Linear transport device and control method

Abstract

A linear transport device includes a motor body and a first slide and a second slide. The first slide and the second slide are slidably arranged on a guide rail of the motor body. A stator is arranged on the motor body, and a mover is arranged on the first slide and the second slide. The first slide and the second slide move on the motor body through the interaction force between the mover and the stator. The linear transport device also includes a position detection device and a control device. The position detection device detects the position information of the first slide and the second slide, and the control device supplies power to multiple stators in the motor body separately according to the position information, so that the projection of the first slide and the second slide in the horizontal direction perpendicular to the extension direction of the guide rail will not overlap with the projection of the same stator in the horizontal direction. The present invention also provides a control method and a computer storage medium for a linear transport device.

Description

Technical Field

[0001] The present invention relates to the technical field of drive devices, and in particular to a linear transport device, a control method and a medium. Background Art

[0002] Linear motors are often used in production lines to achieve automated assembly. Linear motors usually include a motor body and a sliding member that can slide on the motor body. A guide rail is provided on the top surface of the motor body, and a stator is provided on the side of the motor body. A mover is provided on the sliding member, and the sliding member can slide along the guide rail of the motor body through the interaction force between the stator and the mover. Existing production lines usually splice multiple linear motors together to form a conveyor line system. In the actual production process, since multiple sliding members may be provided, how to individually control the above-mentioned multiple sliding members becomes a problem that people need to consider. Summary of the invention

[0003] Based on the above problems, an embodiment of the present invention provides a linear transport device, which aims to solve the problem of individually controlling multiple sliding members in existing linear transport devices.

[0004] A linear transport device comprises a motor body and a first slide and a second slide arranged on the motor body, the motor body is provided with a guide rail, the first slide and the second slide can be slidably arranged on the guide rail, the motor body is provided with a plurality of stators arranged at intervals along the extension direction of the guide rail, the first slide is provided with a first mover, the second slide is provided with a second mover, the first slide is moved on the motor body by the interaction force between the first mover and the stator, the second slide is moved on the motor body by the interaction force between the second mover and the stator, the linear transport device also comprises a position detection device and a control device, the position detection device is used to detect the position information of the first slide and the second slide and send the position information to the control device, the control device is used to supply power to the plurality of stators in the motor body separately according to the position information, so that the projections of the first slide and the second slide in the horizontal direction perpendicular to the extension direction of the guide rail will not overlap with the projection of the same stator in the horizontal direction.

[0005] Optionally, the position detection device includes a printed circuit board and a plurality of Hall elements arranged on the printed circuit board, the printed circuit board is fixed on the motor main body and its length direction is the extension direction of the guide rail, and the plurality of Hall elements are arranged at the ends of the printed circuit board and are spaced apart along the length direction of the printed circuit board.

[0006] Optionally, the position detection device further comprises a fixing plate, the printed circuit board is fixed on the fixing plate, and the fixing plate is fixed on the motor main body so as to fix the printed circuit board on the motor main body.

[0007] Optionally, the motor main body includes a top surface and a first side surface extending downward from the top surface, and the stator is fixed on the first side surface of the motor main body.

[0008] Optionally, a first recessed portion is disposed on the top surface of the motor main body, the recessed portion and the first side surface are respectively disposed on both sides of the top surface, and the guide rail is disposed on the first recessed portion.

[0009] Optionally, the stator is arranged on the first side surface of the motor body, and the stator includes a plurality of excitation electromagnets, which are arranged in a row along the extension direction of the guide rail, and each excitation electromagnet includes a magnetic core and an excitation coil wound on the magnetic core.

[0010] Optionally, a projection of the guide rail in a horizontal direction perpendicular to an extending direction of the guide rail partially overlaps with a projection of the excitation coil in the horizontal direction.

[0011] Optionally, a second recessed portion is provided on the first side surface of the motor main body, and the second recessed portion includes a first surface and a second surface, the first surface extends inward from the first side surface of the motor main body, and the second surface extends downward from the end of the first surface to the bottom surface of the motor main body, and the position detection device is arranged on the first surface of the second recessed portion.

[0012] Optionally, the first sliding member is located in front of the second sliding member. When the first sliding member is stationary, if the position detection device detects that the projection of the rear end of the first sliding member in the horizontal direction perpendicular to the extension direction of the guide rail overlaps with the projection of a stator in the horizontal direction, the control device controls the movement state of the second sliding member so that the front end of the second sliding member moves to stop in front of the above-mentioned stator.

[0013] Optionally, the first sliding member is located in front of the second sliding member. When the first sliding member is stationary, if the position detection device detects that the projection of the rear end of the first sliding member in the horizontal direction perpendicular to the extension direction of the guide rail is between the projections of two adjacent stators in the horizontal direction, the control device controls the movement state of the second sliding member so that the front end of the second sliding member stops when it moves to the rear stator.

[0014] Optionally, the first sliding member is located in front of the second sliding member. When the first sliding member and the second sliding member move simultaneously, if the distance between the rear end of the first sliding member and the front end of the second sliding member is less than a preset distance, the second sliding member is controlled to stop, or the movement speed of the first sliding member is controlled to be greater than the movement speed of the second sliding member.

[0015] The embodiment of the present invention further provides a control method for a linear transport device, the linear transport device comprising a motor body and a first sliding member and a second sliding member arranged on the motor body, the motor body being provided with a guide rail, the first sliding member and the second sliding member being slidably arranged on the guide rail, the motor body being provided with a plurality of stators arranged at intervals along an extension direction of the guide rail, the first sliding member being provided with a first mover, the second sliding member being provided with a second mover, the first sliding member being moved on the motor body by the interaction force between the first mover and the stator, the second sliding member being moved on the motor body by the interaction force between the second mover and the stator, the control method comprising the following steps:

[0016] detecting position information of the first sliding member and the second sliding member;

[0017] The plurality of stators in the motor body are powered individually according to the position information so that the projections of the first sliding member and the second sliding member in a horizontal direction perpendicular to the extension direction of the guide rail do not overlap with the projection of the same stator in the horizontal direction.

[0018] Optionally, the first sliding member is located in front of the second sliding member, and the control method further comprises the following steps:

[0019] detecting the motion states of the first sliding member and the second sliding member;

[0020] If the second sliding member moves, the first sliding member is stationary and the projection of the rear end of the first sliding member in the horizontal direction perpendicular to the extension direction of the guide rail overlaps with the projection of a stator in the horizontal direction, the movement state of the second sliding member is controlled so that the front end of the second sliding member moves to and stops in front of the above-mentioned stator.

[0021] Optionally, the first sliding member is located in front of the second sliding member, and the control method further comprises the following steps:

[0022] detecting the motion states of the first sliding member and the second sliding member;

[0023] If the second sliding member moves, the first sliding member is stationary and the projection of the rear end of the first sliding member in the horizontal direction perpendicular to the extension direction of the guide rail is between the projection of two adjacent stators in the horizontal direction, and the movement state of the second sliding member is controlled so that the front end of the second sliding member stops when it moves to the latter stator.

[0024] Optionally, the first sliding member is located in front of the second sliding member, and the control method further comprises the following steps:

[0025] detecting the motion states of the first sliding member and the second sliding member;

[0026] If the first sliding member and the second sliding member move simultaneously and the distance between the rear end of the first sliding member and the front end of the second sliding member is less than a preset distance, the second sliding member is controlled to stop, or the movement speed of the first sliding member is controlled to be greater than the movement speed of the second sliding member.

[0027] An embodiment of the present invention further provides a computer-readable storage medium, which is used for a control program of a linear transport device. When the control program of the linear transport device is executed by a processor, the control method of the linear transport device as described above is implemented.

[0028] In the linear transport device provided by the embodiment of the present invention, the position information of the first slide and the second slide is detected by the position detection device, and the position information is sent to the control device, and the control device is used to separately power the multiple stators in the motor body according to the position information, so that the projections of the first slide and the second slide in the horizontal direction perpendicular to the extension direction of the guide rail will not overlap with the projection of the same stator in the horizontal direction. That is, the first slide and the second slide will not be arranged opposite to the same stator at the same time, thereby solving the problem that the movement of the first slide and the second slide cannot be controlled separately when the first slide and the second slide are located on the same stator surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 A schematic structural diagram of a linear transport device provided in an embodiment of the present invention.

[0031] Figure 2 for Figure 1 Structural exploded view of the motor main body and the first sliding member.

[0032] Figure 3 for Figure 1 A side view of the motor body and the first sliding member.

[0033] Figure 4 for Figure 2 Schematic diagram of the structure of the first sliding member.

[0034] Figure 5 for Figure 2 Schematic diagram of the interaction between the first mover and the stator.

[0035] Figure 6 for Figure 2 Cross-sectional view of the guide rail in .

[0036] Figure 7 for Figure 2 A cross-sectional view of the slider in FIG.

[0037] Figure 8 for Figure 2 Schematic diagram of the structure of the position detection device in.

[0038] Fig. 9 for Figure 8 Schematic diagram of the electrical connection relationship of the position detection device.

[0039] Fig.10 It is a schematic diagram of a first motion relationship between the first sliding member and the second sliding member.

[0040] Fig.11 It is a schematic diagram of the second motion relationship between the first sliding member and the second sliding member.

[0041] Fig.12 It is a schematic diagram of the third motion relationship between the first sliding member and the second sliding member.

[0042] Fig.13 A control method for a linear transport device is provided in another embodiment of the present invention.

[0043] Fig.14 A control method for a linear transport device is provided in yet another embodiment of the present invention.

[0044] Fig.15 A schematic diagram of a hardware usage environment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] See also Figures 1 to 3 The embodiment of the present invention provides a linear transport device 100, including a motor body 20 and a first slide 10 and a second slide 30 disposed on the motor body 20. The motor body 20 is provided with a guide rail 22, and the first slide 10 and the second slide 30 are slidably disposed on the guide rail 22. The motor body 20 is provided with a plurality of stators 21 arranged at intervals along the extension direction of the guide rail 22. The first slide 10 is provided with a first mover 11, and the second slide 30 is provided with a second mover 31. The first slide 10 is moved on the motor body 20 by the interaction force between the first mover 11 and the stator 21. The second slide 30 is moved on the motor body 20 by the interaction force between the second mover 31 and the stator 21. In this embodiment, the first slide 10 includes a first mover mounting plate 14, and the first mover 11 is disposed on the first mover mounting plate 14. The second sliding member 30 includes a second mover mounting plate 34 , and the second mover 31 is disposed on the second mover mounting plate 34 .

[0049] In this embodiment, the projection of the guide rail 22 in the horizontal direction perpendicular to the extension direction of the guide rail 22 partially overlaps with the projection of the stator 21 in the horizontal direction. When the interaction force is generated between the stator 21 and the first mover 11 or the second mover 31 to make the first sliding member 10 or the second sliding member 30 move on the guide rail 22, the direction of the interaction force directly passes through the guide rail 22, so that the first sliding member 10 or the second sliding member 30 can move smoothly on the guide rail 22, thereby preventing the first sliding member 10 or the second sliding member 30 from tilting and affecting the stability of the connection between it and the guide rail 22.

[0050] In this embodiment, for the convenience of description, the extension direction of the guide rail 22 is marked as the X direction, the horizontal direction perpendicular to the extension direction of the guide rail 22 is marked as the Y direction, and the vertical direction perpendicular to the extension direction of the guide rail 22 is marked as the Z direction. During the operation of the linear transport device 100, the interaction force is generated between the first mover 11 or the second mover 31 and the stator 21, so that the sliding member 10 or the sliding member 30 can slide on the guide rail 22. Specifically, the first mover 11 or the second mover 31 is a permanent magnet, and the stator 21 is an electromagnet. When the stator 21 is energized, an interaction force is generated between the electromagnet and the permanent magnet, so that the first sliding member 10 or the second sliding member 30 can slide on the guide rail 22. It can be understood that the stator 21 can also be set as a permanent magnet, and the first mover 11 or the second mover 31 can be set as an electromagnet, as long as the interaction force between the mover and the stator can be achieved.

[0051] The motor body 20 includes a top surface 23 and a first side surface 24 extending downward from the top surface 23, and the stator 21 is fixed on the first side surface 24 of the motor body 20. The top surface 23 of the motor body 20 is provided with a first recessed portion 25. The first recessed portion 25 and the first side surface 24 are respectively provided on both sides of the top surface 23, and the guide rail 22 is provided on the first recessed portion 25.

[0052] As required, the first side surface 24 of the motor body 20 is provided with a second recessed portion 241. The second recessed portion 241 includes a first surface 242 and a second surface 243. The first surface 242 extends inward from the first side surface 24 of the motor body 20. The second surface 243 extends downward from the end of the first surface 242 to the bottom surface 27 of the motor body 20. In this embodiment, the first surface 242 of the second recessed portion 241 is arranged perpendicular to the first side surface 24 of the motor body 20.

[0053] Specifically, the bottom surface of the first recessed portion 25 is further provided with a step portion 26, and the guide rail 22 is arranged close to the step portion 26 to facilitate the alignment and installation of the guide rail 22. In this embodiment, the guide rail 22 is fixed to the motor main body 20 by screws. The top surface 23 of the guide rail 22 is provided with a plurality of screw mounting holes 221. During the installation process, the guide rail 22 is first arranged close to the step portion 26, and then the guide rail 22 is moved along the X direction until one of the screw mounting holes 221 in the guide rail 22 is aligned with one of the screw mounting holes on the recessed portion 25. At this time, the guide rail 22 and the motor main body 20 can be fixed with screws.

[0054] The structure of the second sliding member 30 is similar to that of the first sliding member 10. The following only takes the first sliding member 10 as an example to illustrate the structure of the sliding member and its movement principle on the motor main body 20. Figures 4 to 5 , the first sliding member 10 further includes a bearing plate 12, a slider 13 disposed on the bottom surface of the bearing plate 12, and a mover mounting plate 14 extending downward from the side of the bearing plate 12. The slider 13 is embedded in the guide rail 22 and can slide in the extension direction of the guide rail 22. The first mover 11 is disposed on the mover mounting plate 14. In this embodiment, the first mover 11 includes a plurality of permanent magnets 111. The permanent magnet 111 is disposed on the side of the mover mounting plate 14 facing the motor main body 20, so that the permanent magnet 111 and the stator 21 are disposed opposite to each other. The plurality of permanent magnets 111 are arranged in a row along the extension direction of the guide rail 22 and are spaced apart from each other. The magnetic pole of each permanent magnet 111 facing the stator 21 is opposite to the magnetic pole of the adjacent permanent magnet 111 facing the stator 21. That is, the N pole of the permanent magnet 111 and the S pole of the permanent magnet 111 are alternately spaced along the extension direction of the guide rail 22. In this embodiment, the permanent magnet 111 is in the shape of a long strip, and the extension direction of the permanent magnet 111 body is the Z direction. During assembly, the permanent magnet 111 can be embedded in the mover mounting plate 14 or fixed on the mover mounting plate 14 by glue.

[0055] The plurality of stators 21 are arranged at intervals along the extension direction of the guide rail 22. The stator 21 includes a plurality of excitation electromagnets 211. The plurality of excitation electromagnets 211 are arranged in a row along the extension direction (X direction) of the guide rail 22. Each excitation electromagnet 211 includes a magnetic core 212 and an excitation coil 213 wound on the magnetic core 212. The projection of the guide rail 22 in the horizontal direction (Y direction) perpendicular to the extension direction of the guide rail 22 partially overlaps with the projection of the excitation coil 213 in the horizontal direction. Since the interaction force between the mover 11 and the stator 21 is mainly generated by the magnetic force between the excitation electromagnet 211 and the permanent magnet 111, the interaction force between the stator 21 and the mover 11 can more accurately pass through the guide rail 22 by making the projection of the guide rail 22 in the Y direction partially overlap with the projection of the excitation coil 213 in the Y direction, thereby achieving the effect of making the first sliding member 10 run smoothly. As required, the motor body 20 further includes a cover plate 214. The cover plate 214 is disposed on the first side surface 24 of the motor body 20 to prevent the stator 21 from being exposed to the external environment.

[0056] As required, the projection of the guide rail 22 in the horizontal direction (Y direction) perpendicular to the extension direction of the guide rail 22 is located within the projection of the excitation coil 213 in the horizontal direction. That is, the height of the highest point of the guide rail 22 in the Z direction is less than the height of the highest point of the excitation coil 213 in the Z direction; the height of the lowest point of the guide rail 22 in the Z direction is greater than the height of the lowest point of the excitation coil 213 in the Z direction. The above-mentioned arrangement can more effectively make the interaction force between the first mover 11 and the stator 21 pass through the guide rail 22, so that the first sliding member 10 can be more stably arranged on the guide rail 22.

[0057] In the actual working process, the magnetic pole of the excitation electromagnet 211 will change according to the power supply state of the excitation coil 213. The excitation coil 213 is supplied with the current of any one of the U phase, V phase or W phase in the three-phase power supply circuit. When the excitation coil 213 is energized, the magnetic pole of the excitation electromagnet 211 will change between the N pole and the S pole due to the change of the power supply current. At this time, due to the interaction between the magnetic field generated by the excitation electromagnet 211 and the magnetic field generated by the permanent magnet 111, an attractive force or a repulsive force will be generated between the excitation electromagnet 211 of the stator 21 and the permanent magnet 111 of the first mover 11, so that the sliding member 10 moves on the guide rail 22. For example, applying current to the U phase causes the excitation coil 213 of the U phase to generate an N pole at one end adjacent to the electromagnet 111; applying current to the V phase causes the excitation coil 213 of the V phase to generate an S pole at one end adjacent to the electromagnet 111; applying current to the W phase causes the excitation coil 213 of the W phase to generate an N pole at one end adjacent to the electromagnet 111. At this time, the excitation coil 213 of the U phase will generate a repulsive force on the permanent magnet 111 opposite to its front face; the excitation coil 213 of the V phase will generate a repulsive force on the permanent magnet 111 opposite to its front face, and generate an attractive force on the adjacent permanent magnet 111; the excitation coil 213 of the W phase will generate a repulsive force on the permanent magnet 111 opposite to its front face, and generate an attractive force on the adjacent permanent magnet 111. The overall force can cause the permanent magnet 111 to move in the X direction. When the permanent magnet 111 moves to the next position, the current values ​​applied to the U phase, V phase, and W phase can be changed to cause the permanent magnet 111 to move again. It can be seen that the first sliding member 10 can be made to move at a specified speed along the extension direction of the guide rail 22 by changing the power supply state of the excitation coil 213 .

[0058] Please also see Figure 6The guide rail 22 includes a bottom surface 222, a top surface 223, and two side surfaces 224 connected between the bottom surface 222 and the top surface 223. The screw mounting hole 221 passes through the top surface 223 and the bottom surface 222 to fix the guide rail 22 to the motor main body 20. The two side surfaces 224 are substantially the same in shape and are symmetrical along the center line. A sliding groove 225 is formed on the side surface 224. The extending direction of the sliding groove 225 is the same as the extending direction of the guide rail 22. The cross-sectional shape of the sliding groove 225 is substantially an inverted trapezoidal shape, and the width of the opening thereof gradually increases from the inside to the outside. The sliding groove 225 includes two upper and lower side surfaces. A first arc-shaped recessed portion 226 is provided on the upper side surface of the sliding groove 225. The first arc-shaped recessed portion 226 extends along the X direction. A first transition surface 227 is also provided at the connection between the side surface 224 and the top surface 223. The first transition surface 227 extends obliquely upward from the side surface 224 to the top surface 223. The first transition surface 227, the side surface 224 and the upper side surface of the sliding groove 225 together form a convex shape. The first transition surface 227 is provided with a second arc-shaped recessed portion 228.

[0059] See also Figure 7 , the slider 13 is provided with a recessed portion 131, which extends upward from the bottom surface 132 of the slider 13. The recessed portion 131 is used to cover the upper end of the guide rail 22. The recessed portion 131 includes a top surface 133 and two side surfaces 134 connecting the top surface 133 of the recessed portion 131 with the bottom surface 132 of the slider 13. The two side surfaces 134 have substantially the same shape and are symmetrical along the center line. The side surface 134 is formed with a protrusion 135 at a position close to the bottom surface 132. The protrusion 135 is used to fit into the sliding groove 225 of the guide rail 22 to prevent the slider 13 from being displaced in the Z direction. In this embodiment, the protrusion 135 is substantially trapezoidal in shape, and the width of the protrusion 135 gradually decreases from the side surface 134 inward. The upper surface of the protrusion 135 is provided with a first arc-shaped protrusion 136. When the slider 13 is assembled to the guide rail 22, the first arc-shaped protrusion 136 is embedded in the first arc-shaped recess 226. A second transition surface 137 is formed between the side surface 134 and the top surface 133, and the second transition surface 137 extends obliquely upward from the side surface 134 to the top surface 133. A second arc-shaped protrusion 138 is also provided on the second transition surface 137. The second arc-shaped protrusion 138 is used to be embedded in the second arc-shaped recess 228.

[0060] Since both sides 224 of the guide rail 22 are provided with sliding grooves 225, and both sides 134 of the recessed portion 131 of the slider 13 are provided with protrusions 135, the matching relationship between the sliding grooves 225 and the protrusions 135 can prevent the first slider 10 from generating displacement in the Z direction when sliding on the guide rail 22, thereby making the movement of the first slider 10 more stable. Furthermore, a first arc-shaped recessed portion 226 is provided on the upper side of the sliding groove 225, and a first arc-shaped protrusion 136 is provided on the upper surface of the protrusion 135. Since the contact surface between the slider 13 and the guide rail 22 is located at the center-upward position of the stator 21 and the first mover 11, the first arc-shaped recessed portion 226 and the first arc-shaped protrusion 136 can better realize the position matching relationship between the guide rail 22 and the slider 13. It can be understood that the location of the first arc-shaped recessed portion 226 is not limited to the upper side of the sliding groove 225, and it can also be set on the bottom surface of the sliding groove 225 or the lower side of the sliding groove 225. Similarly, the location of the first arc-shaped protrusion 136 is not limited to the upper surface of the protrusion 135, and it can also be set on the top surface or the lower surface of the protrusion 135. Specifically, when the bottom surface of the sliding groove 225 and the upper surface of the protrusion 135 are located on the center line of the stator 21 and the first mover 11, the first arc-shaped recessed portion 226 can be set on the bottom surface of the sliding groove 225, and the first arc-shaped protrusion 136 can be set on the top surface of the protrusion 135. When the bottom surface of the sliding groove 225 and the upper surface of the protrusion 135 are lower than the height of the center line of the stator 21 and the first mover 11, the first arc-shaped recessed portion 226 can be provided on the lower side of the sliding groove 225, and the first arc-shaped protrusion 136 can be provided on the lower side of the protrusion 135. During the assembly process, the slider 13 is first fixed to the carrier plate 12 with screws, and then the slider 13 is inserted into the guide rail 22 from the side of the guide rail 22, so that the carrier plate 12 can slide on the guide rail 22.

[0061] Please also see Figures 8 to 9 The linear transport device 100 further includes a position detection device 40 and a control device 50. The position detection device 40 is used to detect the position information of the first slide 10 and the second slide 30 and send the position information to the control device 50. The control device 50 is used to supply power to the multiple stators 21 in the motor body 20 separately according to the position information, so that the projections of the first slide 10 and the second slide 30 in the horizontal direction perpendicular to the extension direction of the guide rail 22 do not overlap with the projections of the same stator 21 in the horizontal direction.

[0062] In the above linear transport device 100, the position information of the first slide 10 and the second slide 30 is detected by the position detection device 40, and the position information is sent to the control device 50. The control device 50 can supply power to the multiple stators 21 in the motor body 20 separately according to the position information, so that the projections of the first slide 10 and the second slide 30 in the horizontal direction perpendicular to the extension direction of the guide rail 22 will not overlap with the projection of the same stator 21 in the horizontal direction. That is, the first slide 10 and the second slide 30 will not be arranged opposite to the same stator at the same time, thereby solving the problem that the movements of the first slide 10 and the second slide 30 cannot be controlled separately when the first slide 10 and the second slide 30 are located on the surface of the same stator 21.

[0063] The position detection device 40 includes a printed circuit board 41 and a plurality of Hall elements 42 arranged on the printed circuit board 41. The printed circuit board 41 is fixed on the motor body 20 and the length direction of the printed circuit board 41 is the extension direction of the guide rail 22. The plurality of Hall elements 42 are arranged at the end of the printed circuit board 41 and are arranged at intervals along the length direction of the printed circuit board 41. The Hall element 42 is a magnetic field sensor based on the Hall effect. The specific principle of the Hall effect is that when the current passes through the semiconductor perpendicular to the external magnetic field, the carriers in the semiconductor are deflected, thereby generating an additional electric field in the direction perpendicular to the current and the magnetic field, that is, generating a potential difference at both ends of the semiconductor. Specifically, in the linear transport device 100 provided in the embodiment of the present invention, since the first mover 11 includes a plurality of permanent magnets 111, and the N poles of the permanent magnets 111 and the S poles of the permanent magnets 111 are alternately arranged at intervals along the extension direction of the guide rail 22. When the first mover 11 moves to the opposite side of the Hall element 42, the potential difference can be detected on two opposite sides of the Hall element 42. Therefore, the position of the first mover 11 can be determined by the magnitude relationship of the potential differences detected by the multiple Hall elements 42. Similarly, when the second mover 31 moves to the opposite side of the Hall element 42, a potential difference can be detected on two opposite sides of the Hall element 42. Therefore, the position of the second mover 31 can also be determined by the magnitude relationship of the potential differences detected by the multiple Hall elements 42.

[0064] In this embodiment, the position detection device 40 further includes a fixing plate 43. The printed circuit board 41 is fixed on the fixing plate 43. The fixing plate 43 is fixed on the motor body 20 to fix the printed circuit board 41 on the motor body 20. Specifically, the position detection device 40 is disposed on the first surface 242 of the second recessed portion 241.

[0065] See also Fig.10 , during the operation of the linear transport device 100, the first slide member 10 is located in front of the second slide member 30. When the first slide member 10 is stationary and the second slide member 30 is moving, if the position detection device 40 detects that the projection of the rear end of the first slide member 10 in the horizontal direction perpendicular to the extension direction of the guide rail 22 overlaps with the projection of a stator 21 in the horizontal direction, the control device 50 controls the movement state of the second slide member 30 so that the front end of the second slide member 30 moves to stop in front of the stator 21.

[0066] See also Fig.11 When the first sliding member 10 is stationary and the second sliding member 30 is moving, if the position detection device 40 detects that the projection of the rear end of the first sliding member 10 in the horizontal direction perpendicular to the extension direction of the guide rail 22 is between the projections of two adjacent stators 21 in the horizontal direction, the control device 50 controls the movement state of the second sliding member 30 so that the front end of the second sliding member 30 moves to the rear stator 21 and stops.

[0067] See also Fig.12 When the first sliding member 10 and the second sliding member 30 move simultaneously, if the distance between the rear end of the first sliding member 10 and the front end of the second sliding member 20 is less than a preset distance D1, the second sliding member 30 is controlled to stop, or the movement speed of the first sliding member 10 is controlled to be greater than the movement speed of the second sliding member 30. The preset distance D1 can be set as needed, for example, it is set to be greater than the length of one stator 21.

[0068] The above arrangement methods can ensure that the projections of the first sliding member 10 and the second sliding member 30 in the horizontal direction perpendicular to the extending direction of the guide rail 22 will not overlap with the projection of the same stator 21 in the horizontal direction. That is, the first sliding member 10 and the second sliding member 30 will not be arranged facing the same stator at the same time, thereby solving the problem that the movements of the first sliding member 10 and the second sliding member 30 cannot be controlled separately when the first sliding member 10 and the second sliding member 30 are located on the surface of the same stator 21.

[0069] See also Fig.13, the embodiment of the present invention also provides a control method of a linear transport device 100. The linear transport device 100 includes a motor body 20 and a first slide 10 and a second slide 30 disposed on the motor body 20. A guide rail 22 is disposed on the motor body 20. The first slide 10 and the second slide 30 are slidably disposed on the guide rail 22. A plurality of stators 21 arranged at intervals along the extension direction of the guide rail 22 are disposed on the motor body 20. A first mover 11 is disposed on the first slide 10, and a second mover 31 is disposed on the second slide 30. The first slide 10 is moved on the motor body 20 by the interaction force between the first mover 11 and the stator 21. The second slide 30 is moved on the motor body 20 by the interaction force between the second mover 31 and the stator 21. As needed, the linear transport device 100 may also include all the features of the embodiments described above, which will not be repeated here. The control method of the linear transport device 100 includes the following steps:

[0070] Detecting position information of the first sliding member 10 and the second sliding member 30;

[0071] The multiple stators 21 in the motor body 20 are powered individually according to the position information so that the projections of the first sliding member 10 and the second sliding member 30 in the horizontal direction perpendicular to the extension direction of the guide rail 22 do not overlap with the projection of the same stator 21 in the horizontal direction.

[0072] See also Fig.14 It can be understood that the control method of the linear transport device 100 further includes the following steps:

[0073] Detecting the motion states of the first sliding member 10 and the second sliding member 30;

[0074] If the second sliding member 30 moves, the first sliding member 10 is stationary and the projection of the rear end of the first sliding member 10 in the horizontal direction perpendicular to the extension direction of the guide rail 22 overlaps with the projection of a stator 21 in the horizontal direction, the movement state of the second sliding member 30 is controlled so that the front end of the second sliding member 30 moves to and stops in front of the above-mentioned stator 21.

[0075] It can be understood that the control method further includes the following steps:

[0076] Detecting the motion states of the first sliding member 10 and the second sliding member 30;

[0077] If the second sliding member 30 moves, the first sliding member 10 is stationary and the projection of the rear end of the first sliding member 10 in the horizontal direction perpendicular to the extension direction of the guide rail 22 is between the projections of two adjacent stators 21 in the horizontal direction, and the movement state of the second sliding member 30 is controlled so that the front end of the second sliding member 30 moves to the rear stator 21 and stops.

[0078] It can be understood that the control method further includes the following steps:

[0079] Detecting the motion states of the first sliding member 10 and the second sliding member 30;

[0080] If the first sliding member 10 and the second sliding member 30 move simultaneously, and the distance between the rear end of the first sliding member 10 and the front end of the second sliding member 30 is less than a preset distance D1, the second sliding member 30 is controlled to stop, or the movement speed of the first sliding member 10 is controlled to be greater than the movement speed of the second sliding member 30.

[0081] The above arrangement methods can ensure that the projections of the first sliding member 10 and the second sliding member 30 in the horizontal direction perpendicular to the extending direction of the guide rail 22 will not overlap with the projection of the same stator 21 in the horizontal direction. That is, the first sliding member 10 and the second sliding member 30 will not be arranged facing the same stator at the same time, thereby solving the problem that the movements of the first sliding member 10 and the second sliding member 30 cannot be controlled separately when the first sliding member 10 and the second sliding member 30 are located on the surface of the same stator 21.

[0082] The embodiment of the present invention further provides a computer-readable storage medium, which is used for a control program of the linear transport device 100. When the control program of the linear transport device 100 is executed by a processor, the control method of the linear transport device 100 as described above is implemented.

[0083] Fig.15Schematic diagram of the hardware operating environment of the terminal 60 involved in the embodiment of the present invention. The terminal 60 may include: a processor 61, such as a CPU, a network interface 64, a user interface 63, a memory 65, and a communication bus 62. Among them, the communication bus 62 is used to realize the connection and communication between these components. The user interface 63 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 63 may also include a standard wired interface and a wireless interface. The network interface 64 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 65 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 65 may also be a storage device independent of the aforementioned processor 61. The control program of the linear transport device 100 is stored in the memory 65.

[0084] It should be noted that the above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A linear transport device, characterized in that: The invention comprises a motor body and a first sliding member and a second sliding member arranged on the motor body, wherein a guide rail is arranged on the motor body, the first sliding member and the second sliding member are slidably arranged on the guide rail, a plurality of stators arranged at intervals along the extension direction of the guide rail are arranged on the motor body, a first mover is arranged on the first sliding member, and a second mover is arranged on the second sliding member, the first sliding member is moved on the motor body by the interaction force between the first mover and the stator, and the second sliding member is moved on the motor body by the interaction force between the second mover and the stator, the linear transport device further comprises a position detection device and a control device, the position detection device is used to detect the position information of the first sliding member and the second sliding member and send the position information to the control device, and the control device is used to supply power to the plurality of stators in the motor body according to the position information, so that the projections of the first sliding member and the second sliding member in the extension direction of the guide rail will not overlap with the projections of the same stator in the extension direction; wherein a projection of the guide rail in a horizontal direction perpendicular to the extension direction of the guide rail partially overlaps with a projection of the stator in the horizontal direction; when an interaction force is generated between the stator and the first mover or the second mover so that the first sliding member or the second sliding member moves on the guide rail, the direction of the interaction force directly passes through the guide rail; The first sliding member is located in front of the second sliding member. When the first sliding member is stationary, if the position detection device detects that the projection of the rear end of the first sliding member in the extension direction of the guide rail is between the projections of two adjacent stators in the extension direction, the control device controls the movement state of the second sliding member so that the front end of the second sliding member stops when it moves to the rear stator.

2. The linear transport device according to claim 1, characterized in that: The position detection device includes a printed circuit board and a plurality of Hall elements arranged on the printed circuit board. The printed circuit board is fixed on the motor main body and its length direction is the extension direction of the guide rail. The plurality of Hall elements are arranged at the ends of the printed circuit board and are spaced apart along the length direction of the printed circuit board.

3. The linear transport device according to claim 2, characterized in that: The position detection device further includes a fixing plate, the printed circuit board is fixed on the fixing plate, and the fixing plate is fixed on the motor main body so as to fix the printed circuit board on the motor main body.

4. The linear transport device according to claim 1, characterized in that: The motor body includes a top surface and a first side surface extending downward from the top surface, and the stator is fixed on the first side surface of the motor body.

5. The linear transport device according to claim 4, characterized in that: A first recessed portion is disposed on the top surface of the motor main body, the recessed portion and the first side surface are respectively disposed on both sides of the top surface, and the guide rail is disposed on the first recessed portion.

6. The linear transport device according to claim 4, characterized in that: The stator is arranged on the first side surface of the motor body, and includes a plurality of excitation electromagnets arranged in a row along the extension direction of the guide rail, and each excitation electromagnet includes a magnetic core and an excitation coil wound on the magnetic core.

7. The linear transport device according to claim 6, characterized in that: A projection of the guide rail in a horizontal direction perpendicular to an extending direction of the guide rail partially overlaps with a projection of the excitation coil in the horizontal direction.

8. The linear transport device according to claim 6, characterized in that: A second recessed portion is provided on the first side surface of the motor main body, and the second recessed portion includes a first surface and a second surface, the first surface extends inward from the first side surface of the motor main body, and the second surface extends downward from the end of the first surface to the bottom surface of the motor main body, and the position detection device is arranged on the first surface of the second recessed portion.

9. The linear transport device according to any one of claims 1 to 8, characterized in that: The first sliding member is located in front of the second sliding member. When the first sliding member is stationary, if the position detection device detects that the projection of the rear end of the first sliding member in the extension direction of the guide rail overlaps with the projection of a stator in the extension direction, the control device controls the movement state of the second sliding member so that the front end of the second sliding member moves to stop in front of the above-mentioned stator.

10. The linear transport device according to any one of claims 1 to 8, characterized in that: The first sliding member is located in front of the second sliding member. When the first sliding member and the second sliding member move simultaneously, if the distance between the rear end of the first sliding member and the front end of the second sliding member is less than a preset distance, the second sliding member is controlled to stop, or the movement speed of the first sliding member is controlled to be greater than the movement speed of the second sliding member.

11. A control method for a linear transport device according to any one of claims 1 to 10, characterized in that: The linear transport device comprises a motor body and a first sliding member and a second sliding member arranged on the motor body, the motor body is provided with a guide rail, the first sliding member and the second sliding member are slidably arranged on the guide rail, the motor body is provided with a plurality of stators arranged at intervals along the extension direction of the guide rail, the first sliding member is provided with a first mover, the second sliding member is provided with a second mover, the first sliding member is moved on the motor body by the interaction force between the first mover and the stator, and the second sliding member is moved on the motor body by the interaction force between the second mover and the stator, and the control method comprises the following steps: detecting position information of the first sliding member and the second sliding member; The plurality of stators in the motor body are powered individually according to the position information, so that the projections of the first sliding member and the second sliding member in the extending direction of the guide rail do not overlap with the projection of the same stator in the extending direction.

12. The control method of the linear transport device according to claim 11, characterized in that: The first sliding member is located in front of the second sliding member, and the control method further comprises the following steps: detecting the motion states of the first sliding member and the second sliding member; If the second sliding member moves, the first sliding member is stationary and the projection of the rear end of the first sliding member in the extension direction of the guide rail overlaps with the projection of a stator in the extension direction, the movement state of the second sliding member is controlled so that the front end of the second sliding member moves to stop in front of the above-mentioned stator.

13. The control method of the linear transport device according to claim 11, characterized in that: The first sliding member is located in front of the second sliding member, and the control method further comprises the following steps: detecting the motion states of the first sliding member and the second sliding member; If the second sliding member moves, the first sliding member is stationary and the projection of the rear end of the first sliding member in the extension direction of the guide rail is located between the projections of two adjacent stators in the extension direction, and the movement state of the second sliding member is controlled so that the front end of the second sliding member stops when it moves to the latter stator.

14. The control method of the linear transport device according to claim 11, characterized in that: The first sliding member is located in front of the second sliding member, and the control method further comprises the following steps: detecting the motion states of the first sliding member and the second sliding member; If the first sliding member and the second sliding member move simultaneously, and the distance between the rear end of the first sliding member and the front end of the second sliding member is less than a preset distance, the second sliding member is controlled to stop, or the movement speed of the first sliding member is controlled to be greater than the movement speed of the second sliding member.

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