A linear module for picking

Abstract

The utility model relates to linear module technical field and provide a kind of material taking linear module, including pedestal, slider slidingly disposed on the pedestal, driving motor for driving the slider, and transmission mechanism being arranged between the driving motor and slider, further include controller and position detection module;The driving motor and the position detection module are electrically connected with the controller;The position detection module is used to detect the position information of the slider in real time and feedback to the controller;The controller is used to control the operation of the driving motor according to the preset motion trajectory instruction and the position feedback information.The utility model introduces closed-loop control system by controller and position detection module, and integrates limit protection and host computer communication, significantly improves the positioning accuracy and motion stability of material taking linear module, greatly improves the efficiency and automation integration degree of material taking operation.

Description

Technical Field

[0001] This utility model relates to the field of linear module technology, and more specifically, to a material handling linear module. Background Technology

[0002] In the field of industrial automation, linear modules are core actuators widely used in material handling, precision positioning, and assembly. Traditional linear modules typically consist of a base, slider, drive motor, and transmission mechanism. Their control method is mostly open-loop control, meaning that after the control system issues a motion command, it cannot confirm whether the slider has accurately reached the target position. This control method has significant drawbacks: First, when encountering load changes or slippage in the transmission components, positioning accuracy can easily decrease or even step loss can occur, leading to material handling failure or workpiece damage; second, the lack of real-time position feedback means the system cannot compensate for operational errors, making it difficult to meet the demands of high-precision material handling operations; furthermore, its safety protection measures usually rely on simple mechanical limit switches, resulting in low response speed and low level of intelligence. Therefore, developing a linear module capable of achieving high-precision and high-reliability material handling has become an urgent problem to be solved in this field. Utility Model Content

[0003] The problem this invention addresses is: how to improve the operational accuracy of a linear material handling module.

[0004] To solve the above problems, this utility model provides a material handling linear module, including a base, a slider slidably disposed on the base, a drive motor for driving the slider, and a transmission mechanism disposed between the drive motor and the slider, and also includes a controller and a position detection module; Both the drive motor and the position detection module are electrically connected to the controller; The position detection module is used to detect the position information of the slider in real time and feed it back to the controller; The controller is used to control the operation of the drive motor according to the preset motion trajectory command and the position feedback information.

[0005] Optionally, the controller includes: A position comparator is used to calculate the position deviation between the preset motion trajectory command and the position feedback information; The PID control module, connected to the position comparator, is used to perform PID calculations based on the position deviation to generate a control signal; A PWM drive module, connected to the PID control module, is used to convert the control signal into PWM pulses to drive the drive motor.

[0006] Optionally, it also includes a limit protection module electrically connected to the controller, the limit protection module including an origin sensor and an extreme limit sensor disposed at both ends of the base; When the slider triggers the origin sensor or the limit sensor, the controller performs the corresponding zeroing operation or emergency stop operation.

[0007] Optionally, the slider is provided with a material handling device mounting position, and the material handling device mounting position is equipped with a vacuum suction cup or a pneumatic gripper.

[0008] Optionally, the transmission mechanism is a synchronous belt transmission mechanism or a ball screw transmission mechanism.

[0009] Optionally, the position detection module is an optical grating ruler or a magnetic grating ruler, with its reading head fixed on the slider and the ruler body fixed on the base.

[0010] Optionally, the drive motor is a servo motor or a stepper motor.

[0011] Optionally, the controller is also communicatively connected to a host computer for receiving material handling path parameters and action commands from the host computer.

[0012] Compared with the prior art, the material handling linear module of this utility model has the following beneficial effects: This invention introduces a closed-loop control system consisting of a controller and a position detection module, and integrates limit protection and communication with the host computer. This significantly improves the positioning accuracy and motion stability of the material handling linear module, effectively avoids step loss and overshoot, and enhances the reliability and safety of the system under complex working conditions. At the same time, this intelligent control architecture enables the module to have automatic error compensation and remote flexible control capabilities, greatly improving the efficiency and automation integration of material handling operations. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the material handling linear module in an embodiment of this utility model; Figure 2 This is a control principle diagram of the material handling linear module in this embodiment of the present invention. Detailed Implementation

[0014] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0015] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing up and the negative direction representing down. The X-axis represents the horizontal direction, specifically the left and right positions, with the positive direction of the X-axis representing the right side and the negative direction representing the left side. The Y-axis represents the front and back positions, with the positive direction of the Y-axis representing the rear and the negative direction representing the front. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for ease of description and simplification of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0016] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0018] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative embodiment of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0019] like Figures 1 to 2 As shown, this utility model embodiment provides a material picking linear module, including a base 1, a slider 2 slidably disposed on the base 1, a drive motor 3 for driving the slider 2, and a transmission mechanism 4 disposed between the drive motor 3 and the slider 2, and also includes a controller 5 and a position detection module 6; Both the drive motor 3 and the position detection module 6 are electrically connected to the controller 5; Position detection module 6 is used to detect the position information of slider 2 in real time and feed it back to controller 5; The controller 5 is used to control the operation of the drive motor 3 according to the preset motion trajectory command and position feedback information.

[0020] For example, the user issues a preset motion trajectory command, such as "move to point A to pick up material, then move to point B to release material," to the controller 5 via a program or host computer. The controller 5 sends start and run signals to the drive motor 3. The drive motor 3 drives the slider 2 to move along the base 1 through the transmission mechanism 4. During this process, the position detection module 6 continuously and in real time detects the precise position of the slider 2 and transmits this position feedback information back to the controller 5. The controller 5 compares the received actual position feedback with the preset command position. If there is a deviation, such as lag due to resistance, the controller 5 will immediately adjust the signal output to the drive motor 3 to eliminate the deviation and ensure that the slider 2 accurately follows the predetermined trajectory.

[0021] High-precision positioning: Through real-time feedback and compensation, it fundamentally solves the positioning error problem caused by step loss and slippage in traditional open-loop modules. High reliability: The system can adapt to external disturbances such as load changes and friction fluctuations, maintaining operational stability. Intelligent foundation: It provides the hardware and architectural foundation for adding more complex control algorithms and functions in the future.

[0022] Controller 5 includes: Position comparator 51 is used to calculate the position deviation between the preset motion trajectory command and the position feedback information; PID control module 52 is connected to position comparator 51 and is used to perform PID calculations based on position deviation to generate control signals; The PWM drive module 53 is connected to the PID control module 52 and is used to convert the control signal into PWM pulses to drive the drive motor 3.

[0023] Position comparator 51 calculates the instantaneous position deviation between the "command position" and the "feedback position".

[0024] The deviation is fed into the PID control module 52, which performs calculations according to the output algorithm to generate an optimized control signal.

[0025] The PWM drive module 53 converts the analog control signal output by the PID into a series of PWM pulses with a fixed frequency but a variable duty cycle, and precisely controls the speed and torque of the drive motor 3 by adjusting the duty cycle.

[0026] Excellent dynamic performance: rapid response, quick arrival at the target position with small overshoot.

[0027] Extremely high control precision: The integral stage can completely eliminate static errors, ensuring that the slider eventually stops at the theoretical position.

[0028] Smooth operation: The differential element can predict motion trends, suppress system vibration, make the start-up, shutdown and operation processes smoother, and reduce the impact on the mechanical structure.

[0029] It also includes a limit protection module 7 electrically connected to the controller 5. The limit protection module 7 includes an origin sensor 71 and an extreme limit sensor 72 disposed at both ends of the base 1. When slider 2 triggers origin sensor 71 or limit sensor 72, controller 5 executes the corresponding zeroing operation or emergency stop operation.

[0030] When the system is powered on or started, the controller 5 will control the slider 2 to move towards the origin sensor 71 and trigger it, thereby establishing the absolute coordinate zero point of the entire motion system.

[0031] During normal operation, if a program error or control failure causes the slider 2 to exceed the normal travel range and triggers the limit sensor 72, the sensor will immediately send a highest priority signal to the controller 5.

[0032] Upon receiving the limit signal, controller 5 immediately cuts off the drive signal to drive motor 3, performing emergency braking to prevent the slider from impacting the mechanical end cover and causing equipment damage. The origin sensor ensures the consistency of the coordinate system after each startup, improving the repeatability of operations.

[0033] The slider 2 is provided with a material handling device mounting position 21, and the material handling device mounting position 21 is equipped with a vacuum suction cup or a pneumatic gripper.

[0034] Depending on the characteristics of the material to be picked up, such as using a vacuum suction cup for flat PCB boards and a pneumatic gripper for irregularly shaped parts, the material is mounted on the picking device mounting position 21 of the slider 2. The controller 5 can be expanded with I / O ports to control the solenoid valve, thereby coordinating the timing of module movement and picking actions. The standardized mounting position design facilitates quick replacement of different end effectors, adapting to various production tasks.

[0035] In this embodiment, the transmission mechanism 4 is a synchronous belt transmission mechanism or a ball screw transmission mechanism.

[0036] The position detection module 6 is an optical or magnetic scale, with its reading head fixed to the slider 2 and the scale body fixed to the base 1. As the slider moves, the reading head reads the scale lines or magnetic signals on the scale body in real time and converts the displacement into an electrical signal, which is then fed back to the controller 5. Directly measuring the slider position eliminates errors introduced by transmission mechanisms such as lead screw backlash and belt tension, which is key to achieving micron-level positioning accuracy.

[0037] The drive motor 3 is either a servo motor or a stepper motor. The PWM drive signal of the controller 5 is connected to the driver of the servo / stepper motor, which calculates and executes precise current, speed, and position control. This ensures that the drive end can accurately respond to the complex commands issued by the controller, which is the foundation for the efficient execution of the entire control system.

[0038] The controller 5 is also connected to a host computer 8 for receiving material handling path parameters and action commands from the host computer 8.

[0039] The controller 5 connects to the host computer 8, such as an industrial PC or PLC, via industrial buses such as Ethernet, RS485, and CAN. The host computer 8 can send complex material handling paths, speed parameters, and action sequences, and can monitor the module's operating status in real time.

[0040] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A material handling linear module, comprising a base (1), a slider (2) slidably disposed on the base (1), a drive motor (3) for driving the slider (2), and a transmission mechanism (4) disposed between the drive motor (3) and the slider (2), characterized in that: It also includes a controller (5) and a position detection module (6); The drive motor (3) and the position detection module (6) are both electrically connected to the controller (5); The position detection module (6) is used to detect the position information of the slider (2) in real time and feed it back to the controller (5); The controller (5) is used to control the operation of the drive motor (3) according to the preset motion trajectory command and the position information.

2. The material handling linear module according to claim 1, characterized in that: The controller (5) includes: The position comparator (51) is used to calculate the position deviation between the preset motion trajectory command and the position feedback information; The PID control module (52) is connected to the position comparator (51) and is used to perform PID calculations based on the position deviation to generate a control signal. The PWM drive module (53) is connected to the PID control module (52) and is used to convert the control signal into PWM pulses to drive the drive motor (3).

3. The material handling linear module according to claim 2, characterized in that: It also includes a limit protection module (7) electrically connected to the controller (5), the limit protection module (7) including an origin sensor (71) and an extreme limit sensor (72) disposed at both ends of the base (1). When the slider (2) triggers the origin sensor (71) or the limit sensor (72), the controller (5) performs the corresponding zeroing operation or emergency stop operation.

4. A material handling linear module according to claim 3, characterized in that: The slider (2) is provided with a material handling device mounting position (21), and the material handling device mounting position (21) is equipped with a vacuum suction cup or a pneumatic gripper.

5. A material handling linear module according to claim 4, characterized in that: The transmission mechanism (4) is a synchronous belt transmission mechanism or a ball screw transmission mechanism.

6. A material handling linear module according to any one of claims 2 to 5, characterized in that: The position detection module (6) is a grating ruler or a magnetic grating ruler, with its reading head fixed on the slider (2) and the ruler body fixed on the base (1).

7. A material handling linear module according to claim 6, characterized in that: The drive motor (3) is a servo motor or a stepper motor.

8. A material handling linear module according to claim 7, characterized in that: The controller (5) is also connected to a host computer (8) for receiving material picking path parameters and action instructions from the host computer (8).

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