Multi-mover direct drive transport system and related control method, device and storage medium

Abstract

The present invention provides a multiple mover direct drive transport system. [Solution] The multiple mover direct drive conveying system includes a stator unit, a mover unit and a driver, the stator unit includes a frame, a coil winding and a Hall element, the direct drive conveying system is composed of multiple linear stages and arc stages, the mover unit includes a mover and a magnetic steel, the frame includes a feedback segment and a transition segment, when the mover unit moves into the magnetic field range of one coil winding, it generates a magnetic field change amount, the Hall element outputs a voltage signal according to the detected magnetic field change amount, the driver calculates an electrical angle according to the received Hall signal and calculates a driving current according to the preset initial speed and electrical angle of the mover unit, the coil winding drives the magnetic steel to move according to the driving current to achieve position correction. The structure of the present invention is simple and the number of parts is small.

Description

[Technical field]

[0001] The present invention relates to the technical field of transport system control, and more particularly to a multiple mover direct drive transport system, a control method for a multiple mover direct drive transport system, a computer device, and a computer readable storage medium. [Background technology]

[0002] As the application of assembly line production becomes more and more demanding, the multi-mover direct drive conveying system becomes an important production device in the assembly line.

[0003] A conventional multiple mover direct drive transport system includes a multiple stage stator and multiple movers attached to the stator, the stator includes a coil winding, and the multiple stages of the stator are configured with a straight stage and an arc stage. The mover includes a magnetic steel, the magnetic steel is provided facing the coil winding at a distance, and the coil winding drives the magnetic steel to move the mover. The coil winding structure in the multiple stages in the multiple mover direct drive transport system is broadly divided into two categories: a straight stage and an arc stage. The conventional multiple mover direct drive transport system recognizes the position of the mover by arranging a displacement sensor in the straight stage and the arc stage. In addition, the displacement sensor is generally realized by an encoder array. Summary of the Invention [Problem to be solved by the invention]

[0004] However, each of the stators in the prior art requires the use of an encoder array, which is complicated in structure, difficult to assemble, and expensive. In addition, if some of the stators do not have stations and do not require positioning, but only perform simple transitions, then expensive encoder arrays are not required. How to control some of the stators that do not have stations and do not require positioning and only perform simple transitions is a technical problem that needs to be solved.

[0005] Therefore, in order to solve the above technical problems, it is necessary to provide a new multiple mover direct drive transport system and control method. [Means for solving the problem]

[0006] The present invention aims to solve the above technical problems and provide a multiple-mover direct-drive conveyance system that has a simple configuration, a small number of parts, and a simple and easy-to-implement movement control method, a control method for a multiple-mover direct-drive conveyance system, a computer device, and a computer-readable storage medium.

[0007] In order to achieve the above object, as a first aspect, an embodiment of the present invention provides a multiple mover direct drive transport system, the multiple mover direct drive transport system including a stator unit that is connected in sequence in a plurality of stages to form an integral unit, a plurality of mover units that move relative to the stator unit, and a plurality of actuators, the stator unit including a frame and a plurality of coil windings that are attached to the frame and sequentially arranged along an extension direction of the frame, each of the mover units including a mover that forms a sliding connection with the stator unit and is movable relative to the frame, and a magnetic steel that is fixed to the mover, the magnetic steel being provided directly opposite and spaced apart from the coil winding, the coil winding driving the magnetic steel to move the mover, the frame including feedback segments and transition segments that alternate with each other, The stator unit further includes a plurality of Hall elements attached to the transition segment and fixed to the frame at intervals, each of the drivers corresponds to a plurality of the coil windings, each of the Hall elements is provided corresponding to one of the coil windings, each of the drivers is electrically connected to the Hall elements and the coil windings, the Hall elements are provided at intervals from the magnetic steel, the Hall elements and the coil windings are located on the same side, when the mover unit moves within a magnetic field range of one of the coil windings, a magnetic field change amount is generated, and one of the Hall elements located within the magnetic field range generates a Hall signal based on the detected magnetic field change amount, the driver calculates an electrical angle based on the received Hall signal and calculates a driving current based on a preset initial speed of the mover unit and the electrical angle, and one of the coil windings corresponding to the Hall element drives the magnetic steel to move based on the driving current to achieve position correction.

[0008] More preferably, the height between the Hall element and the magnetic steel is adjustable.

[0009] More preferably, the frame includes a first frame, a support frame bent and extending from the first frame, and a second frame bent and extending from one end of the support frame remote from the first frame, wherein an accommodation space is enclosed together by the first frame, the support frame, and the second frame, the Hall element and the coil winding are accommodated in the accommodation space, the Hall element is located on a side of the second frame close to the support frame, the coil winding is located on a side of the second frame remote from the support frame, a portion of the mover is accommodated in the accommodation space, the mover is connected to the second frame, and forms a sliding connection with the second frame.

[0010] More preferably, the stator unit further includes a rail fixed to the first frame, the rail being accommodated in the accommodation space, the mover further includes a mover body and a pulley fixed to the mover body, the pulley and the magnetic steel are respectively located on opposite sides of the mover body, the pulley is fitted to the rail and forms a sliding connection with the rail.

[0011] As a second aspect, an embodiment of the present invention further provides a control method for a multiple-mover direct-drive transport system, which is applied to the above-mentioned multiple-mover direct-drive transport system provided by the embodiment of the present invention, in which the stator unit further includes a plurality of displacement sensors attached to the feedback segment, each of the displacement sensors corresponding to one of the stator units, and the method includes the following steps: In step S1, the displacement sensor detects in real time the real-time position where the mover unit moves on the feedback segment. Step S2: determining whether the mover unit has entered a boundary region between the feedback segment and the transition segment; If the determination is affirmative, the speed of the movable unit is set as the initial speed, the Hall element detects in real time and generates the Hall signal, the driver calculates an electrical angle from the received Hall signal and calculates a drive current based on the initial speed and the electrical angle, one of the coil windings corresponding to the Hall element is driven to move the magnetic steel based on the drive current to achieve position correction, and a main control mode of the coil winding is set. Step S3: Detecting a real-time position of the mover unit in the transition segment in real time, and setting a cooperative control mode of each of the coil windings in the transition segment range according to the real-time position of the mover unit, the cooperative control mode being one of a master control mode and a master-slave control mode switching; In step S4, it is determined in real time whether the movable unit has entered the boundary area between the transition segment and the feedback segment. If the determination is affirmative, control of each of the coil windings within the transition segment range is stopped, and a cooperative control mode is set for each of the coil windings within the feedback segment range to realize a transition from the transition segment to the feedback segment.

[0012] More preferably, in step S3, within a boundary region of the stator units of two adjacent stages in the transition segment, setting the cooperative control mode includes the following steps: In step S31, the first Hall element of the transition segment generates the Hall signal based on the detected magnetic field change amount, and the driver calculates an electrical angle based on the received Hall signal, and determines whether the calculated electrical angle reaches a first set value; If the determination is negative, the process returns to step S2. If the determination is affirmative, the master-slave control mode is set for the two adjacent coil windings; In step S32, the next driver determines whether the second set value is reached based on the electrical angle calculated by the corresponding Hall element; If the determination is negative, the process returns to step S31. If the answer is YES, the main control mode for the next coil winding is set.

[0013] More preferably, in step S4, when a feedback signal detected by the displacement sensor of the feedback segment within a boundary region between the transition segment and the feedback segment along the movement direction of the movable unit reaches a preset feedback value, control of the movable unit is set to a cooperative control mode of each of the coil windings within the feedback segment range.

[0014] As a third aspect, the present invention further provides a computer device, the computer device including a memory, a processor, and a computer program stored in the memory and executable by the processor, and when the processor executes the computer program, steps in the control method for the multiple mover direct drive transport system provided by the present invention are realized.

[0015] As a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, steps in the control method for the multiple mover direct-drive transport system provided by the embodiment of the present invention are realized. Effect of the Invention

[0016] Compared with the prior art, the multiple mover direct drive transport system of the present invention provides a stator unit and a mover unit, so that when the mover unit moves into the magnetic field range of one of the coil windings, a magnetic field change amount is generated, one of the Hall elements located within the magnetic field range generates a Hall signal based on the detected magnetic field change amount, one of the drivers corresponding to the Hall element calculates an electrical angle based on the received Hall signal and calculates a drive current based on the preset initial speed of the mover unit and the electrical angle, and one of the coil windings corresponding to the Hall element drives the magnetic steel to move based on the drive current to achieve position correction. This configuration does not require an expensive encoder array in the transition segment that performs a simple transition, and can be realized using the Hall element, so that the number of parts used is small and the configuration is simple. More preferably, at the same time, the Hall element is provided at a distance from the magnetic steel, and the Hall element and the coil winding are located on the same side, and this configuration simplifies the assembly of the Hall element, the coil winding and the magnetic steel, thereby making it possible to simplify the configuration of the multiple-mover direct-drive conveyance system, the control method for the multiple-mover direct-drive conveyance system, the computer device and the computer-readable storage medium of the present invention, reduce the number of parts, and make the movement control method simple and easy to implement. [Brief description of the drawings]

[0017] In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can further obtain other drawings based on these drawings without creative work, among which: [Figure 1] 1 is a schematic perspective view of a portion of a multiple mover direct drive transport system according to the present invention; [Diagram 2] FIG. 1 is a schematic perspective view of a portion of a multiple mover direct drive transport system according to the present invention, taken from another angle; [Diagram 3] 1 is a perspective exploded view of a portion of a multiple mover direct drive transport system according to the present invention; [Figure 4] 2 is a cross-sectional view taken along line AA shown in FIG. 1. [Diagram 5] FIG. 13 is a schematic perspective view of another part of the multiple mover direct drive transport system according to the present invention. [Figure 6] FIG. 11 is a diagram showing the relationship between a Hall signal and an electrical angle in the multiple mover direct drive transport system according to the present invention. [Figure 7] 4 is a flowchart of a control method for a multiple mover direct drive transport system according to the present invention. [Figure 8] 13 is a flowchart of step S3 of the control method for the multiple mover direct drive transport system according to the present invention. [Figure 9] 1 is a schematic diagram illustrating the configuration of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative labor are all within the protection scope of the present invention.

[0019] An embodiment of the present invention provides a multiple mover direct drive transport system 100. Please refer to Figures 1 to 5 at the same time. The multiple mover direct drive transport system 100 includes a stator unit 1 that is connected in sequence in multiple stages and integrated, a plurality of mover units 2 that move relative to the stator unit 1, and a plurality of actuators.

[0020] The stator unit 1 includes a frame 11, a plurality of coil windings 12, a Hall element 13, and a fixing plate 14 for mounting the Hall element.

[0021] The frame 11 is used to support the stator 1 and the movable unit 2. Specifically, the frame 11 includes a first frame 111, a support frame 112 that is bent and extends from the first frame 111, and a second frame 113 that is bent and extends from one end of the support frame 112 that is away from the first frame 111. The first frame 111, the support frame 112, and the second frame 113 together surround an accommodation space 110.

[0022] Here, along the moving direction of the mover unit 2, the frame 11 presents an annular structure and includes feedback segments 20 and transition segments 10 alternating with each other.

[0023] The coil winding 12 is used to drive the mover unit 2 to move.

[0024] The coil winding 12 is accommodated in the accommodation space 110. The plurality of coil windings 12 are attached to the frame 11. The plurality of coil windings 12 are sequentially arranged along the extension direction of the frame 11. The coil winding 12 is located on the side of the second frame 113 away from the support frame 112.

[0025] The Hall element 13 is used to detect a magnetic field change amount and generate a Hall signal. The Hall element 13 is accommodated in the accommodation space 110, and the Hall element 13 is located on a side of the second frame 113 close to the support frame 112. The Hall element 13 and the coil winding 12 are located on the same side.

[0026] Each of the drivers is provided corresponding to a plurality of the coil windings 13, and each of the Hall elements 13 is provided corresponding to one of the coil windings 12. Each of the drivers is electrically connected to the Hall element 13 and the coil winding 12, respectively.

[0027] In this embodiment, each of the actuators and the actuators adjacent thereto implement a cooperative control policy according to the feedback status of the Hall element. Here, the cooperative control policy includes a master-slave cooperative control policy. Specifically, the master-slave cooperative control policy is , is the master-slave control mode of the cooperative control policy; It is as follows: When the mover unit 2 moves to the boundary area between two adjacent stators 1, the second driver follows the first driver and outputs the same driving current.

[0028] It should be noted that the coil winding 12 and the Hall element 13 are both components and circuit modules commonly used in the relevant field, and the specific indexes and model numbers are determined according to actual design needs, and will not be described in detail here.

[0029] Each of the mover units 2 includes a mover 21 that forms a sliding connection with the stator unit 1 and is movable relative to the frame 11, and a magnetic steel piece 22 fixed to the mover 21. The magnetic steel piece 22 is provided directly opposite the coil winding 12 with a gap therebetween.

[0030] The coil winding 12 drives the magnetic steel 22 to move the mover 2 .

[0031] In this embodiment, the Hall element 13 is provided in the transition segment 10 of the multi-stage stator unit 1, which does not have a station, does not require positioning, and performs only simple transitions. The operation process of the Hall element 13 is as follows. When the mover unit 2 moves into the magnetic field range of one of the coil windings 12, a magnetic field change amount is generated, and one of the Hall elements 13 located within the magnetic field range outputs a voltage signal based on the detected magnetic field change amount, the driver corresponding to the Hall element 13 calculates an electrical angle based on the received Hall signal, and calculates a driving current based on the preset initial speed of the mover unit 2 and the electrical angle, and the one of the coil windings 12 corresponding to the Hall element 13 drives the magnetic steel 22 to move based on the driving current to achieve position correction. Therefore, by providing the Hall element 13 at a position where no station is arranged, no positioning is required, and only simple transitions are performed, an expensive encoder array is not required, and the number of parts is smaller than that of the encoder array of the conventional technology.

[0032] As shown in FIG. 6, FIG. 6 is a relationship diagram between the Hall signal and the electrical angle in the multiple mover direct drive conveyance system 100 according to the present invention. In FIG. 6, W1 is the Hall signal, and W2 is the electrical angle. In addition, the Hall signals generated by the consecutive multiple Hall elements 13 are multiple, but the electrical angles are almost the same, and the different electrical angles generated by the different Hall elements 13 can be used to fine-tune the moving speed of the magnetic steel 22 to achieve position correction. By using several almost the same electrical angles, the moving speed of the magnetic steel 22 can be smoothly maintained, and the moving control method of the multiple mover direct drive conveyance system 100 is simple and easy to implement.

[0033] In this embodiment, the Hall element 13 is provided with a gap between it and the magnetic steel 22. Here, the height between the Hall element 13 and the magnetic steel 22 is adjustable. With this configuration, the mounting position of the Hall element 13 can be adjusted according to the actual situation, and the sensitivity with which the Hall element 13 detects the amount of change in a magnetic field can be set by adjusting the height between the Hall element 13 and the magnetic steel 22, so that the movement control method of the multiple mover direct drive transport system 100 is simple and easy to implement.

[0034] In order to better achieve the purpose of correcting the position of the magnetic steel 22 by the actuator driving the magnetic steel 22 through the coil winding 12, in this embodiment, the two electrical angles calculated by the two adjacent actuators are compared with a preset electrical angle, and the magnetic steel 22 is driven to move using a cooperative control policy based on the result obtained from the comparison. Here, the cooperative control policy is a master-slave cooperative control policy in which the driving currents in the two adjacent actuators are the same. This setting is simpler than the master control mode in which each actuator drives independently, is easy to operate, and does not require complex logical control, the control logic of the actuator is simple, and the movement control method of the multiple mover direct drive conveyance system 100 is simple and easy to implement.

[0035] A portion of the mover 21 is accommodated in the accommodating space 110 , and the mover 21 is connected to the second frame 113 and forms a sliding connection with the second frame 113 .

[0036] In order to better implement the movement of the mover 21 and the formation of a sliding connection with the second frame 113, in this embodiment, the multiple mover direct drive conveying system 100 further includes a rail 15 fixed to the first frame 111. The rail 15 is accommodated in the accommodation space 110. The extending direction of the rail 15 is the same as the extending direction of the first frame 111. The mover 2 further includes a mover body 211 and a pulley 212 fixed to the mover body 211. The pulley 212 and the magnetic steel 22 are respectively located on opposite sides of the mover body 211. The pulley 212 is aligned with the rail 15 and forms a sliding connection with the rail 15. The structure of the pulley 212 and the rail 15 can make the movement of the mover 2 stable and smooth.

[0037] Referring to FIG. 5, the stator unit 1 further includes a number of displacement sensors (not shown) attached to the feedback segment 20 .

[0038] The displacement sensors are located on the feedback segment 20, and the displacement sensors are used to accurately control the position of the mover 21. The displacement sensors have a one-to-one correspondence with the coil windings 12 connected thereto. That is, each of the displacement sensors is provided corresponding to one of the coil windings 12.

[0039] The displacement sensor and the Hall element 13 can be used simultaneously to perform precise adjustment when controlling the position of the mover 2 accurately, and does not require an expensive encoder array in the transition segment 10 for simple transition, but is realized by the Hall element 13. With this structure, the movement control method of the multiple mover direct drive transport system 100 is simple and easy to implement.

[0040] The present invention further provides a method for controlling a multiple mover direct drive conveyance system, the method being applied to the multiple mover direct drive conveyance system 100, as shown in FIG.

[0041] Specifically, the control method for the multiple mover direct drive transport system includes the following steps. In step S1, the displacement sensor detects the real-time position where the mover unit 2 moves on the feedback segment 20 in real time.

[0042] Step S2: determining in real time whether the mover unit 2 has entered a boundary region between the feedback segment 20 and the transition segment 10; If the answer is yes, the speed of the movable unit 2 is set to the initial speed, the Hall element 13 detects in real time and generates the Hall signal, the driver calculates an electrical angle from the received Hall signal and calculates a drive current based on the initial speed and the electrical angle, one of the coil windings 12 corresponding to the Hall element 13 is driven to move the magnetic steel 22 based on the drive current to achieve position correction, and a main control mode of the coil winding 12 is set.

[0043] In this embodiment, when the last displacement sensor in the feedback segment 20 detects that the mover unit 2 has reached a preset first transition speed along the moving direction of the mover unit 2, it is determined that the mover unit 2 has entered the boundary area between the feedback segment 20 and the transition segment 10. In step S2, the Hall element 13 corrects the electrical angle in real time based on the preset first transition speed to realize operation control, so that the movement control method is simple and easy to implement.

[0044] In step S3, a real-time position of the movement of the mover unit 2 in the transition segment 10 is detected in real time, and a cooperative control mode of each of the coil windings 12 within the range of the transition segment 10 is set based on the real-time position of the mover unit 2. The cooperative control mode is one of a master control mode and a master-slave control mode switching mode.

[0045] Referring to FIG. 8, specifically, in the step S3, in the boundary region of the stator units 1 of two adjacent stages in the transition segment 10, setting the cooperative control mode includes the following steps: In step S31, the first Hall element 13 of the transition segment 10 generates the Hall signal according to a magnetic field change amount detected by the Hall element 13, and the driver connected to the Hall element 13 calculates an electrical angle according to the received Hall signal, and determines whether the calculated electrical angle reaches a first set value; If the determination is negative, the process returns to step S2. If the determination is affirmative, the master / slave control modes of the two adjacent coil windings 12 are set, In step S32, the next driver determines whether the second set value is reached based on the electrical angle calculated by the Hall signal from the Hall element 13 connected thereto; If the determination is negative, the process returns to step S31. If the determination is affirmative, the main control mode is set for the next coil winding 12. Steps S31 to S32 determine whether the electrical angle reaches the first set value and the second set value, thereby realizing operation control and realizing a smooth transition.

[0046] In step S3, the driver uses a cooperative control policy when transitioning between different stators 1 based on the calculated electrical angle information, and a master-slave cooperative control policy is preferred, which makes the motion control method simple and easy to implement.

[0047] In step S4, it is determined in real time whether the movable unit 2 has entered the boundary area between the transition segment 10 and the feedback segment 20. If the determination is affirmative, control of each of the coil windings 12 within the range of the transition segment 10 is stopped, and a cooperative control mode of each of the coil windings 12 within the range of the feedback segment 20 is set to realize the transition from the transition segment 10 to the feedback segment 20.

[0048] In step S4, when the feedback signal detected by the displacement sensor of the feedback segment 20 in the boundary area between the transition segment 10 and the feedback segment 20 along the movement direction of the movable unit 2 reaches a preset feedback value, the control of the movable unit 2 is set to a cooperative control mode of each of the coil windings 12 within the range of the feedback segment 20.

[0049] By implementing the above steps, the number of parts in the control method for the multiple mover direct drive transport system is small, and the movement control method is simple and easy to implement.

[0050] The embodiment of the present invention further provides a computer device, and as shown in Figure 9, it is a schematic diagram of the configuration of the computer device provided by the embodiment of the present invention. The computer device 400 includes a processor 401, a memory 402, and a computer program stored in the memory 402 and executable by the processor 401.

[0051] The processor 401 calls a computer program stored in the memory 402, and when executing the computer program, realizes the steps of the control method for the multiple mover direct drive transport system in the above embodiment.

[0052] The computer device 400 provided in the embodiment of the present invention can realize the steps in the control method for the multiple-mover direct-drive conveyance system in the above embodiment, and can achieve similar technical effects. Therefore, it is sufficient to refer to the description of the above embodiment, and it will not be repeated here.

[0053] The embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, can realize each process and step in the control method for a multiple-mover direct-drive transport system provided by the embodiment of the present invention, and can achieve the same technical effects, which will not be repeated here in order to avoid duplication.

[0054] Those skilled in the art will understand that the implementation of all or part of the flow of the method of the above embodiments can be completed by instructing relevant hardware through a computer program, the program can be stored in a computer-readable storage medium, and the program can include the flow of each of the above method embodiments when executed. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0055] It should be noted that, as used herein, the terms "comprise," "comprises," or any other variation thereof, are intended to include a non-exclusive inclusion, whereby a process, method, article, or apparatus of a set of elements not only includes those elements, but also includes other elements not expressly listed or includes elements inherent in such process, method, article, or apparatus. Absent more limitations, an element qualified by the phrase "comprises a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0056] From the above description of the embodiments, those skilled in the art can understand that the methods of the above embodiments can be realized in the form of software and a necessary general-purpose hardware platform, and of course, hardware may also be used, but in many cases, the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention can be essentially or the part that contributes to the prior art can be expressed in the form of a software product, and the computer software product is stored in a storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and contains multiple commands to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in each embodiment of the present invention.

[0057] Compared with the prior art, the multiple mover direct drive transport system of the present invention provides a stator unit and a mover unit, so that when the mover unit moves into the magnetic field range of one of the coil windings, a magnetic field change amount is generated, one of the Hall elements located within the magnetic field range generates a Hall signal based on the detected magnetic field change amount, one of the drivers corresponding to the Hall element calculates an electrical angle from the received Hall signal, and calculates a drive current based on the preset initial speed of the mover unit and the electrical angle, and one of the coil windings corresponding to the Hall element drives the magnetic steel to move based on the drive current to achieve position correction. This structure does not require an expensive encoder array in the transition segment that performs a simple transition, and can be achieved using the Hall elements, so that the number of parts used is small and the configuration is simple. More preferably, at the same time, the Hall element is provided at a distance from the magnetic steel, and the Hall element and the coil winding are located on the same side, and this structure can simplify the assembly of the Hall element, the coil winding and the magnetic steel, and the multiple-mover direct-drive conveyance system, the control method for the multiple-mover direct-drive conveyance system, the computer device and the computer-readable storage medium of the present invention have a simple configuration, a small number of parts, and a movement control method that is simple and easy to implement.

[0058] What has been described above is merely an embodiment of the present invention, and what should be pointed out here can be further improved by those skilled in the art without departing from the creative idea of ​​the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A multiple mover direct drive transport system, comprising: the rotor includes a stator unit connected in sequence in a plurality of stages to form an integral unit, a plurality of movable units moving relative to the stator unit, and a plurality of actuators, the plurality of stages of the stator unit being configured with linear stages and arc stages, the stator unit includes a frame and a plurality of coil windings attached to the frame and sequentially arranged along an extension direction of the frame, each of the movable units includes a movable member that forms a sliding connection with the stator unit and is movable relative to the frame, and a magnetic steel having magnetism that is fixed to the movable member, the magnetic steel being provided opposite and spaced apart from the coil winding, the coil winding driving the magnetic steel to move the movable member, the frame including a feedback segment and a transition segment, the feedback segments of the frame correspond to the linear stages of the plurality of stator units, and the transition segments of the frame correspond to the arc stages of the plurality of stator units; The frame has at least one stage of a circular ring structure by alternately connecting the linear feedback segments and the arc-shaped transition segments from an upper stage to a lower stage, the stator unit further includes a plurality of displacement sensors attached to the feedback segment, each of the displacement sensors corresponding to one of the stator units; The stator unit further includes a plurality of Hall elements attached to the transition segment and fixed to the frame at intervals, each of the drivers corresponds to a plurality of the coil windings, each of the Hall elements is provided corresponding to one of the coil windings, each of the drivers is electrically connected to the Hall element and the coil winding, the Hall element is provided at an interval from the magnetic steel, the Hall element and the coil winding are located on the same side of the frame with respect to the mover unit, and when the mover unit moves into a magnetic field range of one of the coil windings, the magnetic field of the coil winding changes. and one of the Hall elements located within the magnetic field range outputs a voltage signal having a voltage magnitude corresponding to a magnitude of a magnetic field change detected by the Hall element, the driver corresponding to the Hall element calculates an electrical angle from the voltage signal output from the Hall element and calculates a drive current based on a preset initial speed of the mover unit and the electrical angle, and the one of the coil windings corresponding to the Hall element drives the magnetic steel to move based on the drive current, thereby achieving position correction of the magnetic steel.

2. 2. The multiple mover direct drive transport system according to claim 1, wherein the height between said Hall element and said magnetic steel is adjustable.

3. 2. The multiple mover direct drive transport system according to claim 1, wherein the frame includes a first frame, a support frame bent and extending from the first frame, and a second frame bent and extending from one end of the support frame remote from the first frame, an accommodation space is enclosed together by the first frame, the support frame, and the second frame, the Hall element and the coil winding are accommodated in the accommodation space, the Hall element is located on a side of the second frame close to the support frame, the coil winding is located on a side of the second frame remote from the support frame, a portion of the mover is accommodated in the accommodation space, the mover is connected to the second frame, and forms a sliding connection with the stator unit.

4. 4. The multiple mover direct drive conveying system according to claim 3, wherein the stator unit further includes a rail fixed to the first frame, the rail being accommodated in the accommodation space, the mover further includes a mover body and a pulley fixed to the mover body, the pulley and the magnetic steel are respectively located on opposite sides of the mover body, the pulley is fitted to the rail and forms a sliding connection with the rail.

5. A control method for a multiple mover direct drive conveyance system, comprising: The control method for the multiple mover direct drive conveyance system is applied to the multiple mover direct drive conveyance system according to any one of claims 1 to 4, and the method includes: Step S1: the displacement sensor detects in real time a real-time position where the mover unit moves on the feedback segment; Step S2: determining in real time whether the mover unit has entered a boundary region between the feedback segment and the transition segment based on a feedback position of a displacement sensor in the feedback segment; If the determination is affirmative, the current speed of the mover unit is set as the initial speed, the Hall element detects in real time and generates the voltage signal, the driver calculates an electrical angle from the received voltage signal and calculates a drive current based on the initial speed and the electrical angle, one of the coil windings corresponding to the Hall element is driven to move the magnetic steel based on the drive current to achieve position correction, and a main control mode of the coil winding is set, the main control mode being a control mode in which each of the multiple drivers is driven independently; Step S3: detecting in real time a real-time position of the mover unit moving in the transition segment, and setting a cooperative control mode of each of the coil windings within the range of the transition segment based on the real-time position of the mover unit, the cooperative control mode being switched to one of the master control mode and the master-slave control mode, and the master-slave control mode being a control mode in which two adjacent actuators among the plurality of actuators are driven with the same current; Step S4: determining in real time whether the mover unit has entered a boundary region between the transition segment and the feedback segment; if a positive determination is made, stopping control of each of the coil windings within the range of the transition segment, and setting the cooperative control mode of each of the coil windings within the range of the feedback segment to realize a transition from the transition segment to the feedback segment.

6. In the step S3, the cooperative control mode is set in the boundary area between the stator units of two adjacent stages in the transition segment, In step S31, the first Hall element in the transition segment generates the voltage signal based on the detected magnetic field change amount, and the driver calculates an electrical angle based on the received voltage signal, and determines whether the calculated electrical angle reaches a first set value; If the determination is negative, the process returns to step S2. If the determination is affirmative, setting the master-slave control modes of the two adjacent coil windings; In step S32, the next driver determines whether the electrical angle reaches a second set value based on the electrical angle calculated from the Hall signal from the Hall element connected thereto; If the determination is negative, the process returns to step S31.

6. The method for controlling a multiple mover direct drive transport system according to claim 5, further comprising the step of: setting the main control mode for the next coil winding when an affirmative determination is made.

7. 6. The method for controlling a multiple mover direct drive transport system according to claim 5, wherein in step S4, when a feedback signal detected by the displacement sensor of the feedback segment in a boundary region between the transition segment and the feedback segment along the moving direction of the mover unit reaches a preset feedback value, the control of the mover unit is set to the cooperative control mode of each of the coil windings within the range of the feedback segment.

8. 1. A computing device comprising: A computer device comprising: a memory; a processor; and a computer program stored in the memory and executable by the processor, wherein, when the processor executes the computer program, steps in the control method for a multiple mover direct drive transport system according to any one of claims 5 to 7 are performed.

9. 1. A computer-readable storage medium, comprising: A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, steps in the control method for a multiple mover direct drive transport system according to any one of claims 5 to 7 are performed.

Images