A transition module for a planar motor system, a control method thereof and a planar motor system

Abstract

The present application relates to the technical field of planar motor, and provides a transition module for a planar motor system, a control method of the transition module and the planar motor system, the planar motor system comprising a stator platform formed by splicing a plurality of stators and a mover suspended and running above the stator platform, the stator platform being formed with a through hole in a thickness direction, the transition module being arranged below the through hole, the transition module comprising a driving member and a transition plate, the driving member being connected with the transition plate, the transition plate being capable of being lifted in a direction of approaching or moving away from the through hole under the driving of the driving member, and an array of transition coils being arranged on a side of the transition plate close to the through hole. The transition module is capable of adjusting its position along with the change of the position of the through hole on the stator, has high flexibility and fast response speed, and compared with changing the path of the mover, the arrangement of the transition module can save time, improve efficiency and reduce cost in the scene where the vacant position of the through hole of the stator frequently changes.

Description

Technical Field

[0001] This invention belongs to the field of planar motors, and particularly relates to a transition module for a planar motor system, its control method, and the planar motor system. Background Technology

[0002] Currently, in planar motors, the stator often has multiple stations for inspection or processing equipment to inspect or process the mover or workpieces on it. When the inspection or processing equipment is in normal use, the corresponding stator block at the bottom of the equipment is in a de-energized and idle state, which leads to a waste of stator resources. Existing technology removes the stator block at the bottom of the inspection or processing equipment to improve resource utilization. However, the inspection or processing procedures may differ for different inspection items or different workpieces on the mover. This requires quick and timely adjustment of the position of the inspection or processing equipment, or removal of one or more devices. After removal, a gap will appear at the corresponding position of the stator equipment. The gap cannot provide load-bearing capacity for the mover. When the mover passes through the gap, it will tilt due to uneven force and may even lose its levitation state.

[0003] Existing technologies readjust the motion path of the mover through the control system to prevent the mover from moving into a gap. However, this existing method of rewriting the software control system is not only inefficient and time-consuming, but also has high time and labor costs. Furthermore, it is not convenient for frequent adjustments and cannot make full use of the space occupied by the stator plane. In particular, it is not suitable for application scenarios such as production lines where the process flow is updated rapidly and the testing or processing equipment needs to be adjusted frequently.

[0004] To solve the above-mentioned technical problems, this invention designs a transition module for a planar motor system, its control method, and the planar motor system. Summary of the Invention

[0005] This invention provides a flexible and fast-responding transition module for planar motor systems, along with its control method and the planar motor system itself. It aims to solve the problems of existing planar motors being unable to quickly respond to and adjust to the changing adjustment needs of production lines, as well as the problem that the mover may tilt or lose its levitation state due to uneven force when passing through gaps in the stator platform.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a transition module for a planar motor system, the planar motor system including a stator platform formed by splicing multiple stators and a mover suspended above the stator platform, the stator platform forming a through hole along the thickness direction, the transition module being disposed below the through hole, the transition module including a driving member and a transition plate, the driving member being connected to the transition plate, the transition plate being able to rise and fall in a direction approaching or away from the through hole under the drive of the driving member, and a transition coil array being provided on the side of the transition plate near the through hole.

[0007] Based on the above technical solution, the stator is provided with a first coil array, and the pole pitch and arrangement of the transition coil array are matched with the magnetic field period of the first coil array of the stator around the through hole.

[0008] Furthermore, the dimensions of the transition plate along the X-axis and along the Y-axis are L1 and L2, respectively, and the dimensions of the through hole along the X-axis and along the Y-axis are L3 and L4, respectively, wherein 0.8≤L1 / L3≤1 and 0.8≤L2 / L4≤1.

[0009] Furthermore, the driving component includes a drive motor and a ball screw. One end of the ball screw is connected to the drive motor, and the other end of the ball screw is connected to the transition plate. The drive motor drives the ball screw to rotate, causing the transition plate to move towards or away from the through hole.

[0010] Optionally, the driving component includes a driving cylinder connected to the transition plate, which can drive the transition plate to move towards or away from the through hole.

[0011] Based on the above technical solution, the stator platform includes multiple through holes along the thickness direction, the transition module also includes a guide rail and a base, the guide rail extends below the multiple through holes along the arrangement direction of the multiple through holes, the base is located at the bottom of the driving component, and the bottom of the base is provided with a slider, the slider can drive the driving component to slide along the guide rail relative to the through holes.

[0012] Furthermore, the transition module for the planar motor system also includes a first position sensor, which is disposed on the transition plate or the inner wall of the through hole, for detecting the relative position of the transition plate and the through hole.

[0013] Furthermore, the surface of the stator platform is provided with a plurality of second position sensors, which are used to detect the position of the mover.

[0014] Secondly, the present invention provides a control method for a transition module of a planar motor system, applied to a transition module of a planar motor system as described in any of the above embodiments, comprising the following steps: S1, the mover moves above the stator platform, the current position of the mover is obtained, and the relationship between the current distance between the edge of the mover and the edge of the through hole and a preset distance is determined; S2, when the current distance between the edge of the mover and the edge of the through hole is greater than the preset distance, the transition plate is located in the initial position and remains in a de-energized state; S3, the mover moves towards the through hole, and when the current distance between the edge of the mover and the edge of the through hole is equal to the preset distance... When the mover moves to the position of the stator platform, the transition plate begins to rise until its top surface is flush with the working surface of the stator platform. In step S4, when the edge of the mover moves to the position of the through hole, the transition coil array on the transition plate is energized, and the mover begins to enter the corresponding range of the through hole, partially suspending above the transition plate. The transition plate and the stator platform jointly drive the mover to move. In step S5, the mover continues to move. When the mover is completely suspended above the transition plate, the transition plate drives the mover to move independently. In step S6, when the mover moves to the point of completely leaving the transition plate and entering the bearing range of the stator platform, the transition coil array is de-energized, the transition plate descends, and resets to its initial position.

[0015] Based on the above technical solution, in step S1, the current distance between the edge of the moving part and the edge of the through hole refers to the current minimum distance between the edge of the moving part and the edge of the through hole.

[0016] Thirdly, the present invention provides a planar motor system, including a transition module for a planar motor system as described in any of the above embodiments.

[0017] Compared with related technologies, the beneficial effects of the present invention are as follows: This invention supports the movement of the mover within a corresponding range above the through-hole on the stator platform by setting a transition module. A drive unit controls the raising and lowering of the transition plate. When the mover approaches the through-hole, the drive unit raises the transition plate to its top, flush with the working surface of the stator platform, energizing the transition coil array. This ensures the mover receives a levitation support force when entering the area above the transition plate, thus ensuring smooth movement as the mover passes over the through-hole. When the mover has completely moved beyond the area above the transition plate, the stator provides levitation support, de-energizes the transition coil array, and the drive unit lowers the transition plate to its initial position. The transition module prevents uneven force on the mover when passing through the gap in the through-hole on the stator platform, avoiding tilting or loss of levitation. The raising and lowering of the transition plate, controlled by the drive unit and coordinated with the energizing and de-energizing of the transition coil array, achieves smooth transition and movement of the mover within the corresponding area of ​​the through-hole and other areas of the stator platform.

[0018] When user production line demands change frequently, the detection or processing equipment on the stator platform needs to be adjusted in position frequently. Compared to changing the mover's movement path multiple times to prevent the mover from moving to a gap, the transition module is more flexible. The transition module can adjust its own position as the gap changes, with a fast response speed. Since detours themselves will prolong the mover's movement time, and frequent adjustments to the mover's path will greatly increase time and labor costs. Compared to changing the mover's path, the transition module can save time, improve efficiency, and reduce costs. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other embodiments can be derived from the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the transition module provided by the present invention when the mover approaches the through hole; Figure 2 This is a schematic diagram of the transition module provided by the present invention when the mover is located above the through hole; Figure 3 This is a schematic diagram of the transition module provided by the present invention when the mover is completely away from the top of the through hole; Figure 4 This is a schematic diagram of the structure of the driving component and transition plate provided by the present invention; Figure 5 This is a schematic diagram of the preset distance and the current distance between the mover and the through hole provided by the present invention; Figure 6 This is a flowchart of a control method for a transition module in a planar motor system provided by the present invention.

[0021] In the diagram: 1. Stator platform; 11. Stator; 12. Through hole; 13. Station; 2. Mover; 31. Drive component; 311. Drive motor; 312. Ball screw; 313. Base; 32. Transition plate; 33. Transition coil array; 4. Guide rail. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and examples: Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Currently, in planar motors, the stator platform 1 is often equipped with multiple workstations 13 for inspection or processing equipment to inspect or process the mover 2 or the workpiece on the mover 2. When the inspection or processing equipment is in normal use, the stator at the bottom of the equipment is in a de-energized and idle state, which leads to a waste of stator resources. Existing technology removes the stator at the bottom of the inspection or processing equipment to improve resource utilization. However, for different inspection items or different workpieces on the mover 2, the inspection or processing procedures will vary. Therefore, it is necessary to adjust the position of the inspection or processing equipment in a timely manner, or to remove one or more inspection or processing equipment. After removal, a through hole 12 will appear on the stator platform 1, forming a partial gap. The gap cannot provide load-bearing capacity for the mover 2. When the mover 2 passes through the gap, it will tilt due to uneven force and may even lose its levitation state. Existing technologies readjust the motion path of the mover through the control system to prevent it from moving into empty spaces. However, this method, which involves rewriting the software control system, is not only inefficient and time-consuming, but also inefficient in terms of both time and labor costs. Furthermore, it is not suitable for frequent adjustments and cannot fully utilize the space occupied by the stator plane. It is particularly unsuitable for applications such as production lines where processes are frequently updated and testing or processing equipment requires frequent adjustments. To address these issues, this invention provides a transition module for planar motor systems.

[0026] Example 1 Combination Figure 1-4As shown, this embodiment of the present disclosure provides a transition module for a planar motor system. The planar motor system includes a stator platform 1 formed by splicing multiple stators 11 and a mover 2 that floats above the stator platform 1. The stator platform 1 has a through hole 12 formed along its thickness direction. The transition module is disposed below the through hole 12. The transition module includes a driving member 31 and a transition plate 32. The driving member 31 is connected to the transition plate 32. The transition plate 32 can rise and fall in a direction close to or away from the through hole 12 under the drive of the driving member 31. A transition coil array 33 is provided on the side of the transition plate 32 close to the through hole 12.

[0027] Using the transition module for a planar motor system provided in this embodiment, the transition module supports the movement of the mover 2 within the corresponding range above the through hole 12 on the stator platform 1. The driving component 31 controls the lifting and lowering of the transition plate 32. When the mover 2 approaches the through hole 12, the driving component 31 drives the transition plate 32 to rise to the top and be flush with the working surface of the stator platform 1. The transition coil array 33 is energized to ensure that the mover 2 is supported by a suspension force when it enters the range above the transition plate 32, thereby ensuring that the mover 2 can move smoothly when passing above the through hole 12. When the mover 2 has completely moved outside the range above the transition plate 32, the stator 11 provides suspension support for the mover 2, de-energizes the transition coil array 33, and controls the transition plate 32 to descend to the initial position through the driving component 31. The transition module is designed to prevent the mover 2 from tilting or losing its levitation state due to uneven force when passing through the gap of the through hole 12 of the stator platform 1. The drive unit 31 controls the lifting and lowering of the transition plate 32, which, in conjunction with the energization and de-energization of the transition coil array 33, enables the mover 2 to move smoothly in the corresponding area of ​​the through hole 12 and in other areas of the stator platform 1.

[0028] When user production line demands change frequently, the detection or processing equipment on stator platform 1 needs to be frequently adjusted in position. Compared to repeatedly changing the movement path of mover 2 to avoid mover 2 moving to a vacant position, the transition module for planar motor system provided in this embodiment is more flexible. The transition module can adjust its own position as the vacant position changes, and the response speed is fast. Since detours themselves will prolong the movement time of mover, and frequent adjustment of the mover path will greatly increase time and labor costs. Compared to changing the mover path, the setting of the transition module can also save time, improve efficiency, and reduce costs.

[0029] Based on the above technical solution, the stator 11 is provided with a first coil array, and the pole pitch and arrangement of the transition coil array 33 are matched with the magnetic field period of the first coil array of the stator 11 around the through hole 12.

[0030] Specifically, the pole pitch of the transition coil array 33 is the same as that of the first coil array, and the arrangement of the transition coil array 33 and the first coil array is the same. This makes the process of the mover 2 moving from above the stator 11 to above the transition plate 32 smoother and more stable.

[0031] Furthermore, the dimensions of the transition plate 32 along the X-axis and along the Y-axis are L1 and L2, respectively, and the dimensions of the through hole 12 along the X-axis and along the Y-axis are L3 and L4, respectively, wherein 0.8≤L1 / L3≤1 and 0.8≤L2 / L4≤1.

[0032] Specifically, the size of the transition plate 32 is equal to or slightly smaller than the size of the through hole 12; preferably, 0.9≤L1 / L3≤1, 0.9≤L2 / L4≤1, more preferably, 0.98≤L1 / L3≤1, 0.98≤L2 / L4≤1.

[0033] In this embodiment, as Figure 4 As shown, the driving component 31 includes a driving motor 311 and a ball screw 312. One end of the ball screw 312 is connected to the driving motor 311, and the other end of the ball screw 312 is connected to the transition plate 32. The driving motor 311 drives the ball screw 312 to rotate, causing the transition plate 32 to move towards or away from the through hole 12.

[0034] Specifically, the drive motor 311 can be a stepper motor or a servo motor, capable of precisely controlling the rotation angle and speed of the ball screw 312, thereby precisely controlling the lifting position and speed of the transition plate 32. When the drive motor 311 receives an upward signal, it drives the ball screw 312 to rotate in the forward direction, causing the transition plate 32 to move upward until the top surface of the transition plate 32 is flush with the working surface of the stator platform 1; when the drive motor 311 receives a downward signal, it drives the ball screw 312 to rotate in the reverse direction, causing the transition plate 32 to move downward until it returns to its initial position.

[0035] In other embodiments, the driving member 31 includes a driving cylinder connected to the transition plate 32, which can drive the transition plate 32 to move toward or away from the through hole 12.

[0036] Based on the above technical solution, the stator platform 1 includes multiple through holes 12 along the thickness direction, and the transition module also includes a guide rail 4 and a base 313. The guide rail 4 extends below the multiple through holes 12 along the arrangement direction of the multiple through holes 12. The base 313 is located at the bottom of the driving member 31, and a slider is provided at the bottom of the base 313. The slider can drive the driving member 31 to slide along the guide rail 4 relative to the through holes 12.

[0037] In this way, when there are multiple through holes 12 on the stator platform 1, the transition module can be easily moved to the underside of the corresponding through hole 12 by sliding the slider on the guide rail 4, thereby supporting the mover 2 at different through hole 12 positions and improving the versatility and flexibility of the transition module.

[0038] Furthermore, the transition module for the planar motor system also includes a first position sensor, which is disposed on the transition plate or the inner wall of the through hole, for detecting the relative position of the transition plate and the through hole.

[0039] When the first position sensor detects that the transition plate has risen to the top and is flush with the working surface of the stator platform, or has fallen to the initial position, it will feed back the corresponding position signal to the control system so that the control system can accurately control the movement state of the transition plate and ensure that the transition plate reaches the right position at the right time to provide stable support for the mover.

[0040] Furthermore, the surface of the stator platform 1 is provided with a plurality of second position sensors, which are used to detect the position of the mover 2.

[0041] The second position sensor can be a photoelectric sensor, Hall effect sensor, etc. It can acquire the position information of the mover on the stator platform in real time and transmit this information to the control system. Based on the mover's position information and the relative position information between the mover and the through hole detected by the first position sensor, the control system controls the movement of the drive component and the energization and de-energization of the transition coil array to ensure smooth operation of the mover throughout the entire motion process. For example, when the second position sensor detects that the mover is approaching the through hole, the control system determines whether to trigger the drive component to raise the transition plate based on a preset distance; when the mover is detected to have completely left the area above the transition plate, the control system controls the transition plate to descend and reset.

[0042] The transition module for the planar motor system can also be applied to other scenarios where the stator platform 1 is missing or has a large gap. For example, when there is an external auxiliary structure between the two stators 11, and the external auxiliary structure needs to be removed during subsequent use, a large gap will appear between the two stators 11 after removal. When the mover 2 needs to move from one stator 11 to the other stator 11, the transition module provides levitation support for the mover 2 when it moves into the gap, so that the mover 2 can move smoothly between the two stators 11.

[0043] Example 2 Combination Figure 5-6 As shown, this disclosure provides a control method for a transition module of a planar motor system, applied to a transition module of a planar motor system as described in any of the above embodiments, comprising the following steps: S1, the mover 2 moves above the stator platform 1, the current position of the mover 2 is obtained, and the relationship between the current distance between the edge of the mover 2 and the edge of the through hole 12 and the preset distance is determined; S2, when the current distance between the edge of the moving part 2 and the edge of the through hole 12 is greater than the preset distance, the transition plate 32 is in the initial position and remains in the de-energized state; S3, the mover moves toward the through hole. When the current distance between the edge of the mover and the edge of the through hole is equal to the preset distance, the transition plate begins to rise until the top surface is flush with the working surface of the stator platform. S4. When the edge of the mover moves to be flush with the edge of the through hole, the transition coil array on the transition plate is energized, and the mover begins to enter the corresponding range of the through hole, partially suspending above the transition plate. The transition plate and the stator platform jointly drive the mover to move. S5, the mover continues to move. When the mover is completely suspended above the transition plate, the transition plate drives the mover to move on its own. S6. When the mover moves to completely leave the top of the transition plate and enters the bearing range of the stator platform, the transition coil array is de-energized, the transition plate descends, and resets to the initial position.

[0044] The control method for the transition module of the planar motor system provided in this embodiment can prevent the mover 2 from tilting or losing its suspension state due to uneven force when passing through the gap of the through hole 12 of the stator platform 1. The lifting and lowering of the transition plate 32 is controlled by the drive component 31, and the energization and de-energization of the transition coil array 33 are coordinated to achieve smooth connection and movement of the mover 2 in the corresponding area of ​​the through hole 12 and other areas of the stator platform 1.

[0045] Based on the above technical solution, in step S1, the current distance between the edge of the moving part 2 and the edge of the through hole 12 refers to the current minimum distance between the edge of the moving part 2 and the edge of the through hole 12.

[0046] Specifically, such as Figure 5 As shown, the current distance is Lc, the moving speed of the mover 2 is v1, and a preset area is set around the through hole, such as... Figure 5 The preset area enclosed by the dashed line has a preset distance between its outer edge and the edge of the through hole, which is set as Ls. The distance between the top of the transition plate 32 and the working surface of the stator platform 1 is Lg. The preset rising speed of the transition plate 32 is v2. In step S3, when the current distance between the edge of the mover 2 and the edge of the through hole 12 is equal to the preset distance, the transition plate 32 is raised using the preset rising speed, Ls / v1=Lg / v2. Alternatively, a speed greater than the preset rising speed can be used to raise the transition plate 32, so that the top of the transition plate 32 is flush with the working surface of the stator platform 1 in advance.

[0047] Example 3 Combination Figure 2 As shown, this disclosure provides a planar motor system, including a transition module for a planar motor system as described in any of the above embodiments.

[0048] The planar motor system provided in this disclosure includes the transition module for the planar motor system described in any of the above-disclosed embodiments, and therefore has all the beneficial effects of the transition module for the planar motor system described in any of the above-disclosed embodiments, which will not be repeated here.

[0049] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A transition module for a planar motor system, characterized in that, The planar motor system includes a stator platform formed by splicing multiple stators and a mover that floats above the stator platform. The stator platform has a through hole along its thickness direction. The transition module is located below the through hole. The transition module includes a drive member and a transition plate. The drive member is connected to the transition plate. The transition plate can rise and fall in a direction close to or away from the through hole under the drive of the drive member. The side of the transition plate close to the through hole is provided with a transition coil array.

2. The transition module for a planar motor system according to claim 1, characterized in that, The stator is provided with a first coil array, and the pole pitch and arrangement of the transition coil array are matched with the magnetic field period of the first coil array of the stator around the through hole.

3. The transition module for a planar motor system according to claim 1, characterized in that, The dimensions of the transition plate along the X-axis and along the Y-axis are L1 and L2, respectively, and the dimensions of the through hole along the X-axis and along the Y-axis are L3 and L4, respectively, wherein 0.8≤L1 / L3≤1 and 0.8≤L2 / L4≤1.

4. The transition module for a planar motor system according to claim 1, characterized in that, The driving component includes a drive motor and a ball screw. One end of the ball screw is connected to the drive motor, and the other end of the ball screw is connected to the transition plate. The drive motor drives the ball screw to rotate, causing the transition plate to move towards or away from the through hole.

5. The transition module for a planar motor system according to claim 1, characterized in that, The driving component includes a driving cylinder, which is connected to the transition plate. The driving cylinder can drive the transition plate to move towards or away from the through hole.

6. The transition module for a planar motor system according to any one of claims 1 to 5, characterized in that, The stator platform includes multiple through holes along the thickness direction. The transition module also includes a guide rail and a base. The guide rail extends below the multiple through holes along the arrangement direction of the multiple through holes. The base is located at the bottom of the drive component. The bottom of the base is provided with a slider. The slider can drive the drive component to slide along the guide rail relative to the through holes.

7. The transition module for a planar motor system according to any one of claims 1 to 5, characterized in that, It also includes a first position sensor, which is disposed on the transition plate or the inner wall of the through hole, for detecting the relative position of the transition plate and the through hole.

8. A control method for a transition module in a planar motor system, characterized in that, The transition module for a planar motor system, as described in any one of claims 1 to 7, comprises the following steps: S1, the mover moves above the stator platform, obtains the current position of the mover, and determines the relationship between the current distance between the edge of the mover and the edge of the through hole and the preset distance; S2, when the current distance between the edge of the moving part and the edge of the through hole is greater than the preset distance, the transition plate is in the initial position and remains in the de-energized state; S3, the mover moves toward the through hole. When the current distance between the edge of the mover and the edge of the through hole is equal to the preset distance, the transition plate begins to rise until the top surface is flush with the working surface of the stator platform. S4. When the edge of the mover moves to be flush with the edge of the through hole, the transition coil array on the transition plate is energized, and the mover begins to enter the corresponding range of the through hole, partially suspending above the transition plate. The transition plate and the stator platform jointly drive the mover to move. S5, the mover continues to move. When the mover is completely suspended above the transition plate, the transition plate drives the mover to move on its own. S6. When the mover moves to completely leave the top of the transition plate and enters the bearing range of the stator platform, the transition coil array is de-energized, the transition plate descends, and resets to the initial position.

9. The control method according to claim 8, characterized in that, In step S1, the current distance between the moving edge and the through hole edge refers to the current minimum distance between the moving edge and the through hole edge.

10. A planar motor system, characterized in that, Includes a transition module for a planar motor system as described in any one of claims 1 to 7.

Images