Magnetic drive conveying line with mover moving at high speed and changing orbit and hall displacement sensor

Abstract

The application discloses a mover high-speed moving track-changing magnetic drive conveying line and relates to the technical field of magnetic drive conveying lines.The mover high-speed moving track-changing magnetic drive conveying line comprises a motor stator and a mover, the motor stator is filled with epoxy, and a position sensor is filled simultaneously, the position sensor is a Hall displacement sensor containing double-row Hall devices, eight rollers are symmetrically arranged on the mover, the rollers are arranged in a rectangular shape in the overhead direction, and the rollers on the same side are coaxially arranged, and the rollers are engaged with the annular guide rail.The mover high-speed moving track-changing magnetic drive conveying line can make the mover acquire the absolute position in real time and can be independently controlled to switch at high speed on the magnetic drive conveying lines.

Description

TECHNICAL FIELD

[0001] The application relates to the field of magnetic drive conveying lines, in particular to a mover high-speed moving track-changing magnetic drive conveying line and a Hall displacement sensor. BACKGROUND

[0002] The magnetic drive line has the characteristics of high speed and high precision, and is widely applied in high production efficiency and high precision manufacturing scenes. The manufacturing of complex products often requires multiple processes, and the materials often need to be moved from one conveying line to another conveying line. There are two ways for the existing magnetic drive conveying lines to move materials between them. The first way is to use an industrial robot to pick up the load materials on the mover of the first magnetic drive conveying line and place and fix them on the mover of the second magnetic drive conveying line. The second way is to use a connection method. When connecting, the mover needs to be stopped on the connection section stator first, the connection section stator moves to the second magnetic drive conveying line with the mover stopped on the connection section stator, and after the mover starts and leaves the connection section stator, the connection section stator returns to the original magnetic drive conveying line. The use of a mechanical arm to move the load requires multiple clamping of the materials, which reduces the production efficiency of the products. The use of the connection method also needs to spend time on stopping the mover, connecting, starting, returning the connection, and other steps, which takes a long time to execute and also reduces the production efficiency of the products.

[0003] The main measurement methods for directly measuring displacement in industry (not considering indirect measurement after linear motion to rotary motion transmission) include laser interference, grating, laser pulse method, laser phase distance measurement method, laser triangulation method and magnetic grating method. Among them, the laser interference method has the highest resolution, but the price is expensive; the grating technology is mature and widely used, but it is limited by the width of the engraved line and requires high application scenarios, which limits the grating measurement method; the laser pulse method, the laser phase distance measurement method, the laser triangulation method and the conventional magnetic grating method are limited by the performance of AD devices and other electronic devices, which limits the further improvement of the resolution. The reading head of the traditional grating displacement sensor is connected with a data line to transmit analog or digital signals, which limits the application of position measurement of moving parts in circular motion scenarios. A double-row coupled displacement sensor is provided, which is based on ANSYS finite element electromagnetic field analysis, effectively improves the resolution of the magnetic grating ruler, but does not solve the problem of abnormal interval judgment at the gap between the magnetic steels, which limits the actual application.

[0004] The resolution, cost and range of the displacement sensor are mutually restricted, and it is often difficult to achieve high resolution in a large range, and the simultaneous satisfaction of a large range and high resolution often means extremely high cost. In addition, the existing sensor can only measure the displacement along a certain axis or a certain circular arc, and does not have the ability to measure any curve on a two-dimensional plane. SUMMARY

[0005] In view of the deficiencies of the prior art, the application provides a mover high-speed moving track-changing magnetic drive conveying line and a Hall displacement sensor, and solves the problems in the background art.

[0006] To achieve the above object, the application is implemented by the following technical solutions:

[0007] A mover high-speed moving track-changing magnetic drive conveying line comprises a motor stator and a mover, the motor stator is filled with epoxy, and a position sensor is filled in the motor stator at the same time, the position sensor is a Hall displacement sensor comprising double-row Hall devices, eight rollers are symmetrically arranged on the mover, the rollers are arranged in a rectangular shape in the top view, and the rollers on the same side are coaxially arranged, and the rollers are engaged with a ring guide rail.

[0008] The motor coil of the magnetic drive conveying line is embedded with an iron core, the mover is symmetrically arranged, and an adsorbing magnetic steel is arranged on both sides of the mover, and the normal attraction between the adsorbing magnetic steel and the motor iron core is perpendicular to the moving direction of the mover.

[0009] The ring guide rail has upper and lower two parts, the upper ring guide rail is provided with a V-shaped cross section, and the lower ring guide rail is provided with a flat cross section.

[0010] A track-changing method of a mover high-speed moving track-changing magnetic drive conveying line, comprising:

[0011] S1, placing the mover on the magnetic drive conveying line, the normal attraction of the adsorbing magnetic steel on the mover on both sides of the motor coil on the two magnetic drive conveying lines is equal in size and opposite in direction on the overlapping section;

[0012] S3, controlling the size, direction and phase of the coil current to superimpose electromagnetic force on the inherent attraction of the iron core and the adsorbing magnetic steel, the direction of the electromagnetic force on the mover moving out of the magnetic drive line is repulsion, and the direction of the electromagnetic force on the mover moving into the magnetic drive line is attraction;

[0013] S2, adjusting the size of the control coil current of one magnetic drive conveying line to increase the electromagnetic attraction of one magnetic drive conveying line, so that the mover is captured by the magnetic drive conveying line with greater attraction when the mover leaves the overlapping section, thereby realizing the movement of the mover from one magnetic drive conveying line to another magnetic drive conveying line;

[0014] A Hall displacement sensor for a mover high-speed moving track-changing magnetic drive conveying line, comprising a moving part and a fixed part, two rows of magnetic steels are arranged on the moving part in an array, and a position sensor with a matching phase on the moving part is arranged on the fixed part;

[0015] The moving part comprises a high-resolution magnetic steel group and a low-resolution magnetic steel group, the magnetic steel width of the high-resolution magnetic steel group is 2mm, the high-resolution magnetic steel group comprises thirteen magnetic steels in total, and the thirteen magnetic steels of the high-resolution magnetic steel group are arranged on the side end face of the fixed part in the sequence of NSNSNSNSNSNSN, the low-resolution magnetic steel group comprises three magnetic steels, and the low-resolution magnetic steel group obtains a single magnetic field interval with a length of more than 20mm;

[0016] The fixed part is a hardware circuit board with analog Hall devices, and the fixed part comprises a high-resolution board and a low-resolution board, the length of the high-resolution board is 100mm, and the high-resolution board is provided with ten Hall devices I, the ten Hall devices I are divided into five groups and are uniformly distributed on the circuit board, each group of Hall devices I comprises two Hall devices I with a spacing of 2mm, the length of the low-resolution board is 100mm, and the low-resolution board is provided with five Hall devices II, and each Hall device II has a spacing of 20mm.

[0017] Preferably, the magnetic steels of the high-resolution magnetic steel group are long strip-shaped magnetic steels magnetized in a sine manner, for obtaining a standard sine wave magnetic field with ten periods.

[0018] Preferably, the high-resolution magnetic steel group and the low-resolution magnetic steel group of the moving part are aligned in the width direction.

[0019] A signal processing method of a Hall displacement sensor of a magnetic drive conveying line for changing tracks in the high-speed movement of a mover, comprising the following steps:

[0020] Step one: when the low-resolution magnetic steel group of the moving part passes through the low-resolution board, the Hall device II at the phase position detects a monotonically changing magnetic field, the Hall device II outputs a monotonically changing voltage, the monotonically changing digital quantity is obtained through an AD converter, and 20mm of the monotonous interval is divided into ten intervals through calibration, and each interval occupies 2mm;

[0021] Step two: the change of the analog quantity read on different devices can know which 20mm group it is distributed in, so that a single low-resolution board can obtain the reading of a coarse-precision absolute value displacement sensor with a range of 100mm and a resolution of 2mm;

[0022] Step three: N board numbers are arranged along the moving direction, and each board is numbered, so as to obtain a low-resolution absolute value displacement sensor with a range of N*100mm and a resolution of 2mm;

[0023] Step four: when the high-resolution magnetic steel group of the moving part passes through the high-resolution plate, two analog Hall devices at the corresponding position of each group detect two continuous sine waves with a phase difference of pi / 2, wherein one with a smaller phase angle defines the sine value, and the other defines the cosine value; the tangent of the sine value and the cosine value is obtained, thereby obtaining a monotonic tangent value on pi, and the corresponding phase segment table is located in the MCU chip by using the bisection method to solve the arctangent value, i.e. the actual phase angle; since the high-resolution magnetic steel group is 2mm for a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain a high-resolution position sensor with an absolute value of 2mm in the range;

[0024] Step five: after signal processing, the low-resolution sensor obtains which group of 2mm displacement segments it is on in the arbitrary stroke, and the high-resolution sensor can obtain a position accuracy of 0.1um in the range of 2mm.

[0025] Step six: after algorithm processing, the displacement sensor readings of multiple moving parts on the same fixed part are obtained, and the sensors of each group are arranged according to different polygons to obtain the position accuracy of multiple points moving on a curve in an arbitrary two-dimensional plane.

[0026] The dimensions and the like listed in the above steps are only a selection for the sensor to realize its function, and in the actual application process, the dimensions and the like can be adaptively adjusted, and any adjustment of the dimensions and the like is within the protection scope of the present application.

[0027] The application provides a magnetic drive conveying line and a Hall displacement sensor for a mover moving at high speed.

[0028] (1) Due to the special sensor design and control method, the mover can be controlled to move at high speed, and can be moved from one magnetic drive conveying line to another magnetic drive conveying line in high-speed movement, which can reduce the switching time of the material between the magnetic drive lines, thereby greatly improving the production efficiency, and making the production line layout more flexible and more compact.

[0029] (2) The wireless double-row coupled Hall displacement sensor in the application has the characteristics of large range, high resolution and low cost, and can measure the curve length of multiple points on the same plane along the length direction of the curve, and can simultaneously support the position measurement of multiple independent moving parts, and can be wirelessly and non-contact measured.

[0030] (3), the magnetic drive conveying line in the application, the sensor filled in the epoxy uses the absolute value position sensor designed by the non-magnetic hysteresis double-row coupled displacement measurement method, uses double-row hall devices to further improve the resolution of the sensor, and simultaneously uses the combination of on-off hall devices and analog hall devices to further reduce the cost, so as to solve the difficult problem of high resolution and low cost of the displacement sensor. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the moving part and the high-resolution magnetic steel group in example 1.

[0032] Figure 2 It is a schematic diagram of the moving part and the low-resolution magnetic steel group in example 1.

[0033] Figure 3 It is a schematic diagram of the high-resolution plate and the hall device 1 in example 1.

[0034] Figure 4 It is a schematic diagram of the low-resolution plate and the hall device 2 in example 1.

[0035] Figure 5 It is a schematic diagram of the magnetic drive conveying line in example 3.

[0036] Figure 6 It is a schematic diagram of the moving part in example 3.

[0037] In the figure: 1, moving part; 2, high-resolution magnetic steel group; 3, low-resolution magnetic steel group; 4, high-resolution plate; 5, low-resolution plate; 6, hall device 1; 7, hall device 2; 8, motor stator; 9, moving part; 10, roller; 11, ring guide rail; 12, adsorbing magnetic steel. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0039] Example 1

[0040] Please refer to Figures 1-4 The embodiment provides a wireless double-row coupled hall displacement sensor, which comprises a moving part 1 and a fixed part, the moving part 1 is provided with two rows of arrayed magnetic steels, and the fixed part is provided with a position sensor matched with the moving part 1 in phase.

[0041] The moving part 1 comprises a high-resolution magnetic steel group 2 and a low-resolution magnetic steel group 3, the magnetic steel group 2 has a magnetic steel width of 2 mm, the magnetic steel group 2 has a total of thirteen magnetic steels, and the thirteen magnetic steels of the magnetic steel group 2 are arranged in sequence of NSNSNSNSNSNSN on the side end face close to the fixed part, the low-resolution magnetic steel group 3 is composed of three magnetic steels, and the low-resolution magnetic steel group 3 obtains a single magnetic field interval with a length of more than 20 mm.

[0042] The fixed part is a hardware circuit board with analog Hall devices, and the fixed part is composed of a high-resolution board 4 and a low-resolution board 5, the high-resolution board 4 has a length of 100 mm, and the high-resolution board 4 has ten Hall devices 6, the ten Hall devices 6 are divided into five groups and are evenly distributed on the circuit board, each group of Hall devices 6 comprises two Hall devices 6 with a spacing of 2 mm, the low-resolution board 5 has a length of 100 mm, and the low-resolution board 5 has five Hall devices 7, each Hall device 7 has a spacing of 20 mm.

[0043] The magnetic steels of the high-resolution magnetic steel group 2 are long strip-shaped magnetic steels magnetized in a sine manner, and are used to obtain a standard sine wave magnetic field with ten periods.

[0044] The high-resolution magnetic steel group 2 and the low-resolution magnetic steel group 3 of the moving part 1 are aligned in the width direction.

[0045] Embodiment 2

[0046] The embodiment provides a signal processing method of a wireless double-row coupled Hall displacement sensor, comprising the following steps:

[0047] Step 1: When the low-resolution magnetic steel group 3 of the moving part 1 passes through the low-resolution board 5, the Hall device 7 at the phase position detects a monotonically changing magnetic field, the Hall device 7 outputs a monotonically changing voltage, and the monotonically changing digital quantity is obtained through an AD converter, and 20 mm of the monotonous interval is divided into ten intervals through calibration, and each interval occupies 2 mm;

[0048] Step 2: The analog quantity change read on different devices can know which 20 mm group it is distributed in, so that a single low-resolution board 5 can obtain the reading of a coarse-precision absolute value displacement sensor with a range of 100 mm and a resolution of 2 mm;

[0049] Step 3: N board numbers are arranged along the moving direction, and each board number is numbered, so that a low-resolution absolute value displacement sensor with a range of N*100 mm and a resolution of 2 mm is obtained;

[0050] Step four: when the high-resolution magnetic steel group 2 of the moving part 1 passes through the high-resolution plate 4, the two analog Hall devices one 6 at the corresponding position detect two continuous sine waves with a phase difference of pi / 2, one of which is defined as a sine value and the other is defined as a cosine value; the tangent value is obtained by the sine value and the cosine value, and the monotonic tangent value on pi is located in the corresponding phase segment table in the MCU chip by using the bisection method to solve the arctangent value, i.e. the actual phase angle; since the high-resolution magnetic steel group 2 is 2mm for a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain an absolute value type high-resolution position sensor within 2mm;

[0051] Step five: after signal processing, the low-resolution sensor obtains which group of 2mm displacement segments it is on in any stroke, and the high-resolution sensor can obtain a position accuracy of 0.1um level within 2mm stroke.

[0052] Step six: after algorithm processing, the displacement sensor readings of multiple moving parts 1 at the same fixed part are obtained, and each group of sensors is arranged according to different polygons to obtain the position accuracy of multiple points in motion on a curve in any two-dimensional plane.

[0053] The above-mentioned size data and the like listed in the embodiment are only one selection for the sensor to realize its function, and in the actual application process, the above-mentioned size data and the like can be adaptively adjusted, and any size data and the like adjustment made belongs to the range protected by the embodiment.

[0054] Embodiment 3

[0055] Please refer to Figures 5-6 The embodiment discloses a magnetic drive conveying line with a Hall displacement sensor, which comprises a motor stator 8 and a mover 9, the motor stator 8 is filled with epoxy, and a position sensor is also filled in the epoxy, the position sensor is a Hall displacement sensor containing double-row Hall devices, eight rollers 10 are symmetrically arranged on one mover 9, the rollers 10 are arranged in a rectangular shape in the top view, the rollers 10 on the same side are coaxially arranged, the rollers 10 are engaged with a ring-shaped guide rail 11, and the rollers 10 are adsorbed on the magnetic drive conveying line by normal attraction.

[0056] The sensor filled in the epoxy is an absolute value type position sensor designed by using a non-hysteresis double-row coupled displacement measurement method, the double-row Hall devices are used to further improve the resolution of the sensor, and the combination of the on-off Hall devices and the analog Hall devices is used to further reduce the cost, so as to solve the problem of high resolution and low cost of the displacement sensor.

[0057] The motor coil of the magnetic drive conveying line is embedded with a core, the mover 9 is symmetrically arranged, and the two sides of the mover 9 are both provided with the adsorbing magnetic steel 12, the normal attraction between the adsorbing magnetic steel 12 and the motor core is perpendicular to the moving direction of the mover 9.

[0058] The mover 9 is designed as a symmetric mover 9, the two sides are both provided with the adsorbing magnetic steel 12, and the normal attraction of the two sides on the coincident section is equal in size and opposite in direction. By controlling the size, direction and phase of the coil current, the electromagnetic force can be superimposed outside the inherent core and the attraction of the adsorbing magnetic steel 12. The direction of the electromagnetic force when the mover 9 moves out of the magnetic drive line is repulsion, the direction of the electromagnetic force when the mover 9 moves into the magnetic drive line is attraction, and when the mover 9 leaves the coincident section, the mover 9 is captured by the side with larger attraction, so as to realize the movement of the mover 9 from one magnetic drive conveying line to another magnetic drive conveying line.

[0059] The annular guide rail 11 has upper and lower two, the upper annular guide rail 11 is provided with a V-shaped section, and the lower annular guide rail 11 is provided with a flat section, so as to release the parallelism assembly error of the roller 10 between the two annular guide rails 11.

[0060] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A magnetically driven conveyor line with a moving part that changes track during high-speed movement, characterized in that: It consists of two parts: a motor stator (8) and a mover (9). The motor stator (8) is encapsulated with epoxy and also contains a position sensor. The position sensor is a Hall displacement sensor containing a double row of Hall devices. Eight rollers (10) are symmetrically arranged on one mover (9). The rollers (10) are arranged in a rectangle in the top view. The rollers (10) on the same side are arranged coaxially. The rollers (10) mesh with the annular guide rail (11). The Hall displacement sensor includes a moving part (1) and a fixed part. Two rows of magnets are arranged in an array on the moving part (1), and a position sensor that matches the phase of the moving part (1) is installed on the fixed part. The moving part (1) includes a high-resolution magnet group (2) and a low-resolution magnet group (3). The magnet of the high-resolution magnet group (2) is 2mm wide and has a total of thirteen magnets. The thirteen magnets of the high-resolution magnet group (2) are arranged in the sequence NNSNSNSNSNSNSN on the end face of the side of the fixed part. The low-resolution magnet group (3) consists of three magnets and obtains a monotonic magnetic field range with a length of more than 20mm. The fixed part is a hardware circuit board with analog Hall effect devices, and the fixed part consists of two parts: a high resolution board (4) and a low resolution board (5). The high resolution board (4) is 100mm long and has ten Hall effect devices (6) on it. The ten Hall effect devices (6) are divided into five groups and evenly distributed on the circuit board. Each group of Hall effect devices (6) contains two Hall effect devices (6) spaced 2mm apart. The low resolution board (5) is 100mm long and has five Hall effect devices (7) on it. Each Hall effect device (7) is spaced 20mm apart.

2. The magnetic drive conveyor line for high-speed movement and track changing of the moving part according to claim 1, characterized in that: The motor coil of the magnetic drive conveyor has an embedded iron core. The mover (9) is symmetrically arranged, and adsorption magnets (12) are installed on both sides of the mover (9). The normal attraction between the adsorption magnets (12) and the motor iron core is perpendicular to the moving direction of the mover (9).

3. The magnetic drive conveyor line for high-speed movement and track changing of the moving part according to claim 2, characterized in that: The annular guide rail (11) has two sections, upper and lower. The upper annular guide rail (11) has a V-shaped cross section, and the lower annular guide rail (11) has a flat cross section.

4. The magnetic drive conveyor line for high-speed movement and track changing of the moving part according to claim 1, characterized in that: The high-resolution magnet group (2) consists of long strip magnets that are sinusoidally magnetized to obtain a standard sinusoidal magnetic field with ten cycles.

5. A magnetic drive conveyor line for high-speed movement and track changing of the moving part according to claim 1, characterized in that: The high-resolution magnet group (2) of the moving part (1) is aligned with the low-resolution magnet group (3) along the width direction.

6. A method for changing the track of a magnetic drive conveyor line during high-speed movement of a moving part, as described in any one of claims 1-5, characterized in that: include S1. Place the mover (9) on the magnetic drive conveyor line. The normal attraction forces on both sides of the magnet (12) on the mover (9) are equal in magnitude and opposite in direction at the overlapping section of the motor coils on the two magnetic drive conveyor lines. S3. Control the magnitude, direction and phase of the coil current so that the electromagnetic force is superimposed on the inherent attraction of the iron core and the adsorption magnet (12). When the mover (9) moves out of the magnetic drive line, the direction of the electromagnetic force is repulsive, and when the mover (9) moves into the magnetic drive line, the direction of the electromagnetic force is attractive. S2. Adjust the current of the control coil of one magnetic drive conveyor line to increase the electromagnetic attraction of the magnetic drive conveyor line. When the mover leaves the overlapping section, the mover is captured by the magnetic drive conveyor line with the greater attraction, thereby realizing the movement of the mover from one magnetic drive conveyor line to another.

7. A signal processing method for a Hall displacement sensor in a magnetic drive conveyor line with high-speed movement and track changing according to any one of claims 1-5, characterized in that: Includes the following steps: Step 1: When the low-resolution magnet group (3) of the moving part (1) passes over the low-resolution plate (5), the Hall device 2 (7) at the phase position detects a monotonically changing magnetic field. The Hall device 2 (7) outputs a monotonically changing voltage, which is converted by the AD converter to obtain a monotonically changing digital quantity. After calibration, the 20mm monotonous interval is divided into ten intervals, each interval occupying 2mm. Step 2: The changes in analog quantities read on different devices can be used to determine which 20mm group they belong to. Therefore, a single low-resolution board (5) can obtain the readings of a coarse-precision absolute displacement sensor with a range of 100mm and a resolution of 2mm. Step 3: Arrange N boards along the direction of movement and number each board to obtain a low-resolution absolute displacement sensor with a range of N*100mm and a resolution of 2mm. Step 4: When the high-resolution magnet group (2) of the moving part (1) passes over the high-resolution plate (4), the two analog Hall devices (6) at the corresponding positions of each group detect two continuous sine waves with a phase difference of pi / 2. One of them with a smaller phase angle is defined as the sine value and the other is defined as the cosine value. The sine value and the cosine value are taken as the tangent, so as to obtain a monotonic tangent value on pi. In the MCU chip, the corresponding phase segment table is located by the bisection method to solve its arctangent value, that is, the actual phase angle. Since the high-resolution magnet group (2) takes 2mm as a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain an absolute value of a high-resolution position sensor within 2mm. Step 5: After signal processing, the low-resolution sensor can determine which 2mm displacement segment it is on in any stroke, while the high-resolution sensor can obtain a positional accuracy of 0.1μm within a 2mm stroke.

8. The signal processing method for a Hall displacement sensor in a magnetic drive conveyor line with high-speed movement and track changing as described in claim 7, characterized in that: It also includes step six: after algorithm processing, obtain the displacement sensor readings of multiple moving parts (1) in the same fixed part, and arrange the sensors of each group according to different polygons to obtain the position accuracy of multiple points moving on a curve in any two-dimensional plane.

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