Linear module, linear module comprising a magnet, and encoder device for determining the angular position and / or ascertaining the position of a carriage

Abstract

A linear module (101) comprising a spindle (5) to be rotated about an axis of rotation (D) of the spindle (5), a spindle nut (51) for converting a rotary movement of the spindle (5) into an axial movement of the spindle nut (51), a coupling unit (6) to be moved axially along a guide rail (7), driven by the spindle nut (51), the guide rail (7) for guiding the coupling unit (6), which runs parallel to the spindle (5), a preferably brushless motor (8) having a stator (9) and a rotor (10) for driving the spindle (5), a control device (14) that is configured to control the motor (8) and comprises at least one circuit board (13), a housing (21) that at least partially encloses a housing interior (211) and a carriage (19) that is arranged at least partially outside the housing (21) and is able to be coupled with a movement of the coupling unit (6), such that the carriage (19) is able to be moved parallel to the guide rail (7) by the movement of the coupling unit (6), characterized in that the motor (8), the control device (14), the spindle (5), the spindle nut (51) and the guide rail (7) are arranged in the housing interior (211).

Description

[0001] Linear module, linear module with a magnet and encoder device for determining the angular position and / or determining the position of a slide

[0002] The invention relates to a linear module and a linear module with a magnet for determining the angular position and / or determining the position of a carriage.

[0003] Known linear modules, often also referred to as linear axes or linear units, comprise an electric motor to drive a movement of a carriage by converting a rotary movement of the motor into a linear movement of the carriage.

[0004] However, conventional linear module designs are often complicated to operate, as they are often used in confined spaces, especially inside the machine. Typically, external and / or large control devices must also be provided to control the linear modules. The external control devices are often installed in the control cabinet of the machine in which the linear module is installed, or outside the linear module housing.

[0005] EP 0 647 503 A2 discloses a linear guide unit and system with a plurality of covers for transmitting a linear drive force.

[0006] However, the control of known linear modules in the prior art is complex and only offers complex control adjustment options and / or compatibility with the installation environment or with other modules. The object of the present invention is to overcome these and other disadvantages of the prior art. In particular, the invention is intended to provide a linear module and a linear module comprising a magnet and a sensor device, which enable simple and cost-effective control of the linear module.

[0007] A further object of the invention is to provide a linear module with a compact design. Furthermore, it is a goal to provide a linear module with reduced complexity that is flexible and versatile, independent of the control system and the installation environment.

[0008] This object is achieved by a linear module comprising a spindle for rotation about a rotational axis of the spindle and a spindle nut for converting a rotational movement of the spindle into an axial movement of the spindle nut. The linear module also comprises a coupling unit for axial movement along a guide rail, driven via the spindle nut. The linear module also comprises the guide rail for guiding the coupling unit, which runs parallel to the spindle. In addition, the linear module comprises a, preferably brushless, motor with a stator and a rotor for driving the spindle, a control device which is configured to control the motor and has at least one printed circuit board. The linear module has a housing which at least partially encloses a housing interior and a carriage which is arranged at least partially outside the housing and is coupled to a movement of the coupling unit.The carriage can be moved parallel to the guide rail by the movement of the coupling unit. The motor, the control device, the spindle, the spindle nut and the guide rail are arranged inside the housing. The term "coupled" in relation to the coupling unit and the carriage in this context means that the coupling unit can be moved together with the carriage in that a mechanical and / or magnetic connection exists or can be established between the two. For this purpose, the carriage and the coupling unit can comprise a magnet and / or magnetizable material or connecting elements or receiving areas for connecting elements.

[0009] The housing interior can be partially, in particular completely, enclosed by the housing, housing screw connections protruding from the housing, as well as opening levels of openings in the housing.

[0010] Preferably, this movement is driven by a brushless motor of the linear module, as this is subject to significantly less wear and tear and has a longer service life compared to brushed motors.

[0011] The linear module can comprise a, preferably flexible, cover, and the housing can have an opening that is at least partially covered by the cover. The carriage is arranged at least partially, in particular completely, outside the housing, adjacent to an upper side of the cover, and is connected to the coupling unit, which is arranged adjacent to an underside of the cover.

[0012] The coupling unit can be arranged at least partially within the opening and protrude from the housing. The carriage and the coupling unit can be releasably connected to one another mechanically or magnetically by connecting elements.

[0013] The cover prevents damage and contamination by dust or dirt, as well as the resulting wear and tear of the components inside the linear module's housing.

[0014] The carriage, and in particular the coupling unit, can slide along the cover parallel to the spindle with minimal friction loss. The carriage can have at least one upper sliding element adjacent to an upper side of the cover. Furthermore, the coupling unit can have at least one lower sliding element adjacent to an underside of the cover.

[0015] In an embodiment with a magnetically coupled carriage and coupling unit, the sliding elements of the carriage and / or the coupling unit can be arranged adjacent to an inner and outer region of the housing instead of on the cover.

[0016] The opening of the housing can extend in the longitudinal direction of the linear module over a large part of the housing, so that the carriage can be moved in the longitudinal direction along the opening.

[0017] The cover can be formed by a metal sheet, in particular comprising stainless steel. The metal sheet can have a thickness of less than 0.5 mm, in particular 0.3 mm, more particularly 0.2 mm. The metal sheet can be flexibly deformable perpendicular to the plane of the metal sheet. The metal sheet can be curved outwards, preferably in the region of the slide. A movement of the slide can shift the position of the curvature so that at least a large part of the opening is always covered.

[0018] The slide can cover side openings of the cover's curvature, further minimizing the ingress of contaminants into the housing interior while still allowing force to be transmitted to the slide.

[0019] The sliding elements adjacent to the bottom and top of the cover can be arranged at a distance from one another in the longitudinal direction of the linear module. At least two upper sliding elements can frame a lower sliding element in the longitudinal direction of the linear module. The upper sliding elements can be arranged closer to the opening of the linear module than the lower sliding element.

[0020] At least one surface of a sliding element can be arranged at an angle, optionally from 1° to 60°, preferably 5° to 30°, to the longitudinal direction of the linear module. The surface of the sliding element can be at least partially convex or concave. The surface of the sliding element can at least partially have a polynomial shape, in particular the shape of a fifth degree polynomial. This surface can maximize the lying surface of the sliding element for coverage and reduce friction. In particular, the lower sliding element can form an at least partially convex surface and the upper sliding element can form an at least partially concave surface.

[0021] The carriage and / or the coupling unit can contact the cover primarily, in particular exclusively, with the sliding elements. This allows a reliable and low-friction movement of the carriage along the cover to be achieved. The motor can be arranged coaxially to the spindle, preferably in an end region of the spindle, so that the rotor and the spindle have the same axis of rotation. Furthermore, the rotor can be rigidly connected to the spindle, in particular without a separate connecting element.

[0022] This arrangement of the motor, in particular the rotor, coaxially and in particular in the end region of the spindle means further space and cost savings.

[0023] The preferred fixation of the rotor on the spindle offers the advantage of saving on a mechanical gearbox and not requiring a separate clutch for power transmission.

[0024] This means that the bearing of the spindle is also the bearing of the motor, and thus fewer components are required and costs are minimized.

[0025] The coupling unit can comprise a ball or roller guide which has a plurality of rollers or balls which enable low-friction running of the coupling unit relative to the guide rail.

[0026] The recirculating ball or roller guide can be arranged in a carriage of the linear module. Multiple recirculating ball or roller guides can also be arranged in one carriage.

[0027] The carriage can thus be designed to be movable relative to the guide rail. Furthermore, the carriage can be rigidly connected to the coupling unit.

[0028] The ball or roller guide reduces friction between the carriage or coupling unit and the guide rail and improves the bearings on the guide rail. The linear module can include a holding brake. The holding brake can be reversibly switched from a holding state to a release state. The holding state prevents rotation of the spindle, and the release state enables rotation of the spindle.

[0029] The holding brake enables the position of the coupling unit and the carriage relative to the spindle to be reliably held in the holding state, even when load peaks occur.

[0030] The holding brake can be an electrical, in particular an electromagnetic, holding brake and have a mechanical transmission element.

[0031] The electrical holding brake is designed in such a way that the holding state can be achieved in a currentless state of the holding brake, in particular by the mechanical transmission element being mechanically prestressed.

[0032] The mechanical transmission element may comprise a return element, in particular a spring.

[0033] The de-energized holding brake allows the load to continue to be held even in the event of a power failure. This increases the safety and reliability of the linear module.

[0034] In addition, the holding brake only needs to be energized when the spindle is actively moving in order to be transferred to the release state. Depending on the load and the active operating time of the linear module, power consumption can be reduced when passively holding the linear module in the hold state.

[0035] The holding brake can include a separate power supply or be powered by the linear module connection. A separate power supply allows for easy retrofitting of a holding brake.

[0036] The holding brake can be arranged at one end of the linear module, preferably in a holding brake cover of the linear module. The holding brake can thus be easily installed / replaced.

[0037] The holding brake can be arranged at one end of the spindle, and the end of the spindle can have at least one radial projection and / or one radial recess. The projection and / or the recess are at least partially positively coupled to a hub of the holding brake in the holding state, preferably also in the release state.

[0038] The hub of the holding brake and the end of the spindle can be designed to be at least partially, preferably completely, complementary to one another.

[0039] In this context, "partially positively coupled" means that the end of the spindle engages with the hub of the holding brake through a positive connection and / or a frictional connection. Thus, the spindle can only rotate in the circumferential direction together with the holding brake or a component, in particular the hub, of the holding brake.

[0040] The hub of the holding brake can be rotatably mounted within the holding brake. Such a coupling allows the spindle position to be precisely held in a de-energized position by transferring the holding brake from the release to the hold state through preloading the mechanical transmission element. This minimizes power consumption and allows the spindle's angular position to be precisely maintained.

[0041] The control device of the linear module can be configured to control at least two of the following parameters: a power supply of the motor, in particular for commutation of the motor, a position value defined by the relative distance of the carriage to one end of the spindle, a speed of movement of the coupling unit, an acceleration of movement of the coupling unit, a force of movement of the coupling unit, and a direction of movement of the coupling unit.

[0042] The separate parameter setting by the control device allows the linear module to be used flexibly for a wide range of possible applications. Furthermore, no external control of the parameters by an external control device is required. However, control by an external controller can also be implemented optionally or additionally.

[0043] The speed, acceleration, and / or force can be controlled separately depending on the axial direction of movement. The value for at least one of these parameters can be set differently by the control device in one direction of movement than in another direction of movement, in particular in the opposite direction of movement. The control device can also be configured to determine the position value, in particular by determining the revolutions and / or the angular position of the spindle.

[0044] The printed circuit board may be a rigid printed circuit board and the control device may comprise exactly one rigid printed circuit board.

[0045] In this context, the term "rigid printed circuit board" refers to a non-plastically deformable printed circuit board which, in particular, has a flat, planar surface on which the electronic components can be mounted.

[0046] The use of exactly one rigid circuit board for the control device saves space. Alternatively, the linear module can comprise two, particularly rigid, circuit boards.

[0047] The installation of only a single rigid circuit board of the control device under one of the sides of the linear module presupposes that the control device is optimized with regard to the limited space of the housing interior, and that all electronic components can be mounted on the rigid circuit board, preferably without increasing the dimensions compared to known linear modules.

[0048] Furthermore, the arrangement of a single circuit board enables a short connection to the motor, which has a positive effect on the electromagnetic compatibility behavior.

[0049] The circuit board can comprise small and large electronic components with regard to the overall height perpendicular to a circuit board plane. At least one electronic component, preferably all of the large electronic components, in particular transistors and / or converters, are arranged on the edge of the circuit board, in particular on the edge of a longer side of the circuit board of the control device. This makes it possible to reduce the space required by the circuit board in the housing interior. The electronic components can be attached to the circuit board in such a way that they are attached as far away from the spindle axis as possible and protrude into the housing interior to the sides of the spindle, since space is available at this point.

[0050] In relation to the printed circuit board, this means that the larger electronic components are mounted, if possible, at the edge of the longer sides of the printed circuit board with the longest extension of the electronic components perpendicular to the printed circuit board.

[0051] The control device may comprise a connection for the power voltage supply and a connection for communication with the control device.

[0052] Communication with the control device may enable external control and, in particular, external input of the parameters of the control device.

[0053] Two separate connections ensure a high degree of safety in the event of a defect or failure, as the power supply is independent of the control system.

[0054] The linear module, in particular the control device, can comprise an interaction element. The interaction element comprises adjustment elements and / or status display elements. The adjustment elements are used to adjust the speed and / or force directly on the linear module. An interaction element directly on the linear module means that no external electronics are required to operate the linear module. The adjustment options are possible directly on the linear module, thus achieving simplified control.

[0055] This has the advantage that any user can put the linear module into operation without any software knowledge, making it suitable for a wide range of applications.

[0056] To move the carriage to a predefined position, an external control device can transmit an instruction to the linear module's internal control device to move to the predefined position. The control device can, in turn, control the motor based on this instruction to move the carriage to the predefined position.

[0057] Possible elements that can be adjusted with the interaction element are the potentiometers for speed and force depending on the direction of movement. One direction of movement can be oriented along the guide rail toward the motor, and the other direction can be oriented along the guide rail away from the motor. The control device can also be configured to automatically adjust commutation and control of the motor based on these settings.

[0058] Preferably, the interaction element has adjustment screws for the speed during extension and retraction (Speed ​​IN / OUT) and / or an adjustment screw for the force.

[0059] The interaction element preferably comprises status display elements that display the user's settings of the values ​​and / or the status of the device, preferably by means of lights, diodes, LEDs and / or a display.

[0060] This has the advantage that the user of the linear module can read out the status of the linear module via a visual output without the need for external hardware and / or software.

[0061] These status indicator elements provide information about the linear module, preferably through LEDs.

[0062] The interaction element can be attached directly to the housing using fastening elements and can preferably serve at least partially as a housing cover.

[0063] The linear module can comprise at least one connecting element arranged on the carriage. The linear module can comprise at least one further connecting element formed at one end or at both ends of the housing, in particular on the end faces of the housing, preferably on the covers.

[0064] The connecting elements allow for flexible use of the linear module and provide a way to connect it. Using the connecting elements, the linear module, especially the slide, can be attached to an external device, for example.

[0065] A minimum cross-sectional dimension of the linear module orthogonal to the spindle axis is preferably never wider than 150%, in particular 130%, and more particularly 120%, of the outer diameter of the motor, excluding the connections protruding from the housing, the interaction elements, the housing screw connections, and the carriage. The outer diameter of the motor refers to the outer diameter of the motor's outer part, i.e., either the stator as the outer part or the rotor as the outer part.

[0066] Thus, at least one dimension of the housing is only slightly wider than the motor. This has the advantage that the housing is very compact, despite the internal mounting of the motor, spindle, spindle nut, and control device.

[0067] Bearing elements can be arranged coaxially with the spindle, on both sides of the rotor. The bearing elements can be, in particular, or include axial ball bearings, deep groove ball bearings, tapered roller bearings, or cylindrical roller bearings.

[0068] This has the advantage that the relatively wide bearing provides good support for the rotor, improving load distribution for the motor and simultaneously providing good support for the spindle. This ensures a longer service life of the linear module.

[0069] The linear module can have a substantially polygonal housing, preferably with a substantially quadrangular cross-sectional area, in particular with a substantially rectangular or trapezoidal cross-sectional area. Furthermore, a body of the housing can be made of an extruded aluminum profile.

[0070] The polygonal shape has the advantage that it allows a circuit board to be accommodated in the interior of the housing in the most space-saving way possible, without enlarging the housing.

[0071] The housing of a linear module should ideally be made of a lightweight yet sturdy material. An extruded aluminum profile is lightweight and cost-effective, making it ideal for a linear module. Using an extruded aluminum profile allows the linear module to have a very compact design, with the advantage that no external electronics or cooling are required.

[0072] Nevertheless, the linear module could easily be provided with additional internal cooling, such as fans or heat exchangers, or external cooling, since the stator coils, which are heated during operation, are preferably mounted outside the housing.

[0073] The size of the motor can therefore be easily adjusted, which can slightly improve the heat dissipation of the motor.

[0074] The housing can have the same cross-sectional dimension over its entire length, except for the connections, the opening, the coupling unit, the slide, the housing screw connections, and the interaction elements.

[0075] The consistent cross-sectional dimension enables simplified production of the housing and attachment of the components of the linear module in the housing interior.

[0076] The housing can comprise two end-face housing covers. Preferably, the housing also comprises at least one body-side housing cover. One of the end-face housing covers can simultaneously be a motor housing for the motor. The other of the end-face housing covers can preferably support the spindle and / or be a holding brake housing for the holding brake.

[0077] The control device, in particular the printed circuit board, can be covered with the body-side housing cover on which the interaction elements are arranged. The housing cover can be releasably attached to the housing body, for example by screwing. This has the advantage of ensuring easy accessibility to the electronic components. Furthermore, the printed circuit board can be easily replaced or a defect in the interaction elements can be repaired. Furthermore, no complicated wiring introductions through drilled holes and the associated seals are required to introduce components into the housing interior.

[0078] Mounting the motor in the housing cover enables a compact design, since the front housing cover also forms the motor housing and thus saves space.

[0079] The housing cover of the motor can be formed in one piece, so that the motor is located substantially entirely within the housing cover. Fasteners for securing the housing cover can be arranged such that a connecting groove between the housing and the housing cover is located axially adjacent to the motor.

[0080] This means that the cover can be adapted to the dimensions of the rotor and / or stator and additional space can be saved inside the housing, which leads to smaller external dimensions of the linear module.

[0081] The housing cover may also contain a bearing element for supporting the spindle.

[0082] The housing cover for supporting the spindle can be interchangeable with a cover that also serves as a holding brake housing. This allows for flexible adaptation and / or expansion of the linear module for use with a holding brake. The covers can be flush with the housing by having the same cross-sectional dimensions as the housing.

[0083] Determining the axial position of the carriage and the angular position of the spindle in linear modules is sometimes only possible with large components in the current state of the art, thus requiring a great deal of space. However, determining the axial position and angular position allows conclusions to be drawn about the position of the rotor relative to the stator, allowing the motor to be commutated and, in particular, a brushless motor to be used.

[0084] According to a further aspect of the invention, it is therefore an object of the invention to overcome these disadvantages of the prior art and to develop a linear module which enables a cost-effective and space-saving method for determining the axial position of the carriage and the angular position of the spindle.

[0085] The problem is solved by a linear module according to the independent claims.

[0086] A linear module, in particular as described above, comprises a brushless motor with stator and rotor, a spindle, a spindle nut for converting a rotary movement of the spindle into an axial movement of a coupling unit. The linear module further comprises the coupling unit for axial movement along the guide rail, driven by the rotation of the spindle. The linear module also comprises a guide rail for guiding the coupling unit, which runs parallel to the spindle, and a carriage which is coupled to the coupling unit. The carriage can be moved parallel to the spindle by a movement of the coupling unit. The linear module can also comprise a control device which is configured to control the motor. The linear module has at least one magnet on or in an end face of the rotor and / or the spindle, and an encoder device substantially axial to a rotation axis of the spindle.The encoder device is configured to read the angular position of the magnet and / or determine the axial position of the carriage.

[0087] This mounting of the encoder and the magnet has the advantage that the position of the magnet can be read in a very space-saving manner. In this context, it would also be conceivable to mount the magnet on the rotor or a separate component connected to the spindle, especially if the rotor or the separate component is not permanently connected to the spindle.

[0088] Using a counter and information about the spindle thread and the angular position of the magnet, the encoder device and optionally the control device can now determine the axial position of the slide. This offers the advantage that the position of the slide can be determined without the readout device, consisting of the magnet and encoder device, having to perform an axial movement along the spindle's rotational axis.

[0089] The encoder device can comprise at least one, preferably rigid, printed circuit board which is arranged axially to the axis of rotation of the spindle.

[0090] In an alternative embodiment, the encoder device, in particular a printed circuit board, can be arranged at least partially in a circumferential direction relative to the spindle and not, or not exclusively, arranged axially behind the rotational axis. Furthermore, the encoder device and the control device can be rigidly connected to one another, in particular arranged on a printed circuit board.

[0091] In another embodiment, the magnet can also be mounted off the axis of rotation, laterally on the end face of the spindle, while the encoder is mounted centrally, axially to the spindle. The angular position information is thus derived from the change in the direction of the magnetic field caused by the rotation of the spindle.

[0092] Preferably, however, the magnet is arranged on the axis of rotation of the spindle, as this offers the advantage that no imbalance can occur.

[0093] The magnet may have the north pole on one side radially away from the rotation axis, and in particular, the south pole may be radially on the opposite side of the rotation axis. The magnet may be a disc magnet that is rotationally symmetrical about the rotation axis.

[0094] Preferably, the magnet has a polarity orthogonal to the spindle axis. This polarity offers the advantage that it can be placed centrally on the spindle without shifting the center of gravity and can be easily read. A diametrical magnet is well suited for this application, but other magnet shapes are also possible.

[0095] The magnet with encoder for determining the angular and axial position offers the advantage of significant space savings, since the axial position of the slide is measured simply by rotating the magnet, statically at the same location. The magnet with encoder can be used to determine the rotational speed of the rotor, spindle, and / or commutation of the brushless motor based on the signal from the electronic encoder and / or control device.

[0096] This has the advantage that the use of a brushless motor is possible through appropriate commutation and no additional mechanical gear is required.

[0097] The object is further achieved by the use of a magnet on or in an end face of a spindle or the rotor of a linear module, preferably as described above. An angular position of the magnet can be read out using a sensor device for determining the rotational speed of a spindle and / or commutation of a motor based on the signal from the electronic sensor device and in particular a control device. The sensor device, in particular the control device, can control the rotational movement of the spindle and / or the commutation of the motor based on the read orientation of the magnet.

[0098] This enables the use of a brushless motor through appropriate commutation, without additional sensors such as Hall sensors.

[0099] For commutation, the position / angular position of the rotor to the stator must be known at all times.

[0100] Since the rotor is preferably rigidly connected to the spindle, and the magnet is rigidly connected to the spindle, the position of the rotor is also determined by the angular position of the magnet. This has the advantage that the relative position of the rotor to the stationary stator can be measured at any time.

[0101] This allows the use of a brushless motor. A brushless motor, preferably a BLDC motor, is more efficient than brushed motors or stepper motors, which have a high holding torque and are less dynamic, and has a longer service life due to lower wear. Commutation of the motor, i.e., the supply of current to the correct coils at the correct time, must be achieved via the electronic components of the control device and / or the encoder device and the specific angular position.

[0102] The invention is explained in more detail with reference to figures, which merely represent exemplary embodiments. They show:

[0103] Figure 1A: a side view of an embodiment of the linear module according to the invention,

[0104] Figure 1B: a cross-section of the linear module design according to Fig. 1A,

[0105] Figure 2: a plan view of the design of the linear module according to Fig. 1A and Fig. 1B with a partial cross-section,

[0106] Figure 3A: a longitudinal section of the linear module design according to Fig. 2,

[0107] Figure 3B: a cross-section of the linear module design according to Fig. 3A,

[0108] Figure 4: a longitudinal section of another version of the linear module with a holding brake.

[0109] The same reference numerals in the figures identify the same components. Figure 1A shows a side view of an embodiment of the linear module 101 according to the invention, comprising a cuboid-shaped housing 21, a carriage 19, and an interaction element 12. The housing 21 is made from an extruded aluminum profile and has a front housing cover 1, 3 at each of its longitudinal ends. The housing covers 1, 3 are firmly attached to the linear module 101 with screws 28. The first housing cover 1 extends in a longitudinal direction of the linear module 101 in order to be able to completely accommodate the motor 8 therein (see Figure 3A). The second housing cover 3 is provided for supporting a spindle, which is arranged in an interior space of the housing 21. In addition, the housing 21 has two body-side housing covers 23, 231 on a front surface 217, which are also fastened with screws 28.The housing covers 1, 3, 23, 231 thus enclose the interior of the housing 21. The interaction element 12 is arranged on one of the body-side housing covers 23. The interaction element 12 has three adjusting screws 122, 123 and three LEDs 121. Two of the adjusting screws 122 are provided for adjusting the speed of the carriage 19 separately in both longitudinal directions, IN / OUT. The other adjusting screw 123 is provided for adjusting the force. The three LEDs 121 in Fig. 1A indicate the state of the linear module 101. Furthermore, the interaction element 12 has two separate housing screw connections 142 which enclose connections of the control device. One of the two terminals 141 is provided for the power supply and the other of the two terminals 141 is provided for communication with the internal terminals of the electronic control device.Through communication with the electronic control device, the control device can be configured, or a power supply of the motor, a position value of the carriage 19 relative to the spindle, a speed, an acceleration, and / or a direction of movement of the carriage 19 can be individually adjusted. The carriage 19 is arranged outside the housing 21 and can be moved along the longitudinal direction of the linear module 101 by controlling the spindle via the control device.

[0110] A cross-section along the dashed line A, which runs through the two housing screw connections 142 of the linear module 101, is shown in Fig. 1B. The control device 14 has body-side connections 141 which are enclosed by the housing screw connections 142, so that the connections are arranged in the housing interior 211. The connections 141 are thus led to the outside through the body-side housing cover 23 and the housing screw connections 142 and are connected to a rigid printed circuit board 13. The rigid printed circuit board 13 has a large number of electronic components 22. The largest electronic components 22, in particular transistors and converters, are arranged in the outer regions of the printed circuit board 13 and protrude into the housing 21 on both sides of a spindle 5. Thus, the spindle 5 and a spindle nut 51 have sufficient space in the housing interior 211 without the housing 21 having to be enlarged.In addition, the electronic components 22 are surrounded by a partition wall 215 running in a circumferential direction of the spindle 5 in order to be protected from damage and contamination.

[0111] The spindle 5 is coaxially surrounded by the spindle nut 51. The spindle nut 51 is rigidly connected to a coupling unit 6 which is movable along a guide rail 7. The guide rail 7 has a substantially rectangular cross-sectional profile which has a recess 70 on opposite sides. A carriage 61 with a recirculating ball guide, which is rigidly connected to the coupling unit 6, can engage in the recesses 70 in order to be guided. The coupling unit 6 is also connected to the slide 19, so that a movement of the coupling unit 6 also moves the slide 19. The coupling unit 6 is arranged below a cover 2 within an opening 212 in the housing 21. The slide 19, however, is arranged adjacent to the cover 2 and outside the opening 212. The opening 212 extends over a large part of the linear module 101 in the longitudinal direction (see Fig. 3A).The housing 21 also has two longitudinally extending profile grooves 213 for fastening the linear module 101 (see Fig. 1B) on a side opposite the housing screw connections 142 and on a side opposite the carriage 19. Furthermore, the housing 21 has a longitudinally extending bore 214 with a thread in each corner for attaching the screws 28, so that the covers 1, 3 can be removably attached.

[0112] Figure 2 shows a plan view of the embodiment of the linear module 101 according to Fig. 1A and Fig. 1B with a partial cross-section, so that the housing interior 211 of the cuboid-shaped housing 21 in the area of ​​the control device 14 can be seen. The housing 21 has an opening on an upper side surface which is covered by a rectangular steel sheet 2 as a cover and is detachably connected to the housing 21 at four corners with a screw 30. The steel sheet 2 extends in the longitudinal direction parallel to the spindle 5 over a large part of the housing 21 including the covers 1, 3. The spindle 5 also has a thread 54 so that the spindle nut 51 (see Fig. 1B) can be guided in the longitudinal direction of the spindle 5 without rotating itself. Thus, the spindle 5 can convert the rotational movement about its axis of rotation D into an axial movement of the coupling unit 6 and the carriage 19.The carriage 19 has a top side 191 with a plurality of connection elements in the form of threaded bores 18, such that the carriage 19 can be connected to an external device part in order to transmit force in the longitudinal direction of the linear module 101. The carriage 19 is wider than the steel sheet 2 and is connected to the coupling unit laterally past the steel sheet 2 by four screws 29 in an outer region. The coupling unit and the carriage 19 are thus movable along the steel sheet 2, driven by the spindle 5. The control device 14 in the region of the body-side cover 23 can be configured by a user using the interaction elements 12 in order to adapt the control of the linear module 101, in particular the control parameters. In addition, the control device 14 can be adapted and / or controlled via one of the connections 141.The rigid printed circuit board 13 with the electronic components 22 is arranged essentially parallel to the front surface 217 in the housing interior 211.

[0113] Figure 3A shows a longitudinal section of the embodiment of the linear module 101 according to Fig. 2, which runs perpendicularly through the axis of rotation D in Fig. 2. The housing 21, together with the covers 1, 3 and the steel sheet 2, encloses the housing interior 211.

[0114] Only the carriage 19 is arranged completely outside the housing interior 211. The coupling unit 6 and the carriage 19 are connected to one another by screws on the side of the steel sheet 2 (see Fig. 2). In the area of ​​the carriage 19, the steel sheet 2 forms a curvature 24, which is contacted centrally on an underside by a partially convex sliding element 194 of the coupling unit 6 and on the upper side by two concave sliding elements 193 of the carriage 19. The two sliding elements 193 are arranged on the edge of the carriage 19 such that they frame the central sliding element 194 of the coupling unit 6 in the longitudinal direction of the linear module 101.

[0115] One of the front covers 1 serves as a motor housing for a brushless motor 8, which is arranged coaxially to the spindle 5. The motor 8 has a stator 9, which is arranged immovably in the housing 21, and a rotor 10, which is arranged coaxially inside the stator 9 and is rigidly connected to the spindle 5. The motor 8 can convert current into a rotational movement of the rotor 10 by energizing coils of the stator 9 at the right time. The rotational movement of the rotor 10 can therefore drive the spindle 5, which is rigidly connected to the rotor 10. The rotational movement of the spindle 5 allows the spindle nut 51 with the coupling unit 6 to be guided along the guide rail 7, which runs parallel to the spindle 5 in the housing interior 211. Thus, the coupling unit 6 can be displaced in the longitudinal direction within the opening 212, so that the curvature 24 of the steel sheet 2 moves along with it.

[0116] A ball bearing 17 is arranged at the end of the linear module 101 adjacent to the rotor 10. On the opposite side of the rotor 10, two ball bearings 171 are arranged side by side to support the spindle 5. The opposite end cover 3 also has a ball bearing 20.

[0117] A magnet 15 is arranged in the front cover 1 behind the spindle 5 with the axis of rotation D. The magnet 15 is rigidly connected to a connecting element 55, which is rigidly connected to the spindle 5. The rotor 10 is also arranged on the connecting element 55. The polarity of the magnet 15 runs radially outwards of the linear module 101. A sensor device 16 for reading out an angular position of the spindle and / or the axial position of the carriage 19 is arranged in the axial direction behind the magnet 15. A printed circuit board 161 of the sensor device 16 is also connected to the control device of the linear module 101, so that the control, in particular the motor control of the brushless motor 8, can be adapted with regard to the angular position and / or position of the coupling unit 6.

[0118] Figure 3B shows a cross-section of the linear module 101 perpendicular to the straight line C from Fig. 3A. The housing 21 has longitudinal profile grooves 213 on two side surfaces. In addition, bores 214 for connecting the covers are provided in the corners of the housing 21. The carriage 19 in Fig. 3B is arranged outside the housing 21 and the coupling unit 6 is arranged within the longitudinally extending opening 212. The carriage 19 and the coupling unit 6 together enclose an area of ​​the steel sheet 2 with the curvature 24 (see Fig. 3A). The coupling unit 6 is also rigidly connected to the carriage 61 with the recirculating ball guide, so that the coupling unit 6 can be guided along the guide rail 7 in opposite recesses 70 of the guide rail 7.The spindle nut, which engages the thread of the spindle 5 in order to move the coupling unit 6 in the axial direction, is separated by a partition wall 215 of the housing 21 from an area 216 for receiving the control device of the housing interior 211.

[0119] Figure 4 shows a further embodiment of a linear module 101 with an electric holding brake 11 in a front cover 3 opposite a front cover 1 for supporting a brushless motor 8 for driving a spindle 5. Apart from the holding brake 11 in the front cover 3, the embodiment of the linear module 101 in Fig. 4 is identical to the previously described linear module 101 in Fig. 1A to Fig. 3B, so a further description is omitted.

[0120] The cover 3, which serves as a holding brake housing for the holding brake 11, also has a ball bearing 20 for supporting a spindle 5. In Fig. 4, the holding brake 11 is in a holding state 111, so that a rotational movement of the spindle 5 is prevented.

[0121] The holding brake 11 has a braking element 115. In addition, the holding brake 11 has a disk-shaped hub 114. The hub 114 is rotatably mounted relative to the braking element 115 (not explicitly shown in Fig. 4). The hub 114 is positively coupled to a radial recess 53 at one end of the spindle 5. The hub 114 is arranged coaxially around the end of the spindle 5. The hub 114 of the holding brake 11 and the end of the spindle thus engage with one another in a positively locking manner both in a released state and in the holding state 111.

[0122] In the release state (not shown in Fig. 4) of the holding brake 11, in which the holding brake 11 is energized, the spindle 5 is thus rotatable together with the hub 114.

[0123] By energizing the holding brake 11, the hub 114 is electromagnetically released against a preload of a return element (not shown in Fig. 4) in order to enable rotation of the spindle 5. In the release state of the holding brake 11, the carriage 19 can thus be moved by a rotary movement of the spindle 5. In the holding state 111 of the holding brake 11, in which the holding brake 11 is not supplied with power or is only insufficiently supplied with power, the spindle 5 together with the hub 114 cannot be rotated. The holding state 111 of the holding brake 11 is automatically assumed in a de-energized state by the holding brake 11 due to the preload of the return element.

[0124] Due to the preload of the return element, the spindle 5 and the hub 114 are prevented from rotating in the holding state 111 by frictional engagement. For this purpose, the hub 114 can be pressed by the return element against a component of the holding brake 11 or the housing 21. Alternatively, a separate component of the holding brake 11, in particular the braking element 115, can be pressed against the hub 114.

Claims

Patent claims 1. A linear module (101) comprising a spindle (5) for rotation about a rotational axis (D) of the spindle (5), a spindle nut (51) for converting a rotary motion of the spindle (5) into an axial motion of the spindle nut (51), a coupling unit (6) for axial movement along a guide rail (7) driven via the spindle nut (51), the guide rail (7) for guiding the coupling unit (6), which runs parallel to the spindle (5), a motor (8), preferably brushless, with a stator (9) and a rotor (10) for driving the spindle (5), a control device (14) configured for controlling the motor (8) and comprising at least one printed circuit board (13), a housing (21) which at least partially encloses a housing interior (211), and a slide (19) which is at least partially outside the housing (21). is arranged and is coupled to a movement of the coupling unit (6),so that the slide (19) can be moved parallel to the guide rail (7) by the movement of the coupling unit (6), characterized in that the motor (8), the control device (14), the spindle (5), spindle nut (51) and the guide rail (7) are arranged in the interior of the housing (211).

2. Linear module (101) according to claim 1, wherein the linear module (101) comprises a cover (2), preferably flexible and the housing has an opening (212) which is at least partially covered by the cover (2) and the slide (19) is arranged at least partially, in particular completely, outside the housing (21), adjacent to a top surface of the cover (2) and connected to the coupling unit (6), which is arranged adjacent to a bottom surface of the cover (2). Linear module (101) according to one of the preceding claims, wherein the motor (8) is arranged coaxially to the spindle (5), preferably in an end region of the spindle (5), such that the rotor (10) and the spindle (5) have the same axis of rotation, and the rotor (10) is in particular rigidly connected to the spindle (5), in particular without a separate connecting element.Linear module (101) according to any one of the preceding claims, wherein the coupling unit (6) comprises a ball or roller recirculation guide having a plurality of rollers or balls that enable low-friction running of the coupling unit (6) relative to the guide rail (7). Linear module (101) according to any one of the preceding claims, wherein the linear module (101) comprises a holding brake (11) and a holding state (111) of the holding brake (11) can be reversibly converted into a release state of the holding brake (11), wherein the holding state (111) prevents rotation of the spindle (5) and the release state allows rotation of the spindle (5). Linear module (101) according to claim 5, wherein the holding brake (11) is an electrical, in particular electromagnetic, holding brake (11) and comprises a mechanical transmission element, wherein the electrical holding brake (11) is configured such that the holding state (111) can be achieved in a de-energized state of the holding brake (11), in particular by mechanically pre-tensioning the mechanical transmission element. Linear module (101) according to claim 5 or 6, wherein the holding brake (11) is arranged at one end of the spindle (5) and the end of the spindle (5) has at least one radial projection and / or a radial recess (53), wherein the projection and / or the recess (53) is at least partially positively coupled to a hub (114) of the holding brake (11) in the holding state (111), and preferably also in the release state.Linear module (101) according to one of the preceding claims, wherein the control device (14) is configured to control at least two of the following parameters:. - a power supply for controlling the motor (8) , in particular for commutation of the motor (8) , - a position value defined by the relative distance of the slide (19) to one end of the spindle (5) , - a speed of movement of the coupling unit (6) , - an acceleration of the motion of the coupling unit (6) , - a force of motion of the coupling unit (6) , Direction of movement of the coupling unit (6) . Linear module (101) according to one of the preceding claims, wherein the printed circuit board (13) comprises small and large electronic components (22) with respect to its height perpendicular to the plane of the printed circuit board, wherein at least one, preferably all, of the large electronic components (22), in particular transistors and / or converters, are arranged at the edge of the printed circuit board (13), in particular at the edge of a longer side of the printed circuit board (13). Linear module (101) according to one of the preceding claims, wherein the control device (14) comprises a connection (141) for power supply and a connection (141) for communication with the control device (14).Linear module (101) according to any one of the preceding claims, wherein the linear module (101), in particular the control device (14), comprises an interaction element (12), wherein the interaction element (12) comprises adjustment elements (122, 123) and / or status indicator elements (121), wherein the adjustment elements (122, 123) serve to adjust the speed and / or force directly on the linear module (101). Linear module (101) according to any one of the preceding claims, wherein at least one connection element (18) is provided, wherein at least one connection element (18) is arranged on the slide (19), in particular, at least one further connection element (18) is formed at one end or at both ends of the housing (21), in particular at the end faces of the housing (21). Linear module (101) according to any one of the preceding claims, wherein a minimum cross-sectional dimension of the linear module. (101) orthogonal to the spindle axis (D) is never wider than 150%, in particular 130%, further in particular 120%, of an outer diameter of the motor (8), apart from the connections (141) projecting from the housing (21), the interaction elements (12), housing screws (142) and the slide (19). Linear module (101) according to one of the preceding claims, characterized in that the housing (21) comprises two end-face housing covers (1, 3) and preferably at least one body-side housing cover (23, 231), wherein one of the end-face housing covers (1, 3) is simultaneously a motor housing of the motor (8) and the other of the end-face housing covers (1, 3) preferably supports the spindle (5) and / or is a holding brake housing of the holding brake (11).Linear module (101), in particular according to one of the preceding claims, comprising a brushless motor (8) with stator (9) and rotor (10), a spindle (5), a spindle nut (51) for converting a rotary motion of the spindle (5) into an axial motion of a coupling unit (6), the coupling unit (6) for axial movement along a guide rail (7) driven by the rotation of the spindle (5), a guide rail (7) for guiding the coupling unit (6) which runs parallel to the spindle (5), and a slide (19) which is coupled to the coupling unit (6) such that the slide (19) can be moved by a movement of the coupling unit (6) parallel to the spindle (5), in particular a control device (14) which is configured for controlling the motor (8). and at least one magnet (15) on or in an end face of the rotor (10) and / or the spindle (5) and an electronic encoder device (16) substantially axial to a rotational axis (D) of the spindle (5) for reading the angular position of the magnet (15) and / or determining the axial position of the slide (19) .

16. Linear module (101) according to claim 15, wherein the magnet (15) has the north pole radially away from the axis of rotation (D) on one side and in particular has the south pole radially on the opposite side of the axis of rotation (D) and in particular is a disk magnet rotationally symmetric about the axis of rotation (D).

17. Linear module (101) according to claim 15 or 16, wherein the magnet (15) with encoder device (16) serves to determine the rotational speed of the rotor (10), the spindle (5) and / or commutation of the brushless motor (8) based on the signal from the electronic encoder device (16) and / or control device (14).

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