Dispatching system for magnetic levitation conveyor

Abstract

The present invention discloses a dispatching system for a magnetic levitation conveying device, comprising: a positioning bar, a plurality of sensors, a CPLD positioning encoder, a driving unit, a controller and a power distribution module. The positioning bar is arranged on the mover; the sensors are evenly distributed along the track, and the sensors generate pulse signals by sensing the positioning bar; the sensors are electrically connected to the CPLD positioning encoder; the driving unit is electrically connected to the signal output end of the CPLD positioning encoder; the signal input end of the controller is connected to the signal output end of the CPLD positioning encoder, and the signal output end of the controller is electrically connected to the control end of the driver. The dispatching system of the present application can monitor the position and speed of the mover in the magnetic levitation conveying device in real time, and realize accurate control and positioning of the mover.

Description

Technical Field

[0001] The invention relates to the field of transportation system control, and in particular to a dispatching system for a magnetic levitation conveying device. Background Art

[0002] At present, major enterprises and factories widely use mechanical conveyor belts or mechanical linear motors to transport goods on production lines. The principle of mechanical conveyor belts is to drive the belt or chain plate to move through a rotating motor. The mechanical linear motor converts the rotating motor into linear kinetic energy through a converter to drive the mover to move. Mechanical conveyor belts or mechanical linear motors inevitably have problems such as low efficiency, high noise, easy damage to friction parts, large amount of subsequent maintenance, and low positioning accuracy during transportation due to mechanical friction. In addition, the mover part of the mechanical linear motor also needs to be connected to a cable, and its flexibility will be affected by the constraints of the cable during movement.

[0003] Currently, some companies on the market have designed a magnetic levitation conveyor belt that uses a permanent magnet linear motor to transport goods, but the control system of conventional mechanical conveyor belts cannot cooperate with permanent magnet linear motors to achieve transportation scheduling. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a dispatching system that can monitor the position and speed of the mover on the conveyor belt in real time, control the current of the stator core in real time, and thus control the movement of the mover.

[0005] According to an embodiment of the present invention, a dispatching system for a magnetic levitation conveying device includes a track, a plurality of stator cores with three-phase windings, and a mover driven by the stator cores to move on the track through magnetic levitation force, and is characterized in that it includes:

[0006] A positioning bar, wherein the positioning bar is arranged on the mover;

[0007] A plurality of sensors, the sensors are evenly distributed along the track, and the sensors generate pulse signals by sensing the positioning strips;

[0008] CPLD positioning encoder, the sensor is electrically connected to the CPLD positioning encoder for feeding back pulse signals, and the CPLD positioning encoder is used to combine the pulse signals into motion information of the mover;

[0009] A drive unit, the drive unit comprising a plurality of drivers corresponding to the stator cores one by one, the drivers are all electrically connected to the signal output end of the CPLD positioning encoder for receiving the position information and speed information of the mover, and the drivers are electrically connected to the three-phase winding of the stator core for controlling the three-phase winding current;

[0010] A controller, wherein a signal input end of the controller is connected to a signal output end of the CPLD positioning encoder for receiving position information and speed information of the mover, and a signal output end of the controller is electrically connected to a control end of the driver for sending a control command;

[0011] Power distribution module, used for power supply.

[0012] The dispatching system of the magnetic levitation conveying device according to the embodiment of the present invention has at least the following technical effects: the positioning bar on the mover is sensed by the sensor on the track to generate a pulse signal; the CPLD positioning encoder is responsible for processing the pulse signals from multiple sensors, combining them into the position information and speed information of the mover, and then outputting them to the drive unit; at the same time, the CPLD positioning encoder transmits the position information and speed information of each mover to the controller in real time, and the user can input control instructions through the controller. The controller forms a control instruction for the drive unit based on the input requirements and parameters and the current position of the mover. The drive unit responds to the control instruction to control the current of the stator core to realize the motion control of the mover. The dispatching system of the present application can monitor the position and speed of the mover in the magnetic levitation conveying device in real time, and realize accurate control and positioning of the mover.

[0013] According to some embodiments of the present invention, the positioning bar includes a first positioning bar and a second positioning bar, the first positioning bar is used to provide coding information, and the second positioning bar is used to provide position information and speed information of the mover.

[0014] According to some embodiments of the present invention, the positioning bar is a magnetic scale, and the sensor is a magnetic sensitive sensor.

[0015] According to some embodiments of the present invention, the CPLD positioning encoder includes a CPLD chip, an input interface module, an output interface module, a communication module and a clock chip. The CPLD chip is electrically connected to the sensor through the input interface module, the CPLD chip is electrically connected to the drive unit through the output interface module, the CPLD chip is electrically connected to the controller through the communication module, and the clock chip is electrically connected to the CPLD chip for providing a clock signal.

[0016] According to some embodiments of the present invention, the input interface module includes a first terminal and an optocoupler, the signal output end of the sensor is electrically connected to the input end of the optocoupler through the first terminal, and the output end of the optocoupler is electrically connected to the input end of the CPLD chip.

[0017] According to some embodiments of the present invention, the output interface module includes a second terminal and a level conversion chip, the output end of the CPLD chip is electrically connected to the input end of the level conversion chip, and the output end of the level conversion chip is connected to the driver through the second terminal.

[0018] According to some embodiments of the present invention, the drive unit includes a number of drivers corresponding one-to-one to the stator core, and the driver includes an MCU, a three-phase current drive circuit, a DC power supply module, a backward synchronization interface and a forward synchronization interface. The output end of the DC power supply module is electrically connected to the power supply end of the MCU through a DC-DC module, the power supply end of the three-phase current drive circuit is electrically connected to the DC power supply module, the MCU is electrically connected to the control end of the three-phase current drive circuit, the output end of the three-phase current drive circuit is electrically connected to the three-phase winding of the stator core, the signal output end of the CPLD positioning encoder is electrically connected to the MCU for feedback of the position information and speed information of the mover, the controller is connected to the MCU via a CAN interface for sending control commands, the MCU is connected to the rear end driver via the backward synchronization interface for backward synchronization, and the MCU is connected to the front end driver via the forward synchronization interface for forward synchronization.

[0019] According to some embodiments of the present invention, the output end of the DC power supply module is provided with a power-on buffer module and a braking circuit for protection.

[0020] According to some embodiments of the present invention, the three-phase current drive circuit is also connected to a bus voltage sampling circuit and a current sampling circuit, and the bus voltage sampling circuit and the current sampling circuit are respectively electrically connected to the MCU for feedback of voltage and current signals.

[0021] According to some embodiments of the present invention, a touch screen is further included, and the touch screen is electrically connected to the controller to achieve human-computer interaction.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 A schematic diagram of the principle of a scheduling system in an embodiment of the present invention;

[0025] Figure 2 is a circuit diagram of a driver in an embodiment of the present invention;

[0026] Figure 3 It is a circuit schematic diagram of the CPLD chip in an embodiment of the present invention;

[0027] Figure 4 is a circuit schematic diagram of an input interface module in an embodiment of the present invention;

[0028] Figure 5 4 is a circuit schematic diagram of the output interface module in an embodiment of the present invention.

[0029] Reference Numbers

[0030] Magnetic sensor 100, CPLD positioning encoder 200, driver 300, MCU310, DC power supply module 320, backward synchronization interface 330, forward synchronization interface 340, DC-DC module 350, power-on buffer module 360, braking circuit 370, bus voltage sampling circuit 380, current sampling circuit 390, controller 400, power distribution module 500, touch screen 600. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] In the description of the invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of the first or the second, it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0033] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0034] refer to Figure 1 A dispatching system for a magnetic levitation conveying device, the magnetic levitation conveying device includes a track, a plurality of stator cores with three-phase windings, the stator cores are divided along the track and located in the middle of the track, and also includes a mover with a permanent magnet arranged on the track. The stator core with the three-phase winding generates a magnetic field after being energized. The permanent magnet and the magnetic field generated by the stator generate traction to drive the mover to slide on the track, and the objects are transported by the movement of the mover.

[0035] The dispatching system of the present application includes: a positioning bar, a number of sensors, a CPLD positioning encoder 200, a drive unit, a controller 400 and a power distribution module 500 for powering.

[0036] The positioning bar is arranged on the mover, and includes a first positioning bar and a second positioning bar. The first positioning bar is used to provide coding information, and the second positioning bar is used to provide position information and speed information of the mover. The sensors are evenly distributed along the track. When the mover passes through the sensor, the sensor generates a pulse signal to form the position information of the mover. The gap between two adjacent sensors is less than the length of the positioning bar to ensure that no matter where the mover is on the track, there will be a sensor to detect the position information of the mover. Preferably, in this embodiment, the positioning bar is a magnetic scale, and the sensor is a magnetic sensitive sensor 100. Other types of positioning bars and corresponding sensors can also be used for position detection.

[0037] Several sensors are electrically connected to the CPLD positioning encoder 200 for feedback of pulse signals. The CPLD positioning encoder 200 is responsible for processing the pulse signals from multiple sensors, combining them into the position information and speed information of the mover, outputting them to the drive unit on the one hand, and transmitting them to the control unit through the RS485 interface on the other hand.

[0038] The drive unit includes a plurality of drivers 300 corresponding to the stator cores one by one, and each driver 300 controls the current of the corresponding stator core. Figure 2 The driver 300 includes an MCU 310, a three-phase current driving circuit, a DC power module 320, a backward synchronization interface 330, and a forward synchronization interface 340. The DC power module 320 uses a 48V DC power module, and a power-on buffer module 360 ​​is provided at its output end. The output end of the power-on buffer module 360 ​​is also connected to a braking circuit 370 to protect the circuit. The output end of the power-on buffer module 360 ​​is connected to the power supply end of the MCU 310 through a DC-DC module 350 on the one hand, and is connected to the power supply end of the three-phase current driving circuit on the other hand. The three-phase current driving circuit includes a U-phase driving circuit, a V-phase driving circuit, and a W-phase driving circuit. The U-phase driving circuit, the V-phase driving circuit, and the W-phase driving circuit are all connected to the three-phase winding of the stator core through a switch circuit. The switch circuit is composed of a number of MOS tubes and freewheeling diodes connected in parallel.

[0039] The signal output end of the CPLD positioning encoder 200 is electrically connected to the MCU310, and the position information and speed information of the mover are sent to the MCU310. The controller 400 is connected to the MCU310 via the CAN interface, and parameter configuration, information feedback and motion control are realized through the CAN bus. In order to realize the monitoring of voltage and current, the input end of the three-phase current drive circuit is also connected to the bus voltage sampling circuit 380, and the ground end of the three-phase current drive circuit is also connected to the current sampling circuit 390. The bus voltage sampling circuit 380 and the current sampling circuit 390 are respectively electrically connected to the MCU310 for feedback of voltage and current signals.

[0040] In order to ensure a smooth transition when the mover passes through adjacent stator cores, MCU310 is connected to the rear-end driver via the backward synchronization interface 330, and MCU310 is connected to the front-end driver via the forward synchronization interface 340. The function of the backward synchronization interface 330 and the forward synchronization interface 340 is to synchronize the phases of adjacent drivers.

[0041] In this embodiment, the controller 400 adopts a PLC controller, and the signal input end of the controller 400 is connected to the signal output end of the CPLD positioning encoder 200 for receiving the position information and speed information of the mover, and the signal output end of the controller 400 is electrically connected to the control end of the driver 300 for sending control commands. In order to realize human-computer interaction, the controller 400 is also connected to a touch screen 600, through which the user can obtain the position and speed information of the mover in real time, and can also input requirements and system parameters.

[0042] The CPLD positioning encoder 200 includes a CPLD chip, an input interface module, an output interface module, a communication module and a clock chip. Figure 3 In this embodiment, the model of the CPLD chip is 5M1270ZT144I5. The CPLD chip is electrically connected to the sensor through the input interface module, the CPLD chip is electrically connected to the drive unit through the output interface module, and the CPLD chip is electrically connected to the controller 400 through the communication module.

[0043] Each input interface module corresponds to a sensor. Take any one of them as an example. Figure 4 , which includes a first terminal J4 and an optical coupler U8. The signal output end of the magnetic sensor is electrically connected to the input end of the optical coupler U8 through the first terminal J4, and the output end of the optical coupler U8 is electrically connected to the input end of the CPLD chip. Preferably, the optical coupler in this embodiment adopts HCPL-2630 high-speed isolation optical coupler to achieve electrical isolation to prevent sensor failure from causing damage to the CPLD chip.

[0044] Each output interface module corresponds to a driver 300. Take any one of them as an example. Figure 5 The output interface module includes a second terminal J18 and a level conversion chip U23. The output end of the CPLD chip is electrically connected to the input end of the level conversion chip U23. The output end of the level conversion chip is connected to the driver 300 through the second terminal. Preferably, the model of the level conversion chip U23 in this embodiment is SN74LVC4245A.

[0045] The clock chip is electrically connected to the CPLD chip and is used to provide a clock signal to the CPLD chip.

[0046] The working process of the present invention is:

[0047] The magnetic sensitive sensor detects the magnetic scale on the mover and sends it to the CPLD positioning encoder 200 in the form of pulses. The CPLD positioning encoder 200 is responsible for processing the pulse signals from multiple sensors, combining them into a continuous pulse, and then outputting them to the driver 300 synchronously.

[0048] The user performs human-machine operation through the touch screen 600, and the command is sent to the driver 300 through the CAN module on the controller 400. After receiving the command, the driver 300 combines the position information transmitted by the CPLD positioning encoder 200 to control the current of the three-phase winding on the stator core in real time, so that the mover can move in a specified manner. After executing the command, the completion information is returned to the controller 400 for display on the touch screen 600.

[0049] In summary, the embodiment of the present invention generates a pulse signal by sensing the positioning bar on the mover through the sensor on the track; the CPLD positioning encoder 200 is responsible for processing the pulse signals from multiple magnetic sensors 100, combining them into the position information and speed information of the mover, and then outputting them to the drive unit; at the same time, the CPLD positioning encoder 200 transmits the position information and speed information of each mover to the controller 400 in real time, and the user can input control instructions through the controller 400. The controller 400 forms a control instruction for the drive unit based on the input requirements and parameters and the current position of the mover. The drive unit responds to the control instruction to control the current of the stator core to achieve motion control of the mover. The dispatching system of the present application can monitor the position and speed of the mover in the magnetic levitation conveying device in real time, and realize precise control and positioning of the mover.

[0050] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A dispatching system for a magnetic levitation conveying device, characterized in that: include: A positioning bar, wherein the positioning bar is arranged on a mover of the magnetic levitation conveying device; A plurality of sensors, the sensors are evenly distributed along the track, and the sensors generate pulse signals by sensing the positioning strips; A CPLD positioning encoder (200), wherein the sensor is electrically connected to the CPLD positioning encoder (200) for feeding back a pulse signal, and the CPLD positioning encoder (200) is used to combine the pulse signal into motion information of the mover; A drive unit, the drive unit comprising a plurality of drivers (300) corresponding one to one with the stator cores, the drivers (300) being electrically connected to the signal output end of the CPLD positioning encoder (200) for receiving position information and speed information of the mover, and the drivers (300) being electrically connected to the three-phase winding of the stator core for controlling the current of the three-phase winding; A controller (400), wherein a signal input end of the controller (400) is connected to a signal output end of the CPLD positioning encoder (200) for receiving position information and speed information of the mover, and a signal output end of the controller (400) is electrically connected to a control end of the driver (300) for sending a control command; A power distribution module (500), used for supplying power; The driver (300) comprises an MCU (310), a three-phase current driving circuit, a DC power supply module (320), a backward synchronization interface (330) and a forward synchronization interface (340), wherein the output end of the DC power supply module (320) is electrically connected to the power supply end of the MCU (310) via a DC-DC module (350), the power supply end of the three-phase current driving circuit is electrically connected to the DC power supply module (320), the MCU (310) is electrically connected to the control end of the three-phase current driving circuit, and the output end of the three-phase current driving circuit is electrically connected to the control end of the three-phase current driving circuit. The end is electrically connected to the three-phase winding of the stator core, the signal output end of the CPLD positioning encoder (200) is electrically connected to the MCU (310) for feeding back the position information and speed information of the mover, and the controller (400) is connected to the MCU (310) via the CAN interface for sending control commands; the MCU (310) is connected to the rear-end driver via the backward synchronization interface (330), and the MCU (310) is connected to the front-end driver via the forward synchronization interface (340) for synchronizing the phases of adjacent drivers; The positioning bar includes a first positioning bar and a second positioning bar, wherein the first positioning bar is used to provide coding information, and the second positioning bar is used to provide position information and speed information of the mover.

2. The dispatching system of the magnetic levitation conveying device according to claim 1, characterized in that: The positioning strip is a magnetic scale, and the sensor is a magnetic sensitive sensor (100).

3. The dispatching system of the magnetic levitation conveying device according to claim 1, characterized in that: The CPLD positioning encoder (200) comprises a CPLD chip, an input interface module, an output interface module, a communication module and a clock chip; the CPLD chip is electrically connected to the sensor via the input interface module; the CPLD chip is electrically connected to the drive unit via the output interface module; the CPLD chip is electrically connected to the controller (400) via the communication module; and the clock chip is electrically connected to the CPLD chip for providing a clock signal.

4. The dispatching system of the magnetic levitation conveying device according to claim 3, characterized in that: The input interface module includes a first terminal and an optical coupler. The signal output end of the sensor is electrically connected to the input end of the optical coupler through the first terminal, and the output end of the optical coupler is electrically connected to the input end of the CPLD chip.

5. The dispatching system of the magnetic levitation conveying device according to claim 3, characterized in that: The output interface module comprises a second terminal and a level conversion chip, the output end of the CPLD chip is electrically connected to the input end of the level conversion chip, and the output end of the level conversion chip is connected to the driver (300) through the second terminal.

6. The dispatching system of the magnetic levitation conveying device according to claim 1, characterized in that: The output end of the DC power supply module (320) is provided with a power-on buffer module (360) and a braking circuit (370) for protecting the circuit.

7. The dispatching system of the magnetic levitation conveying device according to claim 1, characterized in that: The three-phase current drive circuit is also connected to a bus voltage sampling circuit (380) and a current sampling circuit (390), and the bus voltage sampling circuit (380) and the current sampling circuit (390) are respectively electrically connected to the MCU (310) for feeding back voltage and current signals.

8. The dispatching system of the magnetic levitation conveying device according to claim 1, characterized in that: It also includes a touch screen (600), which is electrically connected to the controller (400) to achieve human-computer interaction.

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