CN119490034A - Guide rail of linear transmission device and design method thereof, linear transmission device - Google Patents

Abstract

The application relates to a guide rail of a linear transmission device, a design method of the guide rail and the linear transmission device. The guide rail design method comprises the steps of determining a pre-motion track of an outer roller of a rotor assembly on a first outer side surface when the inner roller of the rotor assembly moves along the first inner side surface, determining a contour line of the first outer side surface based on the pre-motion track of the outer roller, and creating a three-dimensional geometric model of a circular arc section based on the contour line of the first outer side surface. According to the guide rail design method, the outline of the first outer side face is determined by simulating the pre-movement track of the outer roller of the rotor assembly on the first outer side face when the inner roller of the rotor assembly moves along the first inner side face, and then the three-dimensional geometric model of the guide rail is determined based on the outline of the first outer side face, so that the outer roller of the rotor assembly can always move along the arc section and constantly pre-press-contact with the guide rail when the rotor assembly moves from the straight line section to the arc section, the rigidity and the stability of the device are improved, and noise can be effectively reduced.

Description

Guide rail of linear transmission device, design method of guide rail and linear transmission device

Technical Field

The application relates to the technical field of conveying devices, in particular to a guide rail of a linear conveying device, a design method of the guide rail and the linear conveying device.

Background

With the development of the manufacturing technology toward high productivity and high precision, the conventional linear transmission device using a rotary motor as a driving member and gears, chains, belts, etc. as a transmission member is gradually replaced with a new linear transmission device. Compared with the traditional linear transmission device, the novel linear transmission device can directly adopt electromagnetic thrust generated by a linear motor (also known as a stator) to drive a moving part (also known as a rotor) to drive a load to move along a guide rail, so that an intermediate transmission link is omitted, the structural complexity is reduced, and the response speed and the movement precision are improved.

The guide rail that traditional linear transmission device adopted often is formed by straight line section and circular arc section concatenation, when the active cell by straight line section to circular arc section motion in-process, because centrifugal force effect, the gyro wheel on the active cell often breaks away from orbital motion, until get into circular arc section back again with track contact completely, causes the device to produce too big vibration and noise.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a guide rail of a linear transport device, a design method thereof, and a linear transport device.

A guide rail design method of a linear transmission device comprises a linear section and an arc section which are spliced, wherein the arc section is provided with a first inner side surface and a first outer side surface, and the guide rail design method comprises the following steps:

when the inner roller of the rotor assembly moves along the first inner side surface, determining a pre-movement track of the outer roller of the rotor assembly on the first outer side surface;

Determining a contour line of the first outer side surface based on the pre-motion track of the outer roller;

And creating a three-dimensional geometric model of the arc section based on the contour line of the first outer side surface.

In one embodiment, the first outer side has a first guide adjacent the straight section and a second guide remote from the straight section;

The method comprises the steps of determining a pre-motion track of an outer roller of the rotor assembly on the first outer side surface, wherein the pre-motion track of the outer roller on the first guide part is determined when part of the inner roller moves along the first inner side surface and the rest part of the inner roller moves along the inner side surface of the straight line section;

The determining of the contour line of the first outer side surface comprises determining the contour line of the first guide part based on the first pre-movement track and determining the contour line of the second guide part based on the second pre-movement track.

In one embodiment, the first pre-motion profile and/or the second pre-motion profile is determined by:

Selecting the center of the center line of the first inner side surface as an origin, and constructing an x-y coordinate system by using the plane where the first inner side surface is positioned;

determining the coordinates of the projection center of the inner roller on the first inner side surface;

and determining the coordinates of a contact point of the outer roller and the first outer side surface based on the coordinates of the projection center of the inner roller, and determining a first pre-motion track and/or the second pre-motion track based on the coordinates of the contact point.

In one embodiment, the first outer side surface and the first inner side surface are both distributed in an inclined manner, two inner rollers are arranged along the moving direction of the rotor assembly, one outer roller is arranged, and two connecting lines between the projection center of the inner rollers on the first inner side surface and the contact points of the outer rollers and the first outer side surface are enclosed to form an isosceles triangle;

The method comprises the steps of obtaining the height of an isosceles triangle, the bottom side length of the isosceles triangle, the radius of the central line of the first inner side surface, the projection radius of the inner roller on the first inner side surface and an included angle between a connecting line of the projection center of the inner roller firstly moving to the first inner side surface and the center of the circle and a coordinate axis, and calculating to obtain the coordinates of the projection centers of the inner rollers of the two first inner side surfaces;

The determining the coordinates of the contact point of the outer roller and the first outer side surface comprises calculating the coordinates of the contact point based on the height of the isosceles triangle, the projection radius of the inner roller on the first inner side surface and the coordinates of the two inner rollers.

In one embodiment, when a part of the inner roller moves along the first inner side surface and the rest of the inner roller moves along the inner side surface of the straight line segment, the coordinates of the contact point between the outer roller and the first outer side surface are calculated by the following formula:

Wherein p (x _p,y_p) is the coordinate of the contact point, p1 (x _p1,y_p1) is the coordinate of the projection center of the inner roller which moves to the first inner side surface, p2 (x _p2,y_p2) is the coordinate of the projection center of the inner roller which moves to the first inner side surface, h is the height of the isosceles triangle, D is the bottom side length of the isosceles triangle, R is the radius of the central line of the first inner side surface, R is the projection radius of the inner roller on the first inner side surface, θ is the included angle between the connecting line of the projection center of the inner roller which moves to the first inner side surface to the center of the circle and the coordinate axis,

In one embodiment, when all the inner rollers move along the first inner side, the coordinates of the contact point between the outer roller and the first outer side are calculated by the following formula:

In the formula,

In one embodiment, the guide rail design method further comprises the steps of obtaining the radius of the central line of the first inner side surface and determining the contour line of the first inner side surface based on the radius of the central line of the first inner side surface;

the creating the three-dimensional geometric model of the circular arc segment comprises determining the three-dimensional geometric model of the circular arc segment based on the contour line of the first inner side surface and the contour line of the first outer side surface.

A guide rail for a linear conveyor, the guide rail comprising straight line segments and circular arc segments that are joined together, the three-dimensional geometric model of the circular arc segments being determined by the guide rail design method as described in any one of the above.

The linear transmission device comprises a stator assembly, a rotor assembly and the guide rail, wherein the stator assembly can generate electromagnetic thrust to the rotor assembly so as to drive inner and outer rollers of the rotor assembly to move along the guide rail, and the inner and outer rollers of the rotor assembly are in constant-pressure contact with the guide rail when moving.

In one embodiment, the upper end and the lower end of the circular arc section of the guide rail are respectively provided with a first inner side surface and a first outer side surface, the first inner side surface and the first outer side surface of the same end are obliquely arranged, a connecting surface is arranged between the first inner side surface and the first outer side surface, the first inner side surface of the upper end and the lower end, the first outer side surface of the upper end and the first outer side surface of the upper end are symmetrically distributed on two sides of the central axis of the rotor assembly, and/or,

The inner rollers at the same end of the power assembly are arranged in two along the moving direction of the rotor assembly, one outer roller is arranged, and the connecting lines between the projection center of the corresponding first inner side surface of the two inner rollers and the contact points of the corresponding outer rollers and the corresponding first outer side surface are enclosed to form an isosceles triangle.

According to the guide rail of the linear transmission device, the design method of the guide rail and the linear transmission device, the outline of the first outer side face is determined by simulating the pre-motion track of the outer roller of the rotor assembly on the first outer side face when the inner roller of the rotor assembly moves along the first inner side face, and then the three-dimensional geometric model of the guide rail is determined based on the outline of the first outer side face, so that the outer roller of the rotor assembly can always move along the first outer side face of the circular arc section in the process of moving from the straight line section to the circular arc section without leaving the circular arc section due to centrifugal force, the inner roller and the outer roller of the rotor assembly are respectively in constant pre-compression contact with the first inner side face and the outer side face of the guide rail, the rigidity and the stability of the device are improved, and noise can be effectively reduced.

Drawings

Fig. 1 is a schematic structural diagram of a linear transmission device according to an embodiment of the application.

Fig. 2 is a top view of the guide rail of the linear transport device provided in fig. 1.

Fig. 3 is a schematic cross-sectional view of a circular arc section of the guide rail provided in fig. 2.

Fig. 4 is a schematic cross-sectional view of a circular arc straight line segment of the guide rail provided in fig. 2.

FIG. 5 is a flow chart of a method for designing a guide rail according to an embodiment of the application;

Fig. 6 is a schematic diagram illustrating the cooperation between the guide rail and the mover assembly of the linear transmission device shown in fig. 1.

Fig. 7 is a schematic perspective view of a mover assembly of the linear transmission device provided in fig. 1.

Fig. 8 is a side view of a subassembly of the linear transport device provided in fig. 1.

Fig. 9 is a schematic diagram of the design of the guide rail of the linear conveyor provided in fig. 1.

Fig. 10 is a side view of a circular arc section of the guide rail provided in fig. 2.

Fig. 11 is a schematic structural view of a linear stator unit of the linear transmission device provided in fig. 1.

Fig. 12 is a schematic structural view of a circular arc stator unit of the linear transmission device provided in fig. 1.

Wherein, the reference numerals in the drawings are as follows:

10. The linear transmission device comprises a linear transmission device body 100, a guide rail body 110, a linear section, a second inner side surface 112, a second outer side surface 120, an arc section 121, a first inner side surface 122, a first outer side surface 123, a connecting surface 200, a rotor assembly 210, an inner roller 220, an outer roller 230, a base 231, a first installation part 231a, a first notch 232, a second installation part 232a, a second notch 233, a connecting part 240, an upper magnetic piece 241, a first back iron 242, a first permanent magnet array 250, a lower magnetic piece 251, a second back iron 252, a second permanent magnet array 260, an anti-collision part 270, a sensor 300, a stator assembly 310, a linear stator unit 311, a coil base 312, a coil structure 313, a cover plate 314, a driving control circuit 315, a sensor control circuit 320, an arc stator unit 400, a stator base 500, a guide rail base M and a central axis.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, they may be fixedly connected, detachably connected or integrally formed, mechanically connected, electrically connected, directly connected or indirectly connected through an intermediate medium, and communicated between two elements or the interaction relationship between two elements unless clearly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

The novel linear transmission device directly adopts electromagnetic thrust generated by a linear motor (also known as a stator assembly) to drive a moving part (also known as a rotor assembly) to drive a load to move along a guide rail, so that the novel linear transmission device has the characteristics of simple structure, high response speed, high movement precision and the like, and is widely applied to industries such as automatic production lines, packaging and transportation, assembly automation, screen printing and the like.

The guide rail is used as a guide structure of the linear transmission device and mainly plays a role in guiding the movement of the rotor assembly. The guide rail typically has an inner side for providing movement of the inner roller of the subassembly and an outer side for providing movement of the outer roller of the subassembly.

Existing guide rails are often formed by splicing straight line segments and circular arc segments, for example, into a runway structure. For the convenience of production and processing, the cross-sectional dimension of the arc segment is generally designed to be the same as that of the straight line segment, that is, the two segments share a cross section, so that the inner side surface and the outer side surface of the arc segment are both arc surfaces with constant diameters (the radius is a constant value). However, when the mover assembly moves from the straight line section to the circular arc section, the outer roller of the mover assembly often breaks away from the outer side surface of the circular arc section due to the centrifugal force until the mover assembly completely enters the circular arc section and then contacts with the circular arc section again, so that excessive vibration and noise are generated by the device.

In this regard, in one aspect, the present application provides a rail design method for designing the dimensions of the rail 100 of the linear transporter 10 shown in fig. 1, specifically, designing the circular arc segment 120 of the rail 100 such that the inner and outer rollers 220 of the mover assembly 200 both move along the rail 100 and are in constant pressure contact with the rail 100 during the movement of the mover assembly 200 from the linear segment 110 of the rail 100 to the circular arc segment 120. As shown in fig. 2, the guide rail 100 includes a straight line segment 110 and an arc segment 120 that are spliced, the straight line segment 110 has a second inner side 111 and a second outer side 112 (see fig. 4), the arc segment 120 has a first inner side 121 and a first outer side 122 (see fig. 3), the second inner side 111 and the first inner side 121 move with an inner roller 210 of the sub-assembly 200, and the second outer side 112 and the first outer side 122 move with an outer roller 220 of the sub-assembly 200.

Specifically, in some embodiments of the present application, as shown in fig. 5, the guide rail design method includes:

In step S100, when the inner roller 210 of the sub-assembly 200 moves along the first inner side 121, a pre-movement track of the outer roller 220 of the sub-assembly 200 on the first outer side 122 is determined.

Step S200, determining the contour line of the first outer side 122 based on the pre-motion track of the outer roller 220.

Step S300, creating a three-dimensional geometric model of the arc segment 120 based on the contour line of the first outer side surface 122.

According to the guide rail design method, the outline of the first outer side surface 122 is determined by simulating the pre-movement track of the outer roller 220 of the rotor assembly 200 on the first outer side surface 122 when the inner roller 210 of the rotor assembly 200 moves along the first inner side surface 121, and then the three-dimensional geometric model of the guide rail 100 is determined based on the outline of the first outer side surface 122, so that the outer roller 220 of the rotor assembly 200 can always move along the first outer side surface 122 of the circular arc section 120 in the process of moving the rotor assembly 200 from the straight line section 110 to the circular arc section 120, and does not leave the circular arc section 120 due to centrifugal force, so that the inner roller 220 and the outer roller 220 of the rotor assembly 200 are in constant pre-pressing contact with the first inner side surface and the first outer side surface of the guide rail 100 respectively, the rigidity and the stability of the device are improved, and noise can be effectively reduced.

To facilitate the stator assembly 300 to apply electromagnetic thrust to the mover assembly 200, as shown in fig. 1, an edge portion of the stator assembly 300 may extend between the upper magnetic element 240 and the lower magnetic element 250 of the mover assembly 200, and the stator assembly 300 may generate a magnetic excitation field when a magnetic excitation current is applied thereto, which interacts with permanent magnetic fields generated by permanent magnet arrays of the upper and lower magnetic elements to form electromagnetic thrust, thereby driving the mover assembly 200 to move. As shown in fig. 6 to 8, the upper and lower ends of the mover assembly 200 are respectively provided with an inner roller 210 and an outer roller 220, the inner roller 210 and the outer roller 220 at the upper end can move along the upper end of the guide rail 100, and the inner roller 210 and the outer roller 220 at the lower end can move along the lower end of the guide rail 100, so that the stator assembly 300 can move along the guide rail 100 more effort-saving and more smooth. It can be understood that the upper end of the guide rail 100 is provided with a first inner side 121 and a first outer side 122, and the lower end of the guide rail 100 is provided with a first inner side 121 and a first outer side 122.

As shown in fig. 7, the number of inner rollers 210 and outer rollers 220 on the same end of the mover assembly 200 may be 3, the number of inner rollers 210 is generally triangular, specifically, the number of inner rollers 210 is 2 along the moving direction of the mover assembly 200, the number of outer rollers 220 is 1, and the number of outer rollers 220 is between the two inner rollers 210, or the number of inner rollers 210 and outer rollers 220 on the same end of the mover assembly 200 may be 4, the number of inner rollers 210 is generally trapezoidal, specifically, the number of inner rollers 210 is 2 along the moving direction of the mover assembly 200, the number of outer rollers 220 is smaller than the number of inner rollers 210. Alternatively, as shown in fig. 8, the inner roller 210 at the upper end and the inner roller 210 at the lower end are symmetrically distributed about the central axis M of the mover assembly 200, and the outer roller 220 at the upper end and the outer roller 220 at the lower end are symmetrically distributed about the central axis M of the mover assembly 200.

Whether the inner rollers 210 and the outer rollers 220 on the same end of the mover assembly 200 are arranged in a triangle or trapezoid, one inner roller 210 moves from the straight line segment 110 to the circular arc segment 120, then the outer roller 220 and finally the other inner roller 210, that is, the whole moving process of the mover assembly 200 in the process of moving from the straight line segment 110 to the circular arc segment 120 can be divided into two stages, wherein the first stage is that one inner roller 210 enters the circular arc segment 120 and the other inner roller 210 does not enter the circular arc segment 120, at this time, the outer roller 220 moves on a first guide part adjacent to the straight line segment 110 in a first outer side 122 of the circular arc segment 120, and the second stage is that both inner rollers 210 enter the circular arc segment 120, at this time, the outer roller 220 moves on a second guide part far away from the straight line segment 110 in the first outer side 122 of the circular arc segment 120. It should be noted that the first outer side 122 has a first guiding portion adjacent to the straight line segment 110 and a second guiding portion far from the straight line segment 110.

In order to accurately determine the pre-movement track of the outer roller 220 on the first outer side 122 of the guide rail 100, the present application determines the pre-movement track of the outer roller 220 in each movement stage one by one, specifically, in some embodiments, the step S100 may include determining a first pre-movement track of the outer roller 220 on the first guide portion when a part of the inner roller 210 moves along the first inner side 121 and the rest of the inner roller 210 moves along the second inner side 111 of the straight line segment 110, the step S120 determining a second pre-movement track of the outer roller 220 on the second guide portion when all of the inner rollers 210 move along the first inner side 121, and the step S200 may include determining a contour line of the first guide portion based on the first pre-movement track, and the step S220 determining a contour line of the second guide portion based on the second pre-movement track, respectively. In this way, the contour of the first outer side 122 of the guide rail 100 can be precisely obtained, so that the outer roller 220 can be in constant pre-pressing contact with the first outer side 122 of the guide rail 100, both in the first movement phase and in the second movement phase. It should be noted that, the step 210 may be intermodulation with the execution sequence of the step 120, or intermodulation with the execution sequence of the step 220.

In one embodiment, the first pre-motion profile may be determined by:

Step S211, selecting the center of the first inner side surface 121 as an origin, and constructing an x-y coordinate system by using the plane where the first inner side surface 121 is located;

step S212, determining the coordinates of the projection center of the inner roller 210 on the first inner side 121;

In step S213, the coordinates of the contact point between the outer roller 220 and the first outer side 122 are determined based on the coordinates of the projection center of the inner roller 210, and the first pre-movement track is determined based on the coordinates of the contact point.

The method can determine the coordinates of the contact point between the outer roller 220 and the first outer side 122 only based on the coordinates of the projection center of the inner roller 210, so as to obtain the first pre-movement track, and the whole determination method is simpler. The second pre-movement track is determined in the same manner as the first pre-movement track.

Regarding step S211, considering that the inner roller 210 does not drop from the first inner side 121 of the guide rail 100 due to the centrifugal force during the movement of the mover assembly 200 from the straight line segment 110 to the circular arc segment 120, the first inner side 121 of the guide rail 100 may be configured as an equal-diameter circular arc structure, i.e., the center line of the first inner side 121 has a center, so that the whole design method may be simplified, and only the contour line of the first outer side 122 may be determined when creating the three-dimensional geometric model of the guide rail 100.

Alternatively, as shown in fig. 9, the x-axis in the x-y coordinate system is directed in line with the center line of the first inner side 121, and the y-axis is directed in line with the boundary line of the first inner side 121 and the second inner side 111.

For step S212, the positional relationship between the first inner side 121 and the first outer side 122 of the circular arc segment 120 and the positional relationship between the second inner side 111 and the second outer side 112 of the straight line segment 110 may be determined according to the positional relationship between the inner roller 210 and the outer roller 220, as shown in fig. 8, as an example, the wheel shafts of the inner roller 210 and the outer roller 220 at the same end of the sub-assembly 200 are inclined, and accordingly, the first inner side 121 and the first outer side 122 at the same end of the circular arc segment 120 are arranged obliquely. Preferably, the inner roller 210 at the same end of the mover assembly 200 is disposed perpendicular to the axle of the outer roller 220, and the first inner side 121 and the first outer side 122 at the same end of the circular arc segment 120 are disposed perpendicular to each other, so that the projection center of the inner roller 210 on the first inner side 121 and the contact point of the outer roller 220 and the first outer side 122 are located exactly on the same plane, i.e. all located in the x-y coordinate system, and the position relationship between the projection center of the inner roller 210 on the first inner side 121 and the contact point of the outer roller 220 and the first outer side 122 can be directly utilized to determine the coordinates of the contact point of the outer roller 220 and the first outer side 122, so as to determine the first pre-movement track.

In comparison with the case where 1 outer roller 220 is provided at the same end of the sub-assembly 200, not only the structure of the entire transporting device 10 can be simplified, but also the difficulty in determining the contour line of the first outer side 122 can be reduced, and in this case, as shown in fig. 6 and 7, the same end of the sub-assembly 200 is preferably provided with 1 outer roller 220, i.e., the inner roller 210 is provided with two outer rollers 220 in the moving direction of the sub-assembly 200, and one outer roller 220 is provided, and in addition, in order to facilitate determining the coordinates of the contact point of the outer roller 220 with the first outer side 122 based on the positional relationship between the projection center of the inner roller 210 on the first inner side 121 and the contact point of the outer roller 220 with the first outer side 122, as shown in fig. 9, the connection line between the projection center of the two inner rollers 210 on the first inner side 121 (i.e., the point p1 and the point p 12) and the contact point of the outer roller 220 on the first outer side 122 (i.e., the point p 2) is preferably formed into an isosceles triangle, wherein the connection line between the projection center of the two inner rollers 210 on the first inner side 121 and the first inner side 121 (i.e., the point p 2).

Correspondingly, the step S212 may include obtaining the height of the isosceles triangle, the bottom side length of the isosceles triangle, the radius of the center line of the first inner side 121, the projection radius of the inner roller 210 on the first inner side 121, and the included angle between the line of the projection center of the inner roller 210 moving to the first inner side 121 to the center of the circle and the coordinate axis (for example, the y-axis shown in fig. 9), so as to calculate the coordinates of the projection centers of the inner rollers 210 of the two first inner sides 121.

As shown in fig. 9, when a part of the inner rollers 210 moves along the first inner side 121 and the rest of the inner rollers 210 move along the second inner side 111 of the straight line segment 110, the coordinates of the projection centers of the inner rollers 210 of the two first inner sides 121 are:

Wherein p1 (x _p1,y_p1) is the coordinate of the projection center of the inner roller 210 moving to the first inner side 121, p2 (x _p2,y_p2) is the coordinate of the projection center of the inner roller 210 moving to the first inner side 121, h is the height of an isosceles triangle, D is the bottom side length of the isosceles triangle, R is the radius of the center line of the first inner side 121, R is the projection radius of the inner roller 210 on the first inner side 121, θ is the angle between the line connecting the projection center of the inner roller 210 moving to the first inner side 121 to the center of the circle and the coordinate axis,

The height h of the isosceles triangle and the bottom side D of the isosceles triangle may be determined according to the positional relationship between the inner roller 210 and the outer roller 220 and the inclination angle (e.g., 45 °) of the first inner side 121. It should be noted that, the constraint condition for the establishment of the above formula is that, when the upper and lower ends of the arc segment 120 are provided with the first outer side 122 and the first outer side 121, the first inner side 121 and the first outer side 122 at the same end of the arc segment 120 are obliquely arranged and the connecting surface 123 is disposed therebetween, and the first inner sides 121 at the upper and lower ends and the first outer sides 122 at the upper and upper ends are symmetrically distributed at two sides of the central axis M of the mover assembly 200.

Correspondingly, the coordinates of the contact point of the outer roller 220 with the first outer side 122 may be:

in the above formula, p (x _p,y_p) is the coordinate of the contact point.

The first pre-movement path of the outer roller 220 on the first guide of the first outer side 122 can be determined from the coordinates p (x _p,y_p) of the contact point, and thus the contour of the first guide of the first outer side 122 can be determined, i.e., the contour equation of the first guide can be expressed by the coordinates p (x _p,y_p) of the contact point.

When all the inner rollers 210 move along the first inner sides 121, the coordinates of the projection centers of the inner rollers 210 of the two first inner sides 121 are:

In the formula,

Correspondingly, the coordinates of the contact point of the outer roller 220 with the first outer side 122 are:

It should be noted that, when the upper and lower ends of the arc segment 120 are provided with the first outer side 122 and the first outer side 121, the first inner side 121 and the first outer side 122 of the same end of the arc segment 120 are obliquely arranged, and a connecting surface 123 is disposed therebetween, and the first inner sides 121 of the upper and lower ends and the first outer sides 122 of the upper and lower ends are symmetrically distributed on two sides of the central axis M of the mover assembly 200.

In some embodiments of the present application, the guide rail design method further includes a step S400 of obtaining a radius of a center line of the first inner side surface 121 and determining a contour line of the first inner side surface 121 based on the radius of the center line of the first inner side surface 121, and correspondingly, a step S300 includes determining a three-dimensional geometric model of the guide rail 100 based on the contour line of the first inner side surface 121 and the contour line of the first outer side surface 122. In step S300, a cross section of a predetermined size is scanned based on the contour line of the first inner side 121 and the contour line of the first outer side 122 to obtain a three-dimensional geometric model of the circular arc segment 120. The shape and size of the cross section may be related to the arrangement manner of the inner roller 210 and the outer roller 220 on the mover assembly 200, for example, if the upper end and the lower end of the mover assembly 200 are both provided with the inclined inner roller 210 and the inclined outer roller 220, the cross section may be in an octagonal structure, and the included angle between two adjacent oblique sides is 90 °, that is, the included angle between the first inner side 121 and the first outer side 122 of the same end, the included angle between the two first inner sides 121 of the same side, and the included angle between the two first outer sides 122 of the same side are all 90 °.

The contour line of the first outer side 122 obtained by the above method, as shown in fig. 10, has a curved reducing diameter of the center line of the first outer side 122 that changes first along the direction away from the straight line segment 110, and then tends to be stable, i.e. decreases from R1 to R2, so that the arc segment 120 has a non-uniform cross-section structure, i.e. includes a transition region with a changed curved diameter and a constant arc-shaped region with a constant curved diameter, so that when the mover assembly 200 moves from the straight line segment 110 to the arc segment 120, the outer roller 220 of the mover assembly 200 can also move along the first outer side 122 of the arc segment 120 and is in constant pre-pressing contact with the first outer side 122 of the arc segment 120.

In some embodiments, the rail design method further includes scanning a cross section of a predetermined size in a straight line direction to obtain a three-dimensional geometric model of the straight line segment 110.

In another aspect, as shown in fig. 1, an embodiment of the present application provides a guide rail 100 of a linear transport device 10, wherein a three-dimensional geometric model of a circular arc section 120 of the guide rail 100 is determined by the guide rail design method according to any one of the above.

The arc section 120 of the guide rail 100 obtained by the guide rail design method above ensures that the outer roller 220 of the mover assembly 200 can always move along the first outer side surface 122 of the arc section 120 and does not leave the arc section 120 due to centrifugal force when the mover assembly 200 moves from the straight line section 110 to the arc section 120, so that the inner and outer rollers 220 of the mover assembly 200 are in constant pre-pressing contact with the first inner and outer side surfaces of the guide rail 100, the rigidity and stability of the device are improved, and the noise can be effectively reduced.

On the other hand, as shown in fig. 1, an embodiment of the present application further provides a linear transmission device 10, where the linear transmission device 10 includes a stator assembly 300, a rotor assembly 200 and the guide rail 100 as described above, and the stator assembly 300 is capable of generating electromagnetic thrust to the rotor assembly 200, so as to drive the inner and outer rollers 220 of the rotor assembly 200 to move along the guide rail 100, and the inner and outer rollers 220 of the rotor assembly 200 are in constant pressure contact with the guide rail 100 during movement.

According to the linear transmission device 10, the arc section 120 is set to be of a non-uniform cross-section structure, so that when the rotor assembly 200 moves from the straight line section 110 to the arc section 120, the outer roller 220 of the rotor assembly 200 can always move along the first outer side face 122 of the arc section 120 and does not leave the arc section 120 due to centrifugal force, the inner roller 220 and the outer roller 220 of the rotor assembly 200 are in constant pre-pressing contact with the first inner side face and the outer side face of the guide rail 100, the rigidity and the stability of the device are improved, and noise can be effectively reduced.

In one embodiment, as shown in fig. 8, the sub-assembly 200 may include a base 230, an upper magnetic member 240, and a lower magnetic member 250. As shown in fig. 8, the base 230 may have a substantially U-shaped structure as a supporting member of the mover assembly 200, and includes a first mounting portion 231, a second mounting portion 232, and a connecting portion 233, where the first mounting portion 231 and the second mounting portion 232 are disposed opposite to each other and both have a first end far from the stator assembly 300 and a second end close to the stator assembly 300, the connecting portion 233 is connected to the first end of the first mounting portion 231 and the first end of the second mounting portion 232, the inner roller 210 and the outer roller 220 of the upper end are disposed between the first end and the second end of the first mounting portion 231, and the inner roller 210 and the outer roller 220 of the lower end are disposed between the first end and the second end of the second mounting portion 232. Alternatively, as shown in fig. 8, the first end and the second end of the first mounting portion 231 are respectively provided with a first notch 231a for correspondingly mounting the outer roller 220 and the inner roller 210 which are obliquely arranged, and the first end and the second end of the second mounting portion 232 are respectively provided with a second notch 232a for correspondingly mounting the outer roller 220 and the inner roller 210 which are obliquely arranged.

The base 230 may be made of a metal material with a certain strength and a certain hardness, such as an aluminum alloy. Alternatively, the connecting portion 233 is integrally formed with the first mounting portion 231 and the second mounting portion 232.

As shown in fig. 8, the upper magnetic member 240 is provided on the second end of the first mounting portion 231, and the lower magnetic member 250 is provided on the second end of the second mounting portion 232 and faces the upper magnetic member 240. As an example, as shown in fig. 8, the upper magnetic member 240 may include a first back iron 241 provided on a surface of the first mounting portion 231 facing the second mounting portion 232 and a first permanent magnet array 242 provided on a surface of the first back iron 241 facing the second mounting portion 232, and the lower magnetic assembly may include a second back iron 251 provided on a surface of the second mounting portion 232 facing the first mounting portion 231 and a second permanent magnet array 252 provided on a surface of the second back iron 251 facing the first mounting portion 231.

In one embodiment, as shown in fig. 8, the mover assembly 200 further includes an impact prevention part 260, and the impact prevention part 260 is disposed on at least one of the second end of the first mounting part 231 and the second end of the second mounting. As an example, the second end of the first mounting portion 231 and the second end of the second mounting portion 232 are provided with the anti-collision portion 260. When the linear transmission device 10 is provided with a plurality of sub-assemblies 200, the anti-collision part 260 on the sub-assemblies 200 can absorb the energy generated by the impact through deformation when the sub-assemblies 200 collide with the sub-assemblies 200, so that the impact force is reduced, and the safety of the assemblies and the load is protected.

Alternatively, the anti-collision portion 260 may be made of elastic material such as rubber, and may be fixed by adhesion or the like.

When the mover assembly 200 moves unidirectionally along the guide rail 100, the collision preventing part 260 may be provided only at one side of the first mounting part 231 or the second mounting part 232 in the moving direction, and when the mover assembly 200 moves bidirectionally along the guide rail 100, the collision preventing part 260 may be provided at both sides of the first mounting part 231 or the second mounting part 232 in the moving direction.

In one embodiment, as shown in fig. 8, the sub-assembly 200 further includes a position sensor 270, and the position sensor 270 is disposed on the second end of the first mounting portion 231. When the stator assembly 300 is sequentially spliced by a plurality of stator units along the trend of the guide rail 100, the position of the sub-assembly 200 can be determined by using the position sensor 270, so that the region where the next stator unit to be operated of the sub-assembly 200 is located can be determined, and the stator unit is electrified in advance, thereby ensuring the continuous movement of the sub-assembly 200.

Alternatively, the position sensor 270 may be a position encoder, and may include a mounting base and a reading head, where the mounting base may be mounted on a surface of the first mounting portion 231 far from the second mounting portion 232 by using a screw member such as a screw, and the reading head protrudes above the stator assembly 300.

As shown in fig. 1, in an embodiment, the linear transmission device 10 further includes a stator base 400 and a rail base 500, wherein the stator base 400 is used for mounting the stator assembly 300 and is connected to the rail base 500, and the rail base 500 is used for mounting the rail 100. Optionally, the rail base 500 is connected to the rail base 500 by a screw or the like.

In an embodiment, the stator assembly 300 may include a plurality of stator units that can be sequentially spliced along the track 100 and located inside the track 100. The stator units can be spliced and expanded freely, and the application requirements of clients with any length are met.

The guide rail 100 is formed by splicing a straight line segment 110 and an arc segment 120, and correspondingly, one part of stator units are straight line stator units 310, and the other part of stator units are arc-shaped stator units 320.

To reduce the splice error of the rail 100, the linear segments 110 of the rail 100 are integral and not spliced, which results in the length of the linear segments 110 being greater than the length of the linear stator units 310, e.g., twice the length of the linear segments 110 for the linear transporter shown in FIG. 1. At this time, the stator base 400 may be disposed at an intermediate position in the region surrounded by the guide rail 100 so as to be connected to each stator unit.

As shown in fig. 11, in an embodiment, the linear stator unit 310 includes a cover plate 313, a coil base 311, a coil structure 312, a driving control circuit 314 and a sensor control circuit 315, the coil base 311 is connected with the stator base 400, the coil structure 312 is disposed on a side of the coil base 311 facing away from the stator base 400 and may include a stator core and a coil winding wound on the stator core, the driving control circuit 314 is disposed on a side of the coil base 311 facing the guide rail 100 and is used for supplying exciting current to the coil structure 312 so that the coil structure 312 winding generates an exciting magnetic field, the cover plate 313 is disposed on a side of the coil base 311 facing away from the guide rail 100 and is mainly used for protecting the stator module, and the sensor control circuit 315 is disposed between the cover plate 313 and the coil base 311 and interacts with the position sensor 270 of the mover assembly 200 to determine an area where the next stator unit to be operated by the mover assembly 200 is pre-energized to the stator unit, so as to ensure continuous movement of the mover assembly 200.

Optionally, the center line of the coil structure 312 is aligned with the center line of the straight line segment 110, so that the electromagnetic thrust can be prevented from forming a magnetic bias moment in the moving direction of the mover assembly 200, and the service life of the rollers and the guide rail 100 of the mover assembly 200 can be prolonged.

Wherein the circular arc stator unit 320 has the same structure as the linear stator unit 310. And referring to fig. 12, the center radius R ₁ of the coil structure 312 assembly of the curved stator unit 320 is the same as the starting radius R ₁ of the centerline of the circular arc segment 120 of the guide rail 100 (see fig. 10).

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A guide rail design method of a linear transmission device is characterized in that the guide rail comprises a straight line section and an arc section which are spliced, the arc section is provided with a first inner side surface and a first outer side surface, and the guide rail design method comprises the following steps:

when the inner roller of the rotor assembly moves along the first inner side surface, determining a pre-movement track of the outer roller of the rotor assembly on the first outer side surface;

Determining a contour line of the first outer side surface based on the pre-motion track of the outer roller;

And creating a three-dimensional geometric model of the arc section based on the contour line of the first outer side surface.

2. The guide rail design method of claim 1, wherein the first outer side has a first guide adjacent the straight section and a second guide remote from the straight section;

The method comprises the steps of determining a pre-motion track of an outer roller of the rotor assembly on the first outer side surface, wherein the pre-motion track of the outer roller on the first guide part is determined when part of the inner roller moves along the first inner side surface and the rest part of the inner roller moves along the inner side surface of the straight line section;

The determining of the contour line of the first outer side surface comprises determining the contour line of the first guide part based on the first pre-movement track and determining the contour line of the second guide part based on the second pre-movement track.

3. The guide rail design method according to claim 2, characterized in that the first pre-movement trajectory and/or the second pre-movement trajectory is determined by:

Selecting the center of the center line of the first inner side surface as an origin, and constructing an x-y coordinate system by using the plane where the first inner side surface is positioned;

determining the coordinates of the projection center of the inner roller on the first inner side surface;

and determining the coordinates of a contact point of the outer roller and the first outer side surface based on the coordinates of the projection center of the inner roller, and determining a first pre-motion track and/or the second pre-motion track based on the coordinates of the contact point.

4. The guide rail design method according to claim 3, wherein the first outer side surface and the first inner side surface are both distributed in an inclined manner, a connecting surface is arranged between the first outer side surface and the first inner side surface, two inner rollers are arranged in the moving direction of the rotor assembly, one outer roller is arranged, and two connecting lines between the projection center of the two inner rollers on the first inner side surface and the contact points of the outer rollers and the first outer side surface are enclosed to form an isosceles triangle;

The method comprises the steps of obtaining the height of an isosceles triangle, the bottom side length of the isosceles triangle, the radius of the central line of the first inner side surface, the projection radius of the inner roller on the first inner side surface and an included angle between a connecting line of the projection center of the inner roller firstly moving to the first inner side surface and the center of the circle and a coordinate axis, and calculating to obtain the coordinates of the projection centers of the inner rollers of the two first inner side surfaces;

The determining the coordinates of the contact point of the outer roller and the first outer side surface comprises calculating the coordinates of the contact point based on the height of the isosceles triangle, the projection radius of the inner roller on the first inner side surface and the coordinates of the two inner rollers.

5. The guide rail design method according to claim 4, wherein when a part of the inner roller moves along the first inner side surface and the rest of the inner roller moves along the inner side surface of the straight line segment, the coordinates of the contact point of the outer roller with the first outer side surface are calculated by the following formula:

Wherein p (x _p,y_p) is the coordinate of the contact point, p1 (x _p1,y_p1) is the coordinate of the projection center of the inner roller which moves to the first inner side surface, p2 (x _p2,y_p2) is the coordinate of the projection center of the inner roller which moves to the first inner side surface, h is the height of the isosceles triangle, D is the bottom side length of the isosceles triangle, R is the radius of the central line of the first inner side surface, R is the projection radius of the inner roller on the first inner side surface, θ is the included angle between the connecting line of the projection center of the inner roller which moves to the first inner side surface to the center of the circle and the coordinate axis,

6. The guide rail design method according to claim 4, wherein when all the inner rollers move along the first inner side, the coordinates of the contact point of the outer roller with the first outer side are calculated by the following formula:

In the formula,

7. The guide rail design method according to any one of claims 1 to 6, further comprising obtaining a radius of a center line of the first inner side surface, and determining a contour line of the first inner side surface based on the radius of the center line of the first inner side surface;

the creating the three-dimensional geometric model of the circular arc segment comprises determining the three-dimensional geometric model of the circular arc segment based on the contour line of the first inner side surface and the contour line of the first outer side surface.

8. A guide rail of a linear conveyor, characterized in that the guide rail comprises straight line segments and circular arc segments which are spliced together, and that the three-dimensional geometric model of the circular arc segments is determined by the guide rail design method according to any one of claims 1 to 7.

9. The linear transmission device is characterized by comprising a stator assembly, a rotor assembly and the guide rail of claim 8, wherein the stator assembly can generate electromagnetic thrust to the rotor assembly so as to drive inner rollers and outer rollers of the rotor assembly to move along the guide rail, and the inner rollers and the outer rollers of the rotor assembly are in constant-pressure contact with the guide rail during movement.

10. The linear transmission device of claim 9, wherein the upper and lower ends of the circular arc section of the guide rail are respectively provided with a first inner side surface and a first outer side surface, the first inner side surface and the first outer side surface of the same end are obliquely arranged, a connecting surface is arranged between the first inner side surface and the first outer side surface of the upper and lower ends are symmetrically distributed on two sides of the central axis of the rotor assembly, and/or,

The inner rollers at the same end of the power assembly are arranged in two along the moving direction of the rotor assembly, one outer roller is arranged, and the connecting lines between the projection center of the corresponding first inner side surface of the two inner rollers and the contact points of the corresponding outer rollers and the corresponding first outer side surface are enclosed to form an isosceles triangle.