Linear Drive Unit

Abstract

The present invention provides a linear drive device. [Solution] The linear drive device includes a stator, a mover, a drive unit, a first position feedback unit, and a second position feedback unit, the mover is multiple and slidably mounted on the stator, the drive unit is used to drive the multiple movers to slide along the extension direction of the stator, the first position feedback units are multiple, each mover is provided with one first position feedback unit, one of the first position feedback units is provided with a marking symbol, the second position feedback units are multiple, each of the multiple second position feedback units is provided on the stator and arranged at intervals, the second position feedback unit is used to read position information of the first position feedback unit and is capable of reading the marking symbol. According to the present invention, the identification method of the mover can be simplified.

Description

[Technical Field]

[0001] The present invention relates to the technical field of linear drives, and in particular to linear drive devices. [Background technology]

[0002] In a multiple mover direct drive transport system, it is necessary to number each mover, and identify each mover's position in the system in real time to provide effective control and scheduling for all movers.

[0003] Regarding the numbering of multiple movers, the conventional method is to identify the number of the first mover in a multiple mover direct drive transport system, and then sort and number them in ascending or descending order based on the arrangement.

[0004] Currently, there are two ways to identify movers in a direct drive transport system with multiple movers: 1. Changing the order of the magnetic steel of a mover to distinguish it from the magnetic steel of other movers and determining the position of the mover based on the difference in magnetic field, and 2. Identifying a mover using a third-party position detection unit. Summary of the Invention [Problem to be solved by the invention]

[0005] The identification method 1 above is too complicated to determine the position of the mover due to differences in magnetic fields, and the identification method 2 requires the addition of an extra sensor to perform detection and identification using a third-party sensor, which increases the cost of the system equipment.

[0006] Therefore, a linear drive device is required to solve the problem that the identification method of the movers in the conventional direct drive transport system of multiple movers is too complicated and expensive. [Means for solving the problem]

[0007] The technical problem to be solved by the present invention is to provide a linear drive device that can solve the problems of conventional direct drive conveyance systems with multiple movers, namely, that the mover identification method is too complicated and expensive.

[0008] In order to solve the above technical problem, the present invention provides a linear driving device, The rotor includes a stator, a mover, a drive unit, a first position feedback unit, and a second position feedback unit; The stator is provided in plurality and is continuously connected together. There are a plurality of the movers, and each of them is slidably provided on the stator, the drive unit is used to drive the plurality of movers so that they slide along an extension direction of the stator, There are a plurality of the first position feedback units, each of the movable elements is provided with one of the first position feedback units, and one of the first position feedback units is provided with an indication symbol; the second position feedback unit is provided in plurality, and the plurality of second position feedback units are respectively provided on the stator and arranged at intervals, the second position feedback units are provided corresponding to the first position feedback units, the second position feedback units are used to read position information of the first position feedback units and are capable of reading the marking symbols; When any one of the second position feedback units reads the marking symbol, the second position feedback unit confirms the position of the corresponding mover, and the mover whose position is confirmed is used as a starting point to sort all the movers according to the position order of the other movers in the linear driving device, thereby completing the numbering of all the movers.

[0009] Furthermore, the first position feedback unit is a grid ruler, and the second position feedback unit is a read head corresponding to the first position feedback unit.

[0010] Furthermore, the stator includes a bottom plate, a top plate arranged parallel to and spaced apart from the bottom plate, and a fixed plate connecting the bottom plate and the top plate, and the multiple first position feedback units are respectively arranged on the sides of the multiple movers close to the fixed plate, and the multiple second position feedback units are arranged at intervals on the fixed plate.

[0011] Furthermore, mounting grooves are formed in the fixed plate at positions corresponding to the second position feedback units, and one of the second position feedback units is fixedly mounted in each of the mounting grooves.

[0012] Furthermore, a guide rail is provided on the side of the bottom plate close to the top plate, and at least two pulleys are provided at intervals on the side of each of the movers close to the guide rail, and the at least two pulleys in each of the movers abut on both sides of the guide rail, respectively, and form a sliding connection, so that the mover can slide freely below the stator by the cooperation of the pulleys and the guide rail.

[0013] Further, each of the movable elements includes a fixed portion spaced apart from the stator, two sliding plates spaced apart from each other on a side of the fixed element close to the guide rail, a mounting portion on a side of the fixed element away from the bottom plate, an extension portion on a side of the mounting portion close to the fixed plate, and a T-shaped structural portion on a side of the mounting portion away from the fixed plate, wherein the two sliding plates in each of the movable elements abut on both sides of the guide rail and form a sliding connection, the two sliding plates in each of the movable elements are spaced apart from the corresponding pulleys, and the T-shaped structural portion extends to a side of the top plate away from the bottom plate and is spaced apart from the top plate, the pulleys in each of the movable elements are all located on the side of the fixed element close to the guide rail, and the first position feedback units in each of the movable elements are all located on the side of the extension portion close to the fixed plate.

[0014] Furthermore, there are four pulleys in each of the movable elements, and the four pulleys in each of the movable elements are arranged in pairs, each abutting on either side of the guide rail, and the slide plate is provided between the pulleys in each pair.

[0015] Furthermore, the drive unit includes a plurality of coils provided on the side of the top plate closest to the bottom plate and magnetic steel provided on the mounting portion of each of the movable members, the magnetic steel and the coils being provided at corresponding positions and spaced apart.

[0016] Furthermore, the drive unit includes a first magnetic body arranged between the top plate and the multiple coils, and a second magnetic body arranged between the corresponding mounting portion and the magnetic steel, and on the side of the first magnetic body closest to the bottom plate, multiple protrusions are arranged at intervals so as to protrude toward the movable member, and each of the coils is wound around one of the protrusions, and there are multiple pieces of magnetic steel and they are arranged at intervals on the second magnetic body.

[0017] Furthermore, a first recessed portion is provided at a position on the top plate corresponding to the first magnetic conductive body, the first magnetic conductive body being recessed in a direction away from the movable member, and the first magnetic conductive body is provided within the first recessed portion.The mounting portion of each movable member is provided at a position corresponding to its second magnetic conductive body with a second recessed portion recessed in a direction away from the stator, and the second magnetic conductive body is provided within the second recessed portion. [Effects of the Invention]

[0018] Compared with the prior art, the linear actuator of the present invention has a first position feedback unit for each mover, and a plurality of second position feedback units are spaced apart at positions corresponding to the first position feedback units of the stator. One of the first position feedback units is provided with an indication symbol, and the second position feedback unit is used to read the position information of the first position feedback unit and is configured to be able to read the indication symbol. In this way, when identifying a mover, the second position feedback unit reads the indication symbol to determine the position of the corresponding mover. When numbering all the movers, all the movers can be sorted according to the mover whose position information has been obtained, so that the numbering of all the movers can be completed. When identifying movers based on this linear actuator, the method of identifying movers can be simplified, and there is no need to add extra sensors, which also reduces the cost of the linear actuator. [Brief explanation of the drawings]

[0019] In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the following will briefly describe the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can further obtain other drawings based on these drawings without any creative work.

[0020] [Figure 1]1 is a schematic diagram illustrating the overall configuration of a linear driving device provided by an embodiment of the present invention. [Figure 2] 1 is an exploded schematic diagram of a linear driving device according to an embodiment of the present invention; [Figure 3] FIG. 3 is an enlarged view of the configuration of part A shown in FIG. 2. [Figure 4] 1 is a front view of the configuration of a linear driving device provided by an embodiment of the present invention; [Figure 5] FIG. 5 is a cross-sectional view taken along the line BB shown in FIG. [Figure 6] 1 is a schematic diagram illustrating the configuration of a mover and its peripheral members in a linear driving device according to an embodiment of the present invention; [Figure 7] 1 is a simplified plan view of a first position feedback unit and a second position feedback unit in a linear driving device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in more detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to illustrate the present invention, and are not intended to limit the present invention.

[0022] An embodiment of the present invention provides a linear driving device 100, which, as shown in FIGS. 1 to 7, includes a stator 1, a mover 2, a driving unit 3, a first position feedback unit 4, and a plurality of second position feedback units 5.

[0023] Here, there are multiple movers 2, all of which are slidably mounted on the stator 1; a drive unit 3 is used to drive the multiple movers 2 so that they slide along the extension direction of the stator 1; there are multiple first position feedback units 4, each of which is provided with one first position feedback unit 4, and one of the first position feedback units 4 is provided with a marking symbol 41; there are multiple second position feedback units 5, all of which are provided on the stator 1 and arranged at intervals; the second position feedback units 5 are provided corresponding to the first position feedback units; the second position feedback units 5 are used to read the position information of the first position feedback units and are capable of reading the marking symbol 41.

[0024] When any one of the second position feedback units 5 reads the marking symbol 41, the second position feedback unit 5 confirms the position of the corresponding mover 2, and the mover 2 whose position has been confirmed is used as the starting point to sort all the movers 2 according to the position order of the other movers 2 in the linear driving device 100, thereby completing the numbering of all the movers 2.

[0025] The second position feedback unit 5 is provided corresponding to the first position feedback unit 4, and it is sufficient if the second position feedback unit 5 can cooperate with the first position feedback unit 4 to feed back the position of the mover 2. It can also be understood that the second position feedback unit 5 is provided directly opposite the first position feedback unit 4.

[0026] The numbers of the movers 2, the first position feedback units 4 and the second position feedback units 5 can be set according to actual needs, and are not specifically limited here.

[0027] In this embodiment, the stator 1 includes a bottom plate 11, side plates 12 arranged perpendicular to the bottom plate 11, a top plate 13 arranged on the side of the side plates 12 away from the bottom plate 11 and parallel to the bottom plate 11, and a fixed plate 14 connected perpendicularly to the bottom plate 11 and the top plate 13. The plurality of first position feedback units 4 are respectively arranged on the sides of the plurality of movers 2 close to the fixed plate 14, and the plurality of second position feedback units 5 are arranged on the fixed plate 14 at intervals.

[0028] Here, the edge of the top plate 13 is connected to the edge of the side plate 12, and the fixing plate 14 is provided at a distance from the side plate 12.

[0029] The plurality of second position feedback units 5 are uniformly arranged on the fixed plate 14 along the length direction of the guide rail 15 .

[0030] In this embodiment, mounting grooves 141 are formed on the fixed plate 14 at positions corresponding to the second position feedback units 5, and the second position feedback units 5 are fixedly mounted in the mounting grooves 141. In this way, the second position feedback units 5 can be easily installed, and there is no need to provide additional space for arranging the second position feedback units 5.

[0031] In this embodiment, a guide rail 15 is provided on the side of the bottom plate 11 close to the top plate 13, and at least two pulleys 21 are provided at intervals on the side of each mover 2 close to the guide rail 15, and the at least two pulleys 21 on each mover 2 abut on both sides of the guide rail 15, respectively, and form a sliding connection. This can facilitate the sliding action between the mover 2 and the stator 1.

[0032] Here, at least one pulley 21 is provided on each of the two sides of the guide rail 15 corresponding to each of the movers 2 .

[0033] A first slide groove 151 is formed on both sides of the guide rail 15 and is recessed inward, and a second slide groove 211 is formed on the peripheral wall of the pulley 21 and is recessed inward, with one side wall of the second slide groove 211 on the pulley 21 being slidably arranged within the first slide groove 151, and one side wall of the first slide groove 151 on the guide rail 15 being slidably arranged within the second slide groove 211.

[0034] In this embodiment, each mover 2 includes a fixed portion 22 spaced apart from the stator 1, two slide plates 23 spaced apart from each other on a side of the fixed portion 22 close to the guide rail 15, a mounting portion 24 on a side of the fixed portion 22 away from the bottom plate 11, an extension portion 25 on a side of the mounting portion 24 close to the fixed plate 14, and a T-shaped structural portion 26 on a side of the mounting portion 24 away from the fixed plate 14. The two slide plates 23 in each mover 2 abut on both sides of the guide rail 15 to form a sliding connection, and the two slide plates 23 in each mover 2 are spaced apart from their corresponding pulleys 21. The T-shaped structural portion 26 extends to the side of the top plate 13 away from the bottom plate 11 and is spaced apart from the top plate 13. In each movable element 2, the pulley 21 is provided on the side of its fixed portion 22 that is close to the guide rail 15, and in each movable element 2, the first position feedback unit 4 is provided on the side of its extension portion 25 that is close to the fixed plate 14.

[0035] Here, a third slide groove 231 is formed by recessing inward at the position of one side wall corresponding to the first slide groove 151 of the slide plate 23, and one side wall of the first slide groove 151 in the guide rail 15 is arranged so as to be able to slide within the third slide groove 231.

[0036] In this embodiment, the four pulleys 21 in each movable element 2 are arranged in pairs on both sides of the guide rail 15, and the first position feedback units in each movable element 2 are all arranged on the side of the extension portion 25 closest to the fixed plate 14.

[0037] Here, the two slide plates 23 in each mover 2 are both provided symmetrically, and both are provided between the two pulleys 21 on the same side of the corresponding guide rail 15 on each mover 2.

[0038] In this embodiment, the drive unit 3 includes a plurality of coils 31 provided on the side of the top plate 13 closest to the bottom plate 11, and magnetic steel 32 provided on the mounting portion 24 of each movable element 2, and the magnetic steel 32 and the coils 31 are provided at corresponding positions and spaced apart.

[0039] The number of coils 31 is not specifically limited and may be determined according to actual needs, but the coils 31 are arranged at uniform intervals along the length of the guide rail 15.

[0040] In this embodiment, the drive unit 3 further includes a first magnetic conductive body 33 provided between the top plate 13 and the plurality of coils 31, and a second magnetic conductive body 34 provided between the corresponding mounting portion 24 and the magnetic steel 32. A plurality of protrusions 331 are provided at intervals on the side of the first magnetic conductive body 33 that is close to the bottom plate 11 and protrudes toward the mover 2. Each coil 31 is wound around one of the protrusions 331. There are a plurality of magnetic steel pieces 32, and they are arranged at intervals on the second magnetic conductive body 34. This strengthens the magnetic force between the coils 31 and the magnetic steel 32, making it easier to drive the mover 2 to slide along the guide rail 15.

[0041] Here, the first magnetic conductive body 33 may have an integral structure or may be made up of multiple members closely arranged. The second magnetic conductive body 34 may have an integral structure or may be made up of multiple members closely arranged. The multiple magnetic steel pieces 32 are uniformly arranged on the second magnetic conductive body 34 and are arranged along the length direction of the guide rail 15.

[0042] In this embodiment, a first recess 131 recessed in a direction away from the mover 2 is provided at a position of the top plate 13 corresponding to the first magnetic conductive body 33, and the first magnetic conductive body 33 is provided within the first recess 131. A second recess 241 recessed in a direction away from the stator 1 is provided at a position of the mounting portion 24 of each mover 2 corresponding to the second magnetic conductive body 34, and the second magnetic conductive body 34 is provided within the second recess 241. This makes it easy to mount and fix the first magnetic conductive body 33 and the second magnetic conductive body 34, and does not require additional space for arranging them.

[0043] In this embodiment, the first position feedback unit 4 is a grid ruler, which is one of an incremental target grid or magnetic grid and an absolute grid or magnetic grid. The second position feedback unit 5 is a read head corresponding to the first position feedback unit 4.

[0044] Here, the marking symbol 41 is a marking symbol or a marking position that can be read by the read head in the first position feedback unit 4, and the specific embodiment of the marking symbol is not particularly limited.

[0045] In this embodiment, the first position feedback unit 4 is a grid ruler, and the second position feedback unit 5 is a read head corresponding to the grid ruler. Each of the plurality of read heads directly faces the grid ruler of each mover 2.

[0046] In this embodiment, the plurality of read heads and the plurality of coils 31 are electrically connected to an external device or system via a plurality of transmission lines 6, respectively.

[0047] The operating principle is as follows: when all the movers 2 move in one direction, the read head reads the position information of the grid ruler in real time. When a read head identifies a marking symbol 41, it is possible to determine the position of that mover 2. Then, all the movers 2 are sorted according to the positional order of all the movers 2 in the linear actuator 100, thereby completing the numbering of all the movers 2. When actually used, it is also possible to comprehensively determine whether the marking symbol identified by the read head is valid based on multiple pieces of information.

[0048] Compared to the prior art, the linear actuator 100 of this embodiment has one first position feedback unit 4 for each mover 2, and multiple second position feedback units 5 spaced apart at positions on the stator 1 corresponding to the first position feedback units 4. One of the first position feedback units 4 is provided with a marking symbol 41, and the second position feedback unit is used to read the position information of the first position feedback unit 4 and is capable of reading the marking symbol 41. In this way, when identifying a mover 2, the second position feedback unit 5 reads the marking symbol 41 to determine the corresponding position of the mover 2. After that, all movers 2 are numbered, and the numbering of all movers 2 is completed by sorting all movers 2 based on the movers 2 whose position information has been obtained. Identifying movers 2 using the linear actuator 100 simplifies the method for identifying movers 2 and eliminates the need for additional sensors, thereby reducing the cost of the linear actuator 100.

[0049] The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. All modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention. [Explanation of symbols]

[0050] 100, linear drive device; 1, stator; 11, bottom plate; 12, side plate; 13, top plate; 131, first recess portion; 14, fixed plate; 141, mounting groove; 15, guide rail; 151, first slide groove; 2, mover; 21, pulley; 211, second slide groove; 22, fixed portion; 23, slide plate; 231, third slide groove; 24, mounting portion; 241, second recess portion; 25, extension portion; 26, T-shaped structure portion; 3, drive unit; 31, coil; 32, magnetic steel; 33, first magnetic conductive body; 331, protrusion portion; 34, second magnetic conductive body; 4, first position feedback unit; 41, marking symbol; 5, second position feedback unit; 6, transmission line.

Claims

1. A linear drive device, The rotor includes a stator, a mover, a drive unit, a first position feedback unit, and a second position feedback unit; There are a plurality of the movers, and each of them is slidably provided on the stator, the drive unit is used to drive the plurality of movers so that they slide along an extension direction of the stator, There are a plurality of the first position feedback units, each of the movable elements is provided with one of the first position feedback units, and one of the first position feedback units is provided with an indication symbol; the second position feedback units are provided in plurality, and the plurality of second position feedback units are respectively provided on the stator and arranged at intervals, the second position feedback units are provided corresponding to the first position feedback units, the second position feedback units are used to read position information of the first position feedback units, and are capable of reading the marking symbols; when any one of the second position feedback units reads the marking symbol, the second position feedback unit confirms the position of the corresponding mover, and, starting from the mover whose position has been confirmed, numbers all of the movers according to the position order of the other movers in the linear drive device, thereby completing numbering of all of the movers.

2. 2. The linear drive device of claim 1, wherein the first position feedback unit is one of an incremental grating or magnetic grid and an absolute grating or magnetic grid, and the second position feedback unit is a read head corresponding to the first position feedback unit.

3. The stator includes a bottom plate, a top plate provided parallel to the bottom plate at a distance, and a fixed plate connecting the bottom plate and the top plate, and the plurality of first position feedback units are provided on the sides of the plurality of movers adjacent to the fixed plate, and the plurality of second position feedback units are provided on the sides of the plurality of movers adjacent to the fixed plate.

2. The linear drive device according to claim 1, wherein the feedback unit is provided on the fixed plate at a distance from the fixed plate.

4. 4. The linear drive device according to claim 3, wherein the fixed plate has mounting grooves formed at positions corresponding to the second position feedback units, and each mounting groove has one of the second position feedback units fixedly mounted therein.

5. 4. The linear driving device according to claim 3, wherein a guide rail is provided on a side of the bottom plate close to the top plate, and at least two pulleys are provided at intervals on a side of each of the movers close to the guide rail, the at least two pulleys of each of the movers respectively abutting on both sides of the guide rail and forming a sliding connection, and the movers can freely slide below the stator by the cooperation of the pulleys and the guide rail.

6. 6. The linear drive device according to claim 5, wherein each of the movable elements includes a fixed portion spaced apart from the stator, two slide plates spaced apart from each other on a side of the fixed element close to the guide rail, an attachment portion on a side of the fixed element away from the bottom plate, an extension portion on the attachment portion close to the fixed plate, and a T-shaped structure portion on the attachment portion away from the fixed plate, wherein the two slide plates in each movable element abut on both sides of the guide rail and form a sliding connection, the two slide plates in each movable element are spaced apart from the corresponding pulley, and the T-shaped structure portion extends to a side of the top plate away from the bottom plate and is spaced apart from the top plate, the pulleys in each movable element are all located on the side of the fixed element close to the guide rail, and the first position feedback units in each movable element are all located on the side of the extension portion close to the fixed plate.

7. 7. The linear drive device according to claim 6, wherein each of the movable elements has four pulleys, the four pulleys of each movable element are arranged in pairs and abut on both sides of the guide rail, and the slide plate is provided between the pulleys of each pair.

8. 7. The linear drive device according to claim 6, wherein the drive unit includes a plurality of coils provided on a side of the top plate close to the bottom plate, and magnetic steel provided on the mounting portion of each of the movers, the magnetic steel and the coils being provided at corresponding positions and spaced apart.

9. The linear drive device described in claim 8, characterized in that the drive unit includes a first magnetic body arranged between the top plate and the multiple coils, and a second magnetic body arranged between the corresponding mounting portion and the magnetic steel, and on the side of the first magnetic body closest to the bottom plate, multiple protrusions are arranged at intervals so as to protrude toward the movable member, each of the coils is wound around one of the protrusions, and there are multiple pieces of magnetic steel and they are arranged at intervals on the second magnetic body.

10. 10. The linear driving device of claim 9, wherein a first recess formed by recessing in a direction away from the movable member is provided at a position of the top plate corresponding to the first magnetic conductive body, the first magnetic conductive body being provided within the first recess, and a second recess formed by recessing in a direction away from the stator is provided at a position of the mounting portion of each movable member corresponding to the second magnetic conductive body, the second magnetic conductive body being provided within the second recess.

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