Conveying line with iron heart sound coil motor in relay transmission mode and driving method

Abstract

The invention discloses a conveyor line with an iron heart sound coil motor in relay transmission and a driving method. A conveying line serves as a main tool for material conveying and is applied to the design scheme of industrial automation by more and more industries. The conveying line technology can be divided into a traditional conveying line technology with a belt or a chain as transmission force and a flexible electromagnetic conveying line technology with interaction between current and a magnetic field as transmission force. Compared with a traditional conveying line, the flexible electromagnetic conveying line has the advantages of being high in transmission speed, high in positioning precision, low in noise, convenient to maintain, long in service life and the like. The moving-magnet type flexible conveying line is popular with the market in a flexible application mode of the moving-magnet type flexible conveying line. However, the popularization and application of the traditional Chinese medicine composition are hindered due to the complex technology and high price of the traditional Chinese medicine composition. The invention provides a new technical thought, that is, a voice coil motor transmission technology is adopted in the moving magnet type flexible conveying line, and compared with the current popular technology that a permanent magnet synchronous linear motor (PMLSM) is transmitted in a relay mode, the material cost is lower, and the driving method is simpler.

Description

Technical Field

[0001] The invention belongs to the technical field of linear motors and conveyor lines. Background Art

[0002] As the main tool for material transmission, conveyor lines are being applied to industrial automation design schemes by more and more industries. Conveyor line technology can be divided into traditional conveyor line technology with belts or chains as transmission force, such as roller conveyor lines, chain plate conveyor lines, synchronous belt conveyor lines, flat top chain conveyor lines, double speed chain conveyor lines and mesh belt conveyor lines. At the same time, with the development of motor technology, flexible electromagnetic conveyor line technology with the interaction between current and magnetic field as transmission force has also emerged. Compared with traditional conveyor lines, flexible electromagnetic conveyor lines have the advantages of fast transmission speed, high positioning accuracy, low noise, easy maintenance and long service life. Especially in production lines or workshops that adopt flexible manufacturing modes, flexible electromagnetic conveyor lines can realize special functions such as software-defined workstation positions and asynchronous mobile carriers, which greatly improves product changeover efficiency. Therefore, the research and application of flexible electromagnetic conveyor line technology has received more and more attention from different industries.

[0003] The flexible electromagnetic conveyor line consists of a mover and a stator. The stator is the line part of the conveyor line that transports the mover, and the mover is the carrier that carries the material. According to the way the power is generated, it can be divided into a moving coil type and a moving magnet type. The transmission method of outputting power on the mover is called a moving coil type, on which a three-phase winding and a drive circuit are integrated. The control circuit can invert the DC power on the busbar into a three-phase AC power with a phase difference of 120°. The scheme for outputting power on the stator is called a moving magnet type, on which several groups of coils are integrated. Each group of coils can be regarded as a section of an independently working permanent magnet linear synchronous motor (PMLSM, Permanent Magnet LinearSynchronous Motor), and the mover is transmitted between the coils by relay. Compared with the moving coil type, it does not require busbar power supply, so the system stability is better, but the technical difficulty and cost are also higher.

[0004] A voice coil motor is a brake that moves in a linear manner with fast speed, short stroke and quick response. It is usually composed of a coil, a permanent magnet and a rebound element. The most common voice coil motor is the speaker in the audio system. It is usually used as a high-speed motion motor or vibration motor in the industry. The PMLSM drive needs to control the three-phase current and convert the current loop output (two-phase virtual current) into a three-phase current through the FOC (Field Oriented Control) algorithm. The voice coil motor only controls the single-phase current, so there is no need for the FOC algorithm to convert the current, and the control method is relatively simple.

[0005] The dynamic magnetic flexible conveyor line is favored by the market for its flexible application. However, its complex technology and high price hinder its popularization and application. The present invention proposes a new technical idea, that is, the voice coil motor transmission technology is adopted in the dynamic magnetic flexible conveyor line. Compared with the currently popular PMLSM relay transmission technology, its material cost is lower and the driving method is simpler. Summary of the invention

[0006] The present invention proposes a transmission line and a driving method in which an iron core voice coil motor is driven in a relay manner, which can be applied to the field of dynamic magnetic flexible transmission lines. Compared with the dynamic magnetic flexible transmission line technology with PMLSM and its driving technology as the core, the present invention uses an iron core voice coil motor as the main mechanism feature. At the same time, in the driving control method, the present invention does not require a FOC algorithm and does not need to repeatedly calculate the initial electrical angle of the PMLSM during the relay process, which can effectively reduce material costs and technical difficulties.

[0007] The present invention proposes a transmission line with an iron core voice coil motor driven in a relay manner, and its mechanism is characterized in that: the stator 102 is composed of a position sensor 201, a coil frame 202, a slide rail 203 and a driver 204, wherein the coil frame 202 is composed of multiple groups of coils wound on a single or multiple cylinders made of high magnetic permeability material connected end to end at a certain interval, the slide rail 203 is used to constrain the movement direction of the mover, the position sensor 201 is used to determine the stator position, and the driver 204 is used to control the coil current; the mover 101 is composed of a permanent magnet array 302, a position mark 303, a slider 304 and a frame 301, wherein the permanent magnet array 302 is used to generate a magnetic field that interacts with the coil frame 202, the position mark 303 is a passive part that cooperates with the position sensor 201 to work normally, and the slider 304 is used in conjunction with the slide rail 203.

[0008] The relay control method proposed in the present invention is characterized in that: the commutation position 501 of the magnetic control coil 403 and the adjacent coil currently corresponding to the mover is determined by the position sensor 201 and the position mark 303; when the mover is located within the control range of the magnetic control coil 403 and moves, the position, speed or torque control mode is realized through the voice coil motor PID control algorithm (including position loop, speed loop and current loop); when the mover reaches the commutation position 501, the power supply of the original coil is cut off through the programmable switch circuit, and the new magnetic control coil is immediately turned on to realize the relay transmission of the mover from the original magnetic control coil to the new magnetic control coil.

[0009] The position sensor used in the present invention includes but is not limited to a photoelectric sensor, a Hall sensor or a magnetoresistive sensor.

[0010] The position markers used in the present invention include but are not limited to shading sheets, magnetic poles, magnetic strips or gratings.

[0011] The magnetic field distribution of the permanent magnet array is as follows Figure 4 As shown, the magnetic fields of the permanent magnetic arrays 401 and 402 inside the mover are divided by the iron core 405, forming two magnetic fields 406 and 407 with opposite directions in the upper and lower regions. When the current passes through the coil 403, the upper and lower conductors will respectively generate Ampere forces with the same direction in the magnetic fields 406 and 407. Since the coil is fixed on the stator, the Ampere force generated by the coil will react on the mover, generating a thrust on the mover.

[0012] The magnetic field direction of the permanent magnetic array used in the present invention can also be Figure 4 on the contrary.

[0013] The present invention allows multiple movers to run on the same stator. Figure 1 shown. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the conveyor line structure of an embodiment of the present invention.

[0015] Figure 2 It is a schematic diagram of the stator structure of an embodiment of the present invention.

[0016] Figure 3 It is a schematic diagram of the structure of a mover according to an embodiment of the present invention.

[0017] Figure 4 It is a schematic diagram of the electromagnetic drive principle of an embodiment of the present invention.

[0018] Figure 5 It is a schematic diagram of the electromagnetic driving process of an embodiment of the present invention.

[0019] Figure 6 It is a schematic diagram of the electromagnetic driving process of an embodiment of the present invention.

[0020] Figure 7 It is a schematic diagram of the electromagnetic driving process of an embodiment of the present invention.

[0021] Figure 8 Schematic diagram of electromagnetic drive according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The coils with the current direction marked are magnetically controlled coils, such as 403, 501, 601 and 701, and the coils without the current direction marked are non-magnetically controlled coils, such as 404. The driver circuit energizes the magnetically controlled coils and adjusts the magnitude and direction of the coil current through the PID algorithm; there is no current in the non-magnetically controlled coils, and the driver does not control them.

[0023] When the mover is located Figure 4When the coil 403 is in the right position, the current shown in the figure is passed through the coil 403, which will generate a rightward thrust on the mover, causing the mover to move to the right.

[0024] When the mover moves to Figure 5 When the position is reached, the driver judges that the mover has reached the commutation position 501 through the feedback information of the position sensor. At this time, the driver disconnects the current of coil 403, and immediately turns on the current of coil 601, and implements PID regulation control on coil 601. At this time, the mover control is relayed from coil 403 to coil 601, and coil 601 becomes the new magnetic control coil.

[0025] like Figure 7 As shown in the figure, when the power supply direction of the magnetic control coil remains unchanged, the mover will continue to move to the right. Whenever a commutation position is encountered, the mover will be relayed to the next magnetic control coil, so that the continuous transmission of the mover can be achieved.

[0026] When reverse current flows through the coil, the force and movement direction of the mover will also change.

Claims

1. A conveyor line and a driving method for a core voice coil motor driven in a relay manner, wherein the mechanism is characterized in that: the stator is composed of a position sensor, a coil frame, a slide rail and a driver, wherein the coil frame is composed of multiple groups of coils wound at a certain interval on a single or multiple cylinders made of high magnetic permeability material connected end to end, the slide rail is used to constrain the movement direction of the mover, the position sensor is used to determine the stator position, and the driver is used to control the coil current; the mover is composed of a permanent magnet array, a position mark, a slider and a frame, wherein the permanent magnet array is used to generate a magnetic field that interacts with the coil frame, the position mark is a passive part that cooperates with the position sensor to work normally, and the slider is used in conjunction with the slide rail.

2. A transmission line and a driving method for a core voice coil motor that transmits power in a relay manner, wherein the driving control method is characterized in that: the commutation position of the magnetically controlled coil and the adjacent coil currently corresponding to the mover is determined by a position sensor and a position marker; when the mover is located within the control range of the magnetically controlled coil and moves, the position, speed or torque control mode is realized by the voice coil motor PID control algorithm (including position loop, speed loop and current loop); when the mover reaches the commutation position, the power supply of the original coil is cut off by a programmable switch circuit, and the new magnetically controlled coil is immediately turned on, thereby realizing the relay transmission of the mover from the original magnetically controlled coil to the new magnetically controlled coil.

3. The position sensor according to claim 1, including but not limited to photoelectric, Hall or magnetoresistive sensors.

4. The position marker according to claim 1, including but not limited to a light shielding sheet, a magnetic pole, a magnetic strip or a grating.

5. The magnetic field of the permanent magnet array of the mover according to claim 1 is divided by the iron core to form two magnetic fields with opposite directions, and the directions of the two magnetic fields can be opposite or opposite.

6. A plurality of movers can be transported simultaneously on the stator according to claim 1.

Images