable seat 21 to move along the extension direction of the first magnetic yoke 12. After reaching the designated position, the first mover 31 brakes. Braking methods can include regenerative braking, etc. There are many common braking techniques, which will not be elaborated here. Then, the second mover 32 interacts with the second magnetic yoke 22, causing the second movable seat 21 to move along the extension direction of the second magnetic yoke 22. In the prior art, the sliding pair is a necessary component. However, in the operation of this technical solution, the first mover 31 and the second mover 32 are always in contact with the sliding pair. Block 51 remains stationary, thus the first mover 31 and / or the second mover 32 are fixed by means of several sliders 51 as supports without the need for additional parts, which not only reduces the volume but also reduces the number of parts used; there are no transition mounting parts between the first mover 31 and the second mover 32, making the best use of the space between the first sliding seat and the second movable seat 21. The highly integrated structure greatly reduces the overall volume, and the second movable seat 21 can be directly connected to external devices. The external force borne by the second movable seat 21 is mainly borne by the sliders 51, so the second mover 32 will not be subjected to additional pressure, but only serves as a power drive, reducing the burden on the second mover.

[0040] It should be noted that if there is no fixed relationship between the first mover 31 and the second mover 32, the first mover 31 and the second mover 32 can be fixed by means of the slider 51 respectively. If there is a connection between the first mover 31 and the second mover 32, at least one of them can be fixed by the slider 51. Preferably, the first magnetic yoke 12 and the second magnetic yoke 22 are both plate-shaped, and a mounting plate 54 is provided between two adjacent sliders 51. The second mover 32 is fixed between the two mounting plates 54.

[0041] In this utility model, the first mover 31 and the second mover 32 are an integral structure sharing the same fixing part 33. On one side of the fixing part 33, a plurality of first magnetic conductive parts 351 are provided along one of the extending directions. The first magnetic conductive parts 351 are provided with first coils 352 to form a first magnetic induction part 35. On the other side of the fixing part 33, a plurality of second magnetic conductive parts 361 are provided along another extending direction. The second magnetic conductive parts 361 are provided with second coils 362 to form a second magnetic induction part 36. The first magnetic induction parts 35 and the second magnetic induction parts 36 are arranged alternately with their positions opposite to each other.

[0042] One embodiment of the present invention relating to the fixing part 33 is described below. Figure 5 and Figure 6 The fixing part 33 includes a plurality of first silicon steel sheets 331, a plurality of second silicon steel sheets 332, and a plurality of third silicon steel sheets 333; the plurality of first silicon steel sheets 331 are stacked at the center, a plurality of first magnetic conductive parts 351 are formed on one end face of the first silicon steel sheets 331, and a portion of second magnetic conductive parts 361 are formed on the other end face of the first silicon steel sheets 331; the plurality of second silicon steel sheets 332 and the plurality of third silicon steel sheets 333 are stacked and symmetrically arranged on both sides of the first silicon steel sheets 331, and a plurality of second magnetic conductive parts 361 are formed on the second silicon steel sheets 332 and the third silicon steel sheets 333, respectively. The silicon steel sheets 332 are fixed together by a first connector 334, and the first silicon steel sheet 331 and the third silicon steel sheet 333 are fixed together by a second connector 335. The portion formed by the stacking of a plurality of second silicon steel sheets 332 and third silicon steel sheets 333 can at least be staggered with the portion formed by the stacking of first silicon steel sheets 331, compressing the joint height. Preferably, the upper and lower end faces of the portion forming the fixing part 33 of the first silicon steel sheet 331, the second silicon steel sheet 332 and the third silicon steel sheet 333 are located on the same plane. Based on this structure, the stacking height of the first mover 31 and the second mover 32 can be further compressed, thereby further reducing the overall volume.

[0043] Another embodiment of the present invention relating to the fixing part 33 is described below. Figure 7Specifically, it includes a plurality of first silicon steel sheets 331 and a plurality of second silicon steel sheets; a plurality of first magnetic conductive parts 351 are formed on one end face of the first silicon steel sheet 331, and a first notch 341 is provided in the middle of the other end face; a plurality of second magnetic conductive parts 361 are formed on one end face of the second silicon steel sheet 332, and a second notch 342 is provided in the middle of the other end face; the first silicon steel sheets 331 and the second silicon steel sheets 332 fit together at the first notch 341 and the second notch 342, and are fixed by a third connector 343, wherein the portion formed by the stacking of the plurality of second silicon steel sheets 332 and the portion formed by the stacking of the first silicon steel sheets 331 can at least be staggered to compress the joint height. Preferably, the upper and lower end faces of the portion of the first silicon steel sheets 331 and the second silicon steel sheets 332 forming the fixing part 33 are located on the same plane. Based on this structure, the stacking height of the first mover 31 and the second mover 32 can be further compressed, thereby further reducing the overall volume.

[0044] In the first embodiment, a portion of the second magnetically conductive part 361 is formed on the first silicon steel sheet 331, forming an integral structure with the first magnetically conductive part 351. When the corresponding portion of the first magnetically conductive part 351 is magnetized by the first coil 352, or the second magnetically conductive part 361 is magnetized by the second coil 362, slight magnetic interference may occur, affecting the movement accuracy. Therefore, the second embodiment is better. Furthermore, a shielding layer is provided at the first notch 341 and the second notch 342, which can eliminate magnetic interference, ensure the independence of the first mover 31 and the second mover 32, and greatly limit the compression volume.

[0045] In this embodiment of the utility model, limit blocks 55 are respectively provided at both ends of the first slide rail 13 and the second slide rail 23 to prevent derailment.

[0046] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A small-volume moving module based on a stacked linear motor, comprising a first movable seat (11) and a second movable seat (21) arranged alternately vertically, characterized in that: The first movable seat (11) is equipped with a first magnetic yoke (12) and several first slide rails (13) arranged in the same direction. The first magnetic yoke (12) cooperates with the first mover (31). The second movable seat (21) is equipped with a second magnetic yoke (22) arranged in the same direction and several second slide rails (23). The second magnetic yoke (22) cooperates with the second mover (32). The second mover (32) is fixed back to back with the first mover (31). It also includes several sliders (51). Several sliders (51) fix the first mover (31) and / or the second mover (32). Each slider (51) is provided with a first slide groove (52) and a second slide groove (53). The first slide groove (52) cooperates with the first slide rail (13), and the second slide groove (53) cooperates with the second slide rail (23).

2. A small-volume moving module based on stacked linear motors according to claim 1, characterized in that: The first mover (31) and the second mover (32) are an integral structure sharing the same fixing part (33). On one side of the fixing part (33), a plurality of first magnetic conductive parts (351) are provided along one of the extending directions. A first coil (352) is provided on the first magnetic conductive part (351) to form a first magnetic induction part (35). On the other side of the fixing part (33), a plurality of second magnetic conductive parts (361) are provided along another extending direction. A second coil (362) is provided on the second magnetic conductive part (361) to form a second magnetic induction part (36). The first magnetic induction part (35) and the second magnetic induction part (36) are arranged alternately with their positions facing away from each other.

3. A small-volume moving module based on a stacked linear motor according to claim 2, characterized in that: The fixing part (33) includes a plurality of first silicon steel sheets (331), a plurality of second silicon steel sheets (332) and a plurality of third silicon steel sheets (333); A plurality of first silicon steel sheets (331) are stacked at the center, a plurality of first magnetic conductive parts (351) are formed on one end face of the first silicon steel sheets (331), and a portion of second magnetic conductive parts (361) are formed on the other end face of the first silicon steel sheets (331); A plurality of second silicon steel sheets (332) and a plurality of third silicon steel sheets (333) are stacked and symmetrically arranged on both sides of the first silicon steel sheet (331). A plurality of second magnetic conductive parts (361) are formed on the second silicon steel sheets (332) and the third silicon steel sheets (333). The first silicon steel sheet (331) and the second silicon steel sheet (332) are fixed together by a first connector (334), and the first silicon steel sheet (331) and the third silicon steel sheet (333) are fixed together by a second connector (335).

4. A small-volume moving module based on stacked linear motors according to claim 3, characterized in that: The upper and lower end faces of the first silicon steel sheet (331), the second silicon steel sheet (332), and the third silicon steel sheet (333) forming the fixing part (33) are located on the same plane.

5. A small-volume moving module based on stacked linear motors according to claim 2, characterized in that: The fixing part (33) includes a plurality of first silicon steel sheets (331) and a plurality of second silicon steel sheets; A plurality of first magnetic conductive parts (351) are formed on one end face of the first silicon steel sheet (331), and a first notch (341) is provided in the middle of the other end face; A plurality of second magnetic conductive parts (361) are formed on one end face of the second silicon steel sheet (332), and a second notch (342) is provided in the middle of the other end face; The first silicon steel sheet (331) and the second silicon steel sheet (332) fit together at the first notch (341) and the second notch (342) and are fixed by the third connector (343).

6. A small-volume moving module based on stacked linear motors according to claim 5, characterized in that: The upper and lower end faces of the first silicon steel sheet (331) and the second silicon steel sheet (332) forming the fixing part (33) are located on the same plane.

7. A small-volume moving module based on stacked linear motors according to claim 5, characterized in that: A shielding layer is provided at the first gap (341) and the second gap (342).

8. A small-volume moving module based on stacked linear motors according to claim 1, characterized in that: The first magnetic yoke (12) and the second magnetic yoke (22) are both plate-shaped, and a mounting plate (54) is provided between two adjacent sliders (51). The second mover (32) is fixed between the two mounting plates (54).

9. A small-volume moving module based on stacked linear motors according to claim 1, characterized in that: Limiting blocks (55) are provided at both ends of the first slide rail (13) and the second slide rail (23).

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