TWI701101B - Linear transmission device and its identification method - Google Patents

Linear transmission device and its identification method Download PDF

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TWI701101B
TWI701101B TW108118189A TW108118189A TWI701101B TW I701101 B TWI701101 B TW I701101B TW 108118189 A TW108118189 A TW 108118189A TW 108118189 A TW108118189 A TW 108118189A TW I701101 B TWI701101 B TW I701101B
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linear transmission
transmission device
parameter data
sensing
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TW108118189A
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TW202042958A (en
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蔡明儒
余思緯
鄭吉倫
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上銀科技股份有限公司
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Abstract

A linear Transmission device and its identification method, the parameter data of the linear transmission device, such as the parameters of the long shaft, the axial position, etc., are stored by a memory unit embedded in the device, a microprocessor is used to determine whether a sensing device is enabled or not, and through parameter analysis, data transmission and algorithm operation, the real-time operation of the linear transmission device is carried out by using an operation control device to judge the state of the linear transmission device, in order to improve the problem of a single function of the known technology, such that the problem of abnormal sensing device caused by the uncertified linear transmission device can be avoided, and the problem of abnormal function of the linear transmission device can be effectively grasped.

Description

線性傳動裝置以及其辨識方法Linear transmission device and its identification method

本發明係關於一種線性傳動裝置以及線性傳動裝置之辨識方法。The present invention relates to a linear transmission device and an identification method of the linear transmission device.

請參閱圖1所示，顯示中華民國專利(I600492)有關補償螺桿導程誤差的方法的其中一圖式，其中導程誤差資料儲存於二維條碼10，將儲存有導程誤差資料的二維條碼10標示於一螺帽11表面，以一掃描裝置12讀取儲存於該二維條碼10中的導程誤差資料，並將導程誤差資料傳送至補償運算單元，補償運算單元讀取導程誤差資料經運算後產生一補償資料，接著將補償資料傳送至控制單元13讀取補償資料後，進行螺桿導程誤差的補償。據此，在量測端先測量螺桿14的導程誤差資料，再將導程誤差資料儲存於二維條碼10後，提供在同一標準環境下測量每一螺桿14導程誤差，使螺桿14的導程誤差測量結果能維持一致性，進而讓終端無需自行購買測量螺桿14導程誤差的儀器，以節省補償導程誤差的時間及成本。Please refer to Figure 1, which shows one of the diagrams of the ROC patent (I600492) related to the method of compensating the lead error of the screw. The lead error data is stored in the two-dimensional bar code 10, and the two-dimensional lead error data is stored The barcode 10 is marked on the surface of a nut 11, the lead error data stored in the two-dimensional barcode 10 is read by a scanning device 12, and the lead error data is sent to the compensation calculation unit, and the compensation calculation unit reads the lead The error data is calculated to generate a compensation data, and then the compensation data is sent to the control unit 13 to read the compensation data, and then the screw lead error is compensated. According to this, the lead error data of the screw 14 is measured at the measuring end, and then the lead error data is stored in the two-dimensional barcode 10, and the lead error of each screw 14 is measured under the same standard environment, so that the screw 14 The lead error measurement results can maintain consistency, so that the terminal does not need to purchase an instrument for measuring the lead error of the screw 14 by itself, so as to save the time and cost of compensating the lead error.

然而，上述專利不能即時性的線上讀取外，若發生偏差或是異常將無法得知，因而有無法掌控的變素存在；另外，以該掃描裝置12讀取儲存於該二維條碼10中的導程誤差資料僅具有單一導程誤差測量功能，除此之外並無其它附屬的功能，在使用功能上稍顯不足，尚有改善的空間，若要量測多種數值，例如：判斷軸別、外徑等問題時，就必須配置其它設備，不僅造成諸多不便，亦導致成本上升。However, the above patents cannot be read online in real time. If deviations or abnormalities occur, they will not be known, so there are variables that cannot be controlled; in addition, the scanning device 12 is used to read and store in the two-dimensional barcode 10 The lead error data only has a single lead error measurement function, and there are no other auxiliary functions. It is slightly insufficient in the use function, and there is room for improvement. If you want to measure multiple values, such as: judging axis In case of problems such as interference, outer diameter, etc., other equipment must be configured, which not only causes a lot of inconvenience, but also leads to increased costs.

此外，在使用特定運算模組監控特定零組件時，常於安裝好螺桿後需人工輸入參數於特定運算模組內，但是，輸入不正確的話有可能導致特定運算模組發生異常而造成停機的問題。In addition, when using a specific calculation module to monitor specific components, it is often necessary to manually input parameters into the specific calculation module after the screw is installed. However, if the input is incorrect, it may cause the specific calculation module to malfunction and cause a shutdown problem.

再者，當線性傳動裝置進行感測時，會在連接感測裝置及線性傳動裝置的連接線兩端做記號，藉以分辨感測裝置安裝在何種線性傳動裝置上，但是，實際運用於產品時，可能會需要安裝多組線性傳動裝置於機台上，因此連接感測裝置及線性傳動裝置的連接線配線較為繁雜，進而使此作法的安裝時間與出錯頻率大幅提高。Furthermore, when the linear actuator is sensing, it will mark both ends of the connecting line connecting the sensing device and the linear actuator to distinguish which linear actuator the sensing device is installed on. However, it is actually used in the product At this time, it may be necessary to install multiple sets of linear actuators on the machine. Therefore, the wiring for connecting the sensing device and the linear actuator is complicated, which greatly increases the installation time and error frequency of this approach.

本發明的目的在於提供一種線性傳動裝置以及其辨識方法，其主要能即時地判斷該線性傳動裝置的狀態，藉以改善習知技術功能較為單一的缺失，可避免未認證的該線性傳動裝置造成感測裝置異常的問題產生，還能有效地掌握該線性傳動裝置功能異常的問題。The purpose of the present invention is to provide a linear transmission device and its identification method, which mainly can determine the state of the linear transmission device in real time, so as to improve the lack of a single function of the conventional technology, and avoid the uncertified linear transmission device from causing feelings. The problem of abnormality of the measuring device occurs, and the problem of abnormal function of the linear transmission device can also be effectively grasped.

本發明的另一目的在於提供一種線性傳動裝置以及其辨識方法，其主要能提供使用上的方便性，無需人工手動輸入資料進而避免參數輸入錯誤的問題。Another object of the present invention is to provide a linear transmission device and its identification method, which can mainly provide convenience in use without manual input of data and avoid the problem of parameter input errors.

緣是，為了達成前述目的，依據本發明提供一種線性傳動裝置，包含：The reason is that, in order to achieve the foregoing objective, a linear transmission device according to the present invention is provided, including:

一長軸件，具有一滾動溝；A long shaft with a rolling groove;

一移動模組，能夠往復位移地套設在該長軸件，並具有一對應該滾動溝設置的滾動槽，該滾動溝與該滾動槽形成一負荷路徑；A mobile module, which can be retracted and sleeved on the long shaft member and has a rolling groove corresponding to the rolling groove, and the rolling groove and the rolling groove form a load path;

一滾動單元，能滾動地設置於該負荷路徑內；A rolling unit, which can be rollably arranged in the load path;

一嵌入裝置，設置在該移動模組，並具有一儲存該線性傳動裝置之參數資料的記憶單元及一連接該記憶單元的第一傳輸單元；An embedded device arranged in the mobile module and having a memory unit storing parameter data of the linear transmission device and a first transmission unit connected to the memory unit;

一感測裝置，訊號連接該嵌入裝置，並具有一感測模組及一訊號連接該感測模組的微處理器，該感測模組具有一訊號連接該第一傳輸單元的第二傳輸單元，該微處理器具有一訊號連接該第二傳輸單元的第三傳輸單元及一連接該第三傳輸單元的第一運算單元，該第一運算單元根據該記憶單元中的參數資料來判定該感測裝置是否被啟用；以及A sensing device, a signal connected to the embedded device, and having a sensing module and a microprocessor connected to the sensing module, the sensing module having a second transmission signal connected to the first transmission unit Unit, the microprocessor has a third transmission unit connected to the second transmission unit and a first arithmetic unit connected to the third transmission unit, and the first arithmetic unit determines the feeling according to the parameter data in the memory unit Whether the test device is activated; and

一運算控制裝置，訊號連接該感測裝置，並具有一訊號連接該第三傳輸單元的第四傳輸單元及一連接該第四傳輸單元的第二運算單元，當該感測裝置被啟用時，該第二運算單元用以運算該線性傳動裝置的狀態。An arithmetic control device, which is signal-connected to the sensing device, and has a fourth transmission unit that is signal-connected to the third transmission unit and a second arithmetic unit connected to the fourth transmission unit. When the sensing device is activated, The second computing unit is used for computing the state of the linear transmission device.

在某些實施例中，該線性傳動裝置為滾珠螺桿、或是線性滑軌。In some embodiments, the linear transmission device is a ball screw or a linear slide.

在某些實施例中，該嵌入裝置具有一嵌入端面及數個位於該嵌入端面的第一電性接點，該感測模組具有一接觸該嵌入端面的接合端面及數個位於該接合端面且分別對應數個該第一電性接點的第二電性接點。In some embodiments, the embedded device has an embedded end surface and a plurality of first electrical contacts located on the embedded end surface, and the sensing module has a bonding end surface contacting the embedded end surface and a plurality of first electrical contacts located on the bonding end surface And respectively correspond to a plurality of second electrical contacts of the first electrical contact.

在某些實施例中，該記憶單元內有啟用序號以及該線性傳動裝置的參數資料，該參數資料為軸別、外徑、導程之其中一種或及其組合。In some embodiments, the memory unit contains an activation serial number and parameter data of the linear actuator, and the parameter data is one of shaft type, outer diameter, and lead or a combination thereof.

在某些實施例中，該移動模組具有一管體以及一連接該管體的外凸環，該外凸環的軸向凹設一供該嵌入裝置設置的定位槽。In some embodiments, the mobile module has a tube body and an outer convex ring connected to the tube body, and an axial recess of the outer convex ring is provided with a positioning groove for the embedding device.

在某些實施例中，該移動模組具有一管體以及一連接該管體的外凸環，該外凸環的徑向凹設一供該嵌入裝置設置的定位槽。In some embodiments, the mobile module has a tube body and an outer convex ring connected to the tube body, and the outer convex ring is radially recessed with a positioning groove for the embedding device.

在某些實施例中，該感測模組還包含一三軸加速規，用以定義出一個XYZ三軸的空間座標且搜集重力方向所產生的加速度變化及角度變化，並輸出訊號至該運算控制裝置計算該線性傳動裝置的軸別方向。In some embodiments, the sensing module further includes a three-axis accelerometer to define a XYZ three-axis spatial coordinate and collect the acceleration changes and angle changes generated by the direction of gravity, and output signals to the calculation The control device calculates the axis direction of the linear actuator.

此外，本發明之另一具體實施例係更進一步的提供一種線性傳動裝置的辨識方法，包含：In addition, another specific embodiment of the present invention further provides an identification method of a linear transmission device, including:

(A)設置步驟：將一嵌入裝置設置在一移動模組上，且以一感測裝置的感測模組接合於該嵌入裝置；(A) Setting steps: setting an embedded device on a mobile module, and joining the embedded device with a sensing module of a sensing device;

(B)啟用步驟：該嵌入裝置內的記憶單元通過一第一傳輸單元輸出一參數資料至該感測模組的第二傳輸單元，該感測模組的第二傳輸單元再將該參數資料傳輸至一微處理器的第三傳輸單元，該微處理器的第一運算單元抓取該第三傳輸單元接收的參數資料，且判斷該參數資料是否正確，當該參數資料為正確時，該感測裝置被啟用，當該參數資料為不正確時，該感測裝置沒有被啟用；以及(B) Activating step: the memory unit embedded in the device outputs a parameter data to the second transmission unit of the sensing module through a first transmission unit, and the second transmission unit of the sensing module then transmits the parameter data It is transmitted to the third transmission unit of a microprocessor. The first calculation unit of the microprocessor captures the parameter data received by the third transmission unit and determines whether the parameter data is correct. When the parameter data is correct, the The sensing device is activated. When the parameter data is incorrect, the sensing device is not activated; and

(C)分析步驟：一運算控制裝置的第四傳輸單元接收該參數資料且該運算控制裝置的第二運算單元讀取該參數資料，並分析判斷該感測裝置是否正常運行。(C) Analysis step: the fourth transmission unit of an arithmetic control device receives the parameter data and the second arithmetic unit of the arithmetic control device reads the parameter data, and analyzes to determine whether the sensing device is operating normally.

在某些實施例中，該(C)分析步驟中，該第二運算單元是判斷該線性傳動裝置的軸別參數是否有重複。In some embodiments, in the analysis step (C), the second arithmetic unit determines whether the axis parameters of the linear transmission device are duplicated.

在某些實施例中，該(C)分析步驟中，該第二運算單元是判斷該線性傳動裝置是否有不同軸別角度參數重複。In some embodiments, in the analysis step (C), the second arithmetic unit determines whether the linear transmission device has overlapping angle parameters of different axes.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例。並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following examples are given. And with the attached drawings, the detailed description is as follows.

在提出詳細說明之前，要注意的是，在以下的說明中，類似的元件是以相同的編號來表示。Before presenting a detailed description, it should be noted that in the following description, similar elements are represented by the same numbers.

請參閱圖2至圖9所示，本發明第一實施例提供一種線性傳動裝置，該線性傳動裝置是舉滾珠螺桿為例，但不以此為限制，亦或是圖16至圖17的線性滑軌，該線性傳動裝置主要由一長軸件20、一移動模組30、一滾動單元40、一嵌入裝置50、一感測裝置60、以及一運算控制裝置70所組成，其中：Please refer to FIGS. 2-9. The first embodiment of the present invention provides a linear transmission device. The linear transmission device uses a ball screw as an example, but is not limited to this, or is the linear transmission device shown in FIGS. 16-17. Slide rail, the linear transmission device is mainly composed of a long shaft 20, a moving module 30, a rolling unit 40, an embedded device 50, a sensing device 60, and an arithmetic control device 70, in which:

該長軸件20，沿一軸向X延伸；本實施例中，該長軸件20為螺桿，並具有一螺桿環面21、及一凹設於該螺桿環面21且呈螺旋狀的滾動溝22。The long shaft member 20 extends along an axial direction X; in this embodiment, the long shaft member 20 is a screw, and has a screw ring surface 21, and a screw ring surface 21 recessed on the screw ring surface 21 and spirally rolling沟22.

該移動模組30為螺帽且能夠沿該軸向X線性位移地套設在該長軸件20外，並具有一管體31、一連接該管體31的外凸環32(產業界通稱法蘭盤)、一設置於該管體31的內徑面且對應該長軸件20之滾動溝22設置的滾動槽33、以及一由該外凸環32凹設的定位槽34，該移動模組30之滾動槽33與該長軸件20之滾動溝22之間形成一負荷路徑T；本實施例中，該移動模組30之外凸環32的一端係軸向凹設該定位槽34，但不以此為限制，請參閱圖14所示，亦或是該外凸環32的外環面321徑向凹設該定位槽34，也能達成與上述相同之功效。 The moving module 30 is a screw cap and is sleeved outside the long shaft member 20 so as to be linearly displaced along the axial direction X, and has a pipe body 31 and an outer convex ring 32 (commonly known in the industry as Flange), a rolling groove 33 provided on the inner diameter surface of the pipe body 31 and corresponding to the rolling groove 22 of the long shaft member 20, and a positioning groove 34 recessed by the outer convex ring 32, the movement A load path T is formed between the rolling groove 33 of the module 30 and the rolling groove 22 of the long shaft member 20; in this embodiment, the positioning groove is recessed at one end of the convex ring 32 outside the moving module 30 34, but not as a limitation. Please refer to FIG. 14, or the positioning groove 34 is recessed radially on the outer ring surface 321 of the outer convex ring 32 to achieve the same effect as the above.

該滾動單元40能滾動地設置於該負荷路徑T內，該滾動單元40係舉滾珠為例，但不以此為限制。 The rolling unit 40 is rollably disposed in the load path T. The rolling unit 40 takes a ball as an example, but it is not limited thereto.

該嵌入裝置50，設置在該移動模組30之定位槽34內且抵靠在該定位槽34的槽底面，並具有一儲存該線性傳動裝置之參數資料的記憶單元51、一連接該記憶單元51的第一傳輸單元52、一嵌入端面53以及一提供電力且連接該第一傳輸單元52的第一電源單元54；本實施例中，該嵌入裝置50之嵌入端面53具有四個第一電性接點531，四個第一電性接點531分別為Rx/data、VCC、GND與Tx/Clock；該記憶單元51內有啟用序號以及該線性傳動裝置的參數資料，該參數資料為軸別、外徑、導程之其中一種或及其組合，該啟用序號與該參數資料可以設置在一起或是獨立分開。 The embedded device 50 is disposed in the positioning groove 34 of the mobile module 30 and abuts against the bottom surface of the positioning groove 34, and has a memory unit 51 for storing parameter data of the linear actuator, and a memory unit connected to the memory unit 51, an embedded end surface 53 and a first power supply unit 54 that provides power and is connected to the first transmission unit 52; in this embodiment, the embedded end surface 53 of the embedded device 50 has four first electrical The four first electrical contacts 531 are Rx/data, VCC, GND, and Tx/Clock; the memory unit 51 contains the activation number and the parameter data of the linear transmission device. The parameter data is the axis For one or a combination of type, outer diameter, and lead, the activation serial number and the parameter data can be set together or separately.

該感測裝置60，設置在該移動模組30上且與該嵌入裝置50結合，該感測裝置60與該嵌入裝置50訊號連接，並具有一感測模組61及一訊號連接該感測模組61的微處理器62，該感測模組61具有一訊號連接該第一傳輸單元52的第二傳輸單元611、一連接該第二傳輸單元611的第二電源單元612、一接觸該嵌入端面53的接合端面613及四個位於該接合端面613上且分別對應四個該第一電性接點531的第二電性接點614，四個第二電性接電614分別為Tx/data、VCC、GND與Rx/Clock，該微處理器62具有一訊號連接該第二傳輸單元611的第三傳輸單元621、一連接該第三傳輸單元621的第一運算單元622及一連接該第一運算單元622的第三電源單元623，該感測模組61之接合端面613的四個第二電性接點614分別接觸該嵌入端面53之四個第一電性接點531，藉以讀取該嵌入裝置50之第一傳輸單元 52輸出的參數資料，且該感測裝置60的第二傳輸單元611再將該參數資料輸出至該微處理器62的第三傳輸單元621，該微處理器62的第一運算單元622抓取該第三傳輸單元621所接收的參數資料，且判斷一或多個該參數資料是否正確，藉以判斷該感測裝置60是否被啟用；本實施例中，該感測裝置60的感測模組61與微處理器62為拆開分離式，但不以此為限制，請參閱圖15所示，該感測裝置60亦能是組合一體式，也能達成與上述相同之功效。另外，該感測裝置60為振動、溫度、磁場、聲波、濕度、酸鹼、光感測器、金屬感測器、氣體、或微粒子之任一者、或是前述感測裝置之集合。 The sensing device 60 is arranged on the mobile module 30 and combined with the embedded device 50. The sensing device 60 is signally connected to the embedded device 50, and has a sensing module 61 and a signal connected to the sensing device. The microprocessor 62 of the module 61, the sensing module 61 has a second transmission unit 611 connected to the first transmission unit 52, a second power supply unit 612 connected to the second transmission unit 611, and a The joint end surface 613 embedded in the end surface 53 and the four second electrical contacts 614 located on the joint end surface 613 and correspond to the four first electrical contacts 531 respectively. The four second electrical contacts 614 are Tx. /data, VCC, GND and Rx/Clock, the microprocessor 62 has a third transmission unit 621 connected to the second transmission unit 611, a first arithmetic unit 622 connected to the third transmission unit 621, and a connection The third power unit 623 of the first arithmetic unit 622, the four second electrical contacts 614 of the joint end surface 613 of the sensing module 61 respectively contact the four first electrical contacts 531 of the embedded end surface 53, To read the first transmission unit of the embedded device 50 52, and the second transmission unit 611 of the sensing device 60 outputs the parameter data to the third transmission unit 621 of the microprocessor 62, and the first arithmetic unit 622 of the microprocessor 62 captures The third transmission unit 621 receives the parameter data, and determines whether one or more of the parameter data is correct, so as to determine whether the sensing device 60 is activated; in this embodiment, the sensing module of the sensing device 60 61 and the microprocessor 62 are detachable, but not limited to this. Please refer to FIG. 15. As shown in FIG. 15, the sensing device 60 can also be a combined integrated type, which can also achieve the same effect as the above. In addition, the sensing device 60 is any one of vibration, temperature, magnetic field, sound wave, humidity, acid-base, light sensor, metal sensor, gas, or particles, or a collection of the aforementioned sensing devices.

該運算控制裝置70，訊號連接該感測裝置60，並具有一連接該感測模組61之第三傳輸單元621的第四傳輸單元71、一連接該第四傳輸單元71的第二運算單元72及一連接該第二運算單元72的第四電源單元73，當該感測裝置60被啟用時，該第二運算單元72用以提供演算法運算該線性傳動裝置的狀態；本實施例中，該感測裝置60是以有線方式將感測該滾珠螺桿的訊號輸出至該運算控制裝置70，但不以此為限制，亦或是無線方式將感測該滾珠螺桿的訊號輸出至該運算控制裝置70，而該運算控制裝置70可為桌上型電腦、Ipad等智慧型電子裝置。值得一提的是，該運算控制裝置70可連接一個警示器(圖中未示)，該警示器提供簡易按鈕操作與異常狀態警示燈的配置。 The operation control device 70 is signal-connected to the sensing device 60, and has a fourth transmission unit 71 connected to the third transmission unit 621 of the sensing module 61, and a second operation unit connected to the fourth transmission unit 71 72 and a fourth power supply unit 73 connected to the second arithmetic unit 72. When the sensing device 60 is activated, the second arithmetic unit 72 is used to provide an algorithm to calculate the state of the linear transmission device; in this embodiment The sensing device 60 outputs the signal for sensing the ball screw to the arithmetic control device 70 in a wired manner, but it is not limited to this, or wirelessly outputs the signal for sensing the ball screw to the arithmetic The control device 70, and the arithmetic control device 70 can be a smart electronic device such as a desktop computer and an Ipad. It is worth mentioning that the arithmetic control device 70 can be connected to a warning device (not shown in the figure), and the warning device provides simple button operation and abnormal state warning light configuration.

值得注意的是，請參閱圖10至圖13所示，在某些實施例中，該感測模組61還包含一訊號連接該第二傳輸單元611的三軸加速規615，該三軸加速規615用以定義出一個XYZ三軸的空間座標且搜集重力方向所產生的加速度變化及角度變化，並以該第二傳輸單元611輸出訊號至該微處理器62，該微處理器62再傳輸至該運算控制裝置70計算該線性傳動裝置的軸別方向，其中舉圖11為例，在 此先定義：Y軸方向係指該長軸件20前、後端延伸之方向；Z軸方向係指該長軸件20左、右側延伸之方向；X軸方向係指該長軸件20上、下端延伸之方向，若是Z軸方向與Y軸方向平行於地面且X軸方向垂直於地面時，即Z軸方向與Y軸方向未受到任何外力作用，因此，Z軸方向與Y軸方向輸出0g的加速度(重力)，X軸方向會受到負方向1g的加速度(重力)。若是Z軸方向垂直於地面且X軸方向與Y軸方向平行於地面時，即X軸方向與Y軸方向未受到任何外力作用，因此，X軸方向與Y軸方向輸出為0g的加速度(重力)，Z軸方向會受到負方向1g的加速度(重力)。 It is worth noting that, please refer to FIGS. 10-13. In some embodiments, the sensing module 61 further includes a three-axis accelerometer 615 signal connected to the second transmission unit 611, and the three-axis acceleration The gauge 615 is used to define a XYZ three-axis space coordinate and collect the acceleration changes and angle changes generated by the direction of gravity, and use the second transmission unit 611 to output a signal to the microprocessor 62, which then transmits Until the calculation control device 70 calculates the axis direction of the linear transmission device, taking FIG. 11 as an example, in First define: Y-axis direction refers to the direction in which the long shaft 20 extends from the front and rear ends; Z-axis direction refers to the direction in which the long shaft 20 extends to the left and right; X-axis direction refers to the direction on the long shaft 20 , The direction in which the lower end extends, if the Z-axis and Y-axis directions are parallel to the ground and the X-axis direction is perpendicular to the ground, that is, the Z-axis and Y-axis directions are not subjected to any external force, so the Z-axis and Y-axis directions are output With an acceleration of 0g (gravity), the X axis will receive an acceleration of 1g in the negative direction (gravity). If the Z-axis direction is perpendicular to the ground and the X-axis and Y-axis directions are parallel to the ground, that is, the X-axis and Y-axis directions are not subjected to any external force. Therefore, the X-axis and Y-axis directions output 0g acceleration (gravity ), the Z axis will be subjected to 1g acceleration (gravity) in the negative direction.

再舉例，若X軸方向由負方向1g變化至正方向1g，此時經過角度換算，X軸方向相對於重力方向之夾角角度會由180度變換到0度，由於Z軸方向必定與X軸方向垂直90度，因此由Z軸方向加速度的正負方向來判斷X軸方向是位於座標的左象限或者座標的右象限上，藉此透過該三軸加速規615的設計，達到判斷螺桿軸別的目的。 For another example, if the X-axis direction changes from the negative direction 1g to the positive direction 1g, the angle between the X-axis direction and the gravity direction will be changed from 180 degrees to 0 degrees after the angle conversion, because the Z-axis direction must be the same as the X-axis The direction is perpendicular to 90 degrees, so the positive and negative direction of the acceleration in the Z-axis direction is used to determine whether the X-axis direction is located in the left quadrant of the coordinate or the right quadrant of the coordinate. Through the design of the three-axis accelerometer 615, it is possible to determine the screw axis. purpose.

以上所述即為本發明實施例各主要構件之結構及其組態說明。 The above is the description of the structure and configuration of the main components of the embodiment of the invention.

至於本發明的線性傳動裝置之辨識方法請參考以下的說明。 As for the identification method of the linear actuator of the present invention, please refer to the following description.

複參閱圖2至圖9所示，本發明實施例的線性傳動裝置之辨識方法，其主要由(A)設置步驟81、(B)啟用步驟82、(C)分析步驟83、(D)傳輸步驟84、以及(E)運算步驟85所完成，其中： 2 to 9 again, the identification method of the linear actuator of the embodiment of the present invention is mainly composed of (A) setting step 81, (B) enabling step 82, (C) analyzing step 83, and (D) transmitting Step 84, and (E) operation step 85 are completed, where:

該(A)設置步驟81：將該嵌入裝置50設置在該移動模組30上，且以該感測裝置60之感測模組61的接合端面613嵌入至該嵌入裝置50之嵌入端面53。 The (A) setting step 81: Set the embedded device 50 on the mobile module 30, and embed the bonding end surface 613 of the sensing module 61 of the sensing device 60 into the embedded end surface 53 of the embedded device 50.

該(B)啟用步驟82：該嵌入裝置50內的記憶單元51通過該第一傳輸單元52輸出該參數資料至該感測模組61的第二傳輸單元611，該感測模組61的第二傳輸單元611再將該參數資料傳輸至該微處理器62的第三傳輸單元621，該微處 理器62的第一運算單元622抓取該第三傳輸單元621接收的參數資料，且判斷該參數資料是否正確，當該參數資料為正確時，該感測裝置60被啟用，當該參數資料為不正確時，該感測裝置60沒有被啟用。 The (B) enabling step 82: the memory unit 51 in the embedded device 50 outputs the parameter data to the second transmission unit 611 of the sensing module 61 through the first transmission unit 52, and the second transmission unit 611 of the sensing module 61 The second transmission unit 611 then transmits the parameter data to the third transmission unit 621 of the microprocessor 62, which The first arithmetic unit 622 of the processor 62 grabs the parameter data received by the third transmission unit 621, and determines whether the parameter data is correct. When the parameter data is correct, the sensing device 60 is activated. When it is incorrect, the sensing device 60 is not activated.

該(C)分析步驟83：該運算控制裝置70的第四傳輸單元71接收該參數資料且該運算控制裝置70的第二運算單元72讀取該參數資料，並分析判斷該感測裝置60是否正常運行；請參閱圖8所示，於一較佳實施例中，該運算控制裝置70的第二運算單元72是判斷該滾珠螺桿的軸別參數是否有重複並儲存該參數資料，值得注意的是，於實際的實施中，可能會有數組的移動模組30分別安裝在位於不同軸向的數組長軸件20上，因此可能會有移動模組30安裝在錯誤的長軸件20上的情況發生，因此，當該軸別參數有重複時，該運算控制裝置70的警示器警示該線性傳動裝置安裝錯誤，當該軸別參數不是重複時，跳至下一步驟；請參閱圖9所示，於另一較佳實施例中，該運算控制裝置70的第二運算單元72是判斷該滾珠螺桿是否有不同軸別角度參數重複並儲存該參數資料，當該軸別角度參數有重複時，該運算控制裝置70的警示器警示該線性傳動裝置安裝錯誤，當該軸別角度參數不是重複時，跳至下一步驟。 The (C) analysis step 83: the fourth transmission unit 71 of the arithmetic control device 70 receives the parameter data and the second arithmetic unit 72 of the arithmetic control device 70 reads the parameter data, and analyzes to determine whether the sensing device 60 Normal operation; please refer to FIG. 8. In a preferred embodiment, the second arithmetic unit 72 of the arithmetic control device 70 determines whether the axis parameters of the ball screw are repeated and stores the parameter data. It is worth noting Yes, in actual implementation, there may be an array of mobile modules 30 installed on the array of long shafts 20 located in different axial directions, so there may be mobile modules 30 installed on the wrong long shafts 20. This happens. Therefore, when the axis parameters are repeated, the alarm of the arithmetic control device 70 warns that the linear actuator is installed incorrectly. When the axis parameters are not repeated, skip to the next step; see Figure 9 It is shown that in another preferred embodiment, the second arithmetic unit 72 of the arithmetic control device 70 determines whether the ball screw has different axis angle parameters repeated and stores the parameter data. When the axis angle parameters are repeated , The alarm of the arithmetic control device 70 warns that the linear transmission device is installed incorrectly. When the axis angle parameter is not repeated, skip to the next step.

該(D)該傳輸步驟84：該微處理器62之第一運算單元622產生一數據由該第三傳輸單元621輸出。 The (D) transmission step 84: the first arithmetic unit 622 of the microprocessor 62 generates a data which is output by the third transmission unit 621.

該(E)運算步驟85：該運算控制裝置70之第四傳輸單元71接收該第三傳輸單元621輸出的數據並傳送至該第二運算單元72，該第二運算單元72運算該線性傳動裝置的狀態。 The (E) operation step 85: the fourth transmission unit 71 of the operation control device 70 receives the data output by the third transmission unit 621 and transmits it to the second operation unit 72, and the second operation unit 72 calculates the linear transmission device status.

藉此，本發明提供一種線性傳動裝置以及其辨識方法，主要由該長軸件20、該移動模組30、該滾動單元40、該嵌入裝置50、該感測裝置60以及該運算控制裝置70所組成，其特色係能藉由該嵌入裝置50內的記憶單元51儲存該線性傳動裝置之參數資料，例如：長軸件參數、軸向位置等資料，以該微處理器62判斷該感測裝置60是否被啟用，並且透過參數分析、數據傳輸與演算法運算等流程，利用該運算控制裝置70進行即時性的運算以判斷該線性傳動裝置的狀態，藉以改善習知技術功能較為單一的缺失，可避免未認證的線性傳動裝置造成感測裝置異常的問題產生，還能有效地掌握該線性傳動裝置功能異常的問題，同時無需手動輸入參數進而避免參數輸入錯誤的狀況。Accordingly, the present invention provides a linear transmission device and its identification method, which are mainly composed of the long shaft 20, the moving module 30, the rolling unit 40, the embedded device 50, the sensing device 60, and the arithmetic control device 70 The feature is that the memory unit 51 in the embedded device 50 can store the parameter data of the linear transmission device, such as the parameters of the long shaft, the axial position, etc., and the microprocessor 62 determines the sensing Whether the device 60 is activated, and through the process of parameter analysis, data transmission, and arithmetic calculations, the arithmetic control device 70 is used to perform real-time calculations to determine the state of the linear transmission device, so as to improve the lack of a single function of the conventional technology , Can avoid the problem of abnormal sensing device caused by uncertified linear transmission device, and can effectively grasp the problem of abnormal function of the linear transmission device, and at the same time, there is no need to manually input parameters to avoid parameter input errors.

另外，習知結構中當線性傳動裝置進行感測時，會在該感測裝置的兩端做記號，藉以分辨感測裝置安裝在何線性傳動裝置上，但是此作法在安裝時間與出錯頻率將會大幅提高，而透過本發明的設計，能使設備商佈線容易(即線路防呆設計，進而避免接線錯誤的問題發生)。In addition, in the conventional structure, when the linear transmission device performs sensing, marks are placed on both ends of the sensing device to distinguish which linear transmission device the sensing device is installed on. However, this method will affect the installation time and error frequency. It will be greatly improved, and through the design of the present invention, the wiring of the equipment manufacturer can be made easy (that is, the circuit is designed to be fool-proof, thereby avoiding the problem of wiring errors).

值得說明的是，上述實施例是以滾珠螺桿做為說明，而請參閱圖16至圖17所示，本實施例之該線性傳動裝置也可適用線性滑軌，使該長軸件20為滑軌，而該移動模組30為滑塊，該感測裝置60設置於該移動模組30的一側，而圖16中的該感測裝置60係拆開為分離式，圖17中的該感測裝置60係組合為一體式，也能達成與上述相同之功效。It is worth noting that the above embodiment uses a ball screw as an illustration, and please refer to Figures 16 to 17. The linear transmission device of this embodiment can also be applied to a linear slide, so that the long shaft 20 is a slide The moving module 30 is a slider, the sensing device 60 is arranged on one side of the moving module 30, and the sensing device 60 in FIG. 16 is disassembled into a separate type, and the sensing device 60 in FIG. The sensing device 60 is combined into an integrated type, which can achieve the same effect as the above.

綜上所述，上述實施例及圖式僅為本發明之較佳實施例而已，當不能以之限定本發明實施之範圍，舉凡依本發明申請專利範圍所作之均等變化與修飾，皆應屬本發明專利涵蓋之範圍內。In summary, the above-mentioned embodiments and drawings are only preferred embodiments of the present invention. When they cannot be used to limit the scope of implementation of the present invention, all equivalent changes and modifications made in accordance with the scope of the patent application of the present invention shall belong to This invention patent covers the scope.

﹝習知﹞ 10:二維條碼 11:螺帽 12:掃描裝置 13:控制單元 14:螺桿 ﹝本發明﹞ T:負荷路徑 X:軸向 20:長軸件 21:螺桿環面 22:滾動溝 30:移動模組 31:管體 32:外凸環 321:外環面 33:滾動槽 34:定位槽 40:滾動單元 50:嵌入裝置 51:記憶單元 52:第一傳輸單元 53:嵌入端面 531:第一電性接點 54:第一電源單元 60:感測裝置 61:感測模組 611:第二傳輸單元 612:第二電源單元 613:接合端面 614:第二電性接點 615:三軸加速規 62:微處理器 621:第三傳輸單元 622:第一運算單元 623:第三電源單元 70:運算控制裝置 71:第四傳輸單元 72:第二運算單元 73:第四電源單元 81:(A)設置步驟 82:(B)啟用步驟 83:(C)分析步驟 84:(D)傳輸步驟 85:(E)運算步驟 ﹝Xizhi﹞ 10: Two-dimensional barcode 11: Nut 12: Scanning device 13: Control unit 14: Screw ﹝this invention﹞ T: load path X: axial 20: Long shaft 21: Screw torus 22: rolling groove 30: Mobile module 31: Tube body 32: Outer convex ring 321: Outer Ring 33: rolling groove 34: positioning slot 40: rolling unit 50: Embedded device 51: memory unit 52: The first transmission unit 53: Embedded end face 531: first electrical contact 54: The first power supply unit 60: sensing device 61: Sensing module 611: second transmission unit 612: second power supply unit 613: Joint End Face 614: second electrical contact 615: Three-axis acceleration gauge 62: Microprocessor 621: third transmission unit 622: The first arithmetic unit 623: third power supply unit 70: Operational control device 71: fourth transmission unit 72: The second arithmetic unit 73: The fourth power supply unit 81: (A) Setting steps 82: (B) Enabling steps 83: (C) Analysis step 84: (D) Transmission steps 85: (E) Operation steps

圖1是中華民國專利(I600492)有關補償螺桿導程誤差的方法的其中一圖式。 圖2是本發明第一實施例的立體組合圖。 圖3是本發明第一實施例的立體分解圖。 圖4是本發明第一實施例之嵌入裝置與感測裝置的分解圖。 圖5是本發明第一實施例的方塊圖。 圖6是本發明第一實施例的流程圖。 圖7是本發明第一實施例的啟用流程圖。 圖8是本發明第一實施例的分析流程圖(一)。 圖9是本發明第一實施例的分析流程圖(二)。 圖10是本發明第二實施例的示意圖，顯示線性傳動裝置在X軸時，三軸加速規與重力方向。 圖11是本發明第二實施例的示意圖，顯示線性傳動裝置在Y軸時，三軸加速規與重力方向。 圖12是本發明第二實施例的示意圖，顯示線性傳動裝置在Z軸時，三軸加速規與重力方向。 圖13是本發明第二實施例的示意圖，顯示線性傳動裝置斜面安裝與加速規軸別。 圖14是本發明第三實施例的立體分解圖，顯示外凸環的外環面徑向凹設定位槽。 圖15是本發明第四實施例的立體分解圖，顯示感測裝置是組合一體式。 圖16是本發明第五實施例的立體組合圖，顯示適用線性滑軌。 圖17是本發明第六實施例的立體組合圖，顯示適用線性滑軌。 Figure 1 is a diagram of a method of compensating screw lead error in the Republic of China patent (I600492). Fig. 2 is a perspective assembly view of the first embodiment of the present invention. Fig. 3 is an exploded perspective view of the first embodiment of the present invention. 4 is an exploded view of the embedded device and the sensing device of the first embodiment of the present invention. Fig. 5 is a block diagram of the first embodiment of the present invention. Fig. 6 is a flowchart of the first embodiment of the present invention. Fig. 7 is an activation flowchart of the first embodiment of the present invention. Fig. 8 is an analysis flowchart (1) of the first embodiment of the present invention. Fig. 9 is an analysis flowchart (2) of the first embodiment of the present invention. Fig. 10 is a schematic diagram of the second embodiment of the present invention, showing the three-axis accelerometer and the direction of gravity when the linear transmission device is on the X axis. 11 is a schematic diagram of the second embodiment of the present invention, showing the three-axis accelerometer and the direction of gravity when the linear transmission device is on the Y axis. Fig. 12 is a schematic diagram of the second embodiment of the present invention, showing the three-axis accelerometer and the direction of gravity when the linear transmission device is on the Z axis. Fig. 13 is a schematic diagram of the second embodiment of the present invention, showing the inclined plane installation of the linear transmission device and the axis of the acceleration gauge. Fig. 14 is a perspective exploded view of the third embodiment of the present invention, showing the radial concave setting groove of the outer ring surface of the outer convex ring. Fig. 15 is a perspective exploded view of the fourth embodiment of the present invention, showing that the sensing device is an integrated type. Fig. 16 is a perspective view of the fifth embodiment of the present invention, showing an applicable linear slide rail. Fig. 17 is a perspective view of a sixth embodiment of the present invention, showing an applicable linear slide rail.

X:軸向 X: axial

20:長軸件 20: Long shaft

21:螺桿環面 21: Screw torus

22:滾動溝 22: rolling groove

30:移動模組 30: Mobile module

31:管體 31: Tube body

32:外凸環 32: Outer convex ring

60:感測裝置 60: sensing device

61:感測模組 61: Sensing module

62:微處理器 62: Microprocessor

Claims (10)

一種線性傳動裝置，包含： 一長軸件，具有一滾動溝； 一移動模組，能夠往復位移地套設在該長軸件，並具有一對應該滾動溝設置的滾動槽，該滾動溝與該滾動槽形成一負荷路徑； 一滾動單元，能滾動地設置於該負荷路徑內； 一嵌入裝置，設置在該移動模組，並具有一儲存該線性傳動裝置之參數資料的記憶單元及一連接該記憶單元的第一傳輸單元； 一感測裝置，訊號連接該嵌入裝置，並具有一感測模組及一訊號連接該感測模組的微處理器，該感測模組具有一訊號連接該第一傳輸單元的第二傳輸單元，該微處理器具有一訊號連接該第二傳輸單元的第三傳輸單元及一連接該第三傳輸單元的第一運算單元，該第一運算單元根據該記憶單元中的參數資料來判定該感測裝置是否被啟用；以及 一運算控制裝置，訊號連接該感測裝置，並具有一訊號連接該第三傳輸單元的第四傳輸單元及一連接該第四傳輸單元的第二運算單元，當該感測裝置被啟用時，該第二運算單元用以運算該線性傳動裝置的狀態。 A linear transmission device, including: A long shaft with a rolling groove; A mobile module, which can be retracted and sleeved on the long shaft member and has a rolling groove corresponding to the rolling groove, and the rolling groove and the rolling groove form a load path; A rolling unit, which can be rollably arranged in the load path; An embedded device arranged in the mobile module and having a memory unit storing parameter data of the linear transmission device and a first transmission unit connected to the memory unit; A sensing device, a signal connected to the embedded device, and having a sensing module and a microprocessor connected to the sensing module, the sensing module having a second transmission signal connected to the first transmission unit Unit, the microprocessor has a third transmission unit connected to the second transmission unit and a first arithmetic unit connected to the third transmission unit, and the first arithmetic unit determines the feeling according to the parameter data in the memory unit Whether the test device is activated; and An arithmetic control device, which is signal-connected to the sensing device, and has a fourth transmission unit that is signal-connected to the third transmission unit and a second arithmetic unit connected to the fourth transmission unit. When the sensing device is activated, The second computing unit is used for computing the state of the linear transmission device. 如請求項1所述之線性傳動裝置，其中該線性傳動裝置為滾珠螺桿、或是線性滑軌。The linear transmission device according to claim 1, wherein the linear transmission device is a ball screw or a linear slide. 如請求項1所述之線性傳動裝置，其中該嵌入裝置具有一嵌入端面及數個位於該嵌入端面的第一電性接點，該感測模組具有一接觸該嵌入端面的接合端面及數個位於該接合端面且分別對應數個該第一電性接點的第二電性接點。The linear transmission device according to claim 1, wherein the embedded device has an embedded end surface and a plurality of first electrical contacts located on the embedded end surface, and the sensing module has a joint end surface contacting the embedded end surface and a number A plurality of second electrical contacts are located on the joint end surface and respectively correspond to a plurality of the first electrical contacts. 如請求項1所述之線性傳動裝置，其中該記憶單元內有啟用序號以及該線性傳動裝置的參數資料，該參數資料為軸別、外徑、導程之其中一種或及其組合。The linear transmission device according to claim 1, wherein the memory unit has an activation serial number and parameter data of the linear transmission device, and the parameter data is one of shaft type, outer diameter, and lead or a combination thereof. 如請求項1所述之線性傳動裝置，其中該移動模組具有一管體以及一連接該管體的外凸環，該外凸環的軸向凹設一供該嵌入裝置設置的定位槽。The linear transmission device according to claim 1, wherein the moving module has a tube body and an outer convex ring connected to the tube body, and the outer convex ring is recessed in the axial direction with a positioning groove for the embedding device. 如請求項1所述之線性傳動裝置，其中該移動模組具有一管體以及一連接該管體的外凸環，該外凸環的徑向凹設一供該嵌入裝置設置的定位槽。The linear transmission device according to claim 1, wherein the moving module has a pipe body and an outer convex ring connected to the pipe body, and a positioning groove for the embedding device is recessed in the radial direction of the outer convex ring. 如請求項1所述之線性傳動裝置，其中該感測模組還包含一三軸加速規，用以定義出一個XYZ三軸的空間座標且搜集重力方向所產生的加速度變化及角度變化，並輸出訊號至該運算控制裝置計算該線性傳動裝置的軸別方向。The linear transmission device according to claim 1, wherein the sensing module further includes a three-axis accelerometer for defining a three-axis XYZ spatial coordinate and collecting acceleration changes and angle changes generated by the direction of gravity, and Output signals to the calculation control device to calculate the axis direction of the linear transmission device. 一種線性傳動裝置的辨識方法，其包含有： (A)設置步驟：將一嵌入裝置設置在一移動模組上，且以一感測裝置的感測模組接合於該嵌入裝置； (B)啟用步驟：該嵌入裝置內的記憶單元通過一第一傳輸單元輸出一參數資料至該感測模組的第二傳輸單元，該感測模組的第二傳輸單元再將該參數資料傳輸至一微處理器的第三傳輸單元，該微處理器的第一運算單元抓取該第三傳輸單元接收的參數資料，且判斷該參數資料是否正確，當該參數資料為正確時，該感測裝置被啟用，當該參數資料為不正確時，該感測裝置沒有被啟用；以及 (C)分析步驟：一運算控制裝置的第四傳輸單元接收該參數資料且該運算控制裝置的第二運算單元讀取該參數資料，並分析判斷該感測裝置是否正常運行。 An identification method of linear transmission device, which includes: (A) Setting steps: setting an embedded device on a mobile module, and joining the embedded device with a sensing module of a sensing device; (B) Activating step: the memory unit embedded in the device outputs a parameter data to the second transmission unit of the sensing module through a first transmission unit, and the second transmission unit of the sensing module then transmits the parameter data It is transmitted to the third transmission unit of a microprocessor. The first calculation unit of the microprocessor captures the parameter data received by the third transmission unit and determines whether the parameter data is correct. When the parameter data is correct, the The sensing device is activated. When the parameter data is incorrect, the sensing device is not activated; and (C) Analysis step: the fourth transmission unit of an arithmetic control device receives the parameter data and the second arithmetic unit of the arithmetic control device reads the parameter data, and analyzes to determine whether the sensing device is operating normally. 如請求項8所述之線性傳動裝置的辨識方法，其中該(C)分析步驟中，該第二運算單元是判斷該線性傳動裝置的軸別參數是否有重複。The identification method of the linear transmission device according to claim 8, wherein in the analysis step (C), the second arithmetic unit determines whether the axis parameters of the linear transmission device are repeated. 如請求項8所述之線性傳動裝置的辨識方法，其中該(C)分析步驟中，該第二運算單元是判斷該線性傳動裝置是否有不同軸別角度參數重複。The identification method of the linear transmission device according to claim 8, wherein in the analysis step (C), the second arithmetic unit judges whether the linear transmission device has different axis angle parameters repeated.
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