CN105600469A - Automated transport system capable of being assembled and based on electromagnetic drive and sensor module - Google Patents
Automated transport system capable of being assembled and based on electromagnetic drive and sensor module Download PDFInfo
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- CN105600469A CN105600469A CN201610040379.8A CN201610040379A CN105600469A CN 105600469 A CN105600469 A CN 105600469A CN 201610040379 A CN201610040379 A CN 201610040379A CN 105600469 A CN105600469 A CN 105600469A
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- module
- transport system
- mobile platform
- coil
- automated transport
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/043—Magnetic
Abstract
The invention relates to the field of material transport, in particular to an automated transport system capable of being assembled and based on electromagnetic drive and a sensor module. The automated transport system capable of being assembled comprises one or more mobile platforms, a guide rail, a plurality of electromagnets, a position detection module and a control module, wherein the bottom of each mobile platform is provided with a permanent magnet; the guide rail is used for defining the movement tracks of the mobile platforms, and the mobile platforms are arranged on the guide rail and can move on the guide rail; the multiple electromagnets are distributed on the guide rail; the position detection module is used for obtaining positioning information of the mobile platforms on the rail; the control module is used for controlling the mobile platforms to move on the guide rail. The automated transport system capable of being assembled and based on electromagnetic drive and the sensor module has the advantages of being convenient and flexible in material transport, simple in structure, low in noise in the transport process and the like.
Description
Technical field
The present invention relates to material transportation field, be specifically related to a kind of based on Electromagnetic Drive and sensing moduleCan assemble automated transport system.
Background technology
In electron trade, often need to carry out precision to material and transport to realize automated production, thisTransporter is made up of servo-drive part, rail system, transmission device. Rail system is by guide rail and fortuneDefeated car forms, and shipping platform only has along the one-movement-freedom-degree of guide rail direction under the restriction of slide block. TransmissionDevice can be chain, sheave or belt. Under the traction of transmission device, shipping platform moves along guide railTo realize the conveying of material on different station.
Although above-mentioned transportation system has met required precision, also there is obvious defect, they all needDrive external motive device such as motor, air pressure or hydraulic means, between shipping platform or fortuneBetween defeated platform and transmission device, need to be connected to realize mutual driving by structural. Drive thisUnder flowing mode, transportation system can not realize to the different task of streamline carry out independence carry andWhen operation, easily there is Caton phenomenon. Owing to having used decelerator and train or chain, tradition fortuneDefeated machine is not easy to installation and maintenance at the large and complex structure of when operation noise.
Summary of the invention
In order to overcome deficiency of the prior art, the invention provides a kind of based on Electromagnetic Drive and sensing mouldThe assembled automated transport system of piece, this can be assembled automated transport system and adopt electromagnetic force as drivingPower, and using electromagnetic sensor as position detecting module, the convenient spirit of the process of its transported materialLive, and its also have simple in structure, the advantage such as noise in transportation is little.
The present invention is achieved by the following technical solutions: a kind of based on Electromagnetic Drive and sensing moduleCan assemble automated transport system, the described automated transport system of assembling comprises:
One or more mobile platforms, for carrying out material transportation, the bottom of described mobile platform arrangesThere is permanent magnet;
Guide rail, for limiting the motion track of mobile platform, described mobile platform is arranged at described guide railGo up and can on described guide rail, move,
Electromagnetic module, comprises the multiple electromagnet that are distributed on described guide rail;
Position detecting module, for obtaining described mobile platform positional information in orbit, and shouldPositional information is converted to the corresponding signal of telecommunication and feeds back to control module;
Control module, is arranged on described mobile platform, sends for receiving described position detecting moduleThe signal of telecommunication with described positional information, and each magnet spool required electrical current is controlled in outputSignal so that the electromagnetic force producing between described permanent magnet and electromagnetic module is as described mobile platformThe driving force moving on described guide rail, thus the movement of described mobile platform on guide rail controlled.
Preferably, described control module includes a controller and a current amplifier, described controllerHave one for controlling the voltage signal output end of electrical current size of each magnet spool, andOne selects signal output part for the coil electricity of selecting each magnet spool energising;
Each magnet spool is all connected in series with a switch module, the control end of each switch module all withDescribed coil electricity selects signal output part to connect, and the input of each switch module and described electric current amplifyThe output of device is connected in parallel, and the input of described current amplifier and described voltage signal output end connectConnect;
The electrical current of each magnet spool is provided by described current amplifier, and described controller passes throughCoil electricity is selected signal output part to send corresponding coil electricity and is selected signal, makes corresponding switching moldingPiece conducting, is required coil power supply thereby make described current amplifier, and same current amplifier is sameIt in one time, is only a coil power supply.
Preferably, described switch module is made up of two FETs, and the grid of two FETs interconnects mutuallyConnect the control end as switch module, the drain electrode of two FETs interconnects, wherein a FETSource electrode be connected as the input of switch module and the output of described current amplifier, another effectSource electrode that should pipe is connected as the output of switch module and the input of described coil.
Preferably, described permanent magnet is permanent magnet, and this permanent magnet is embedded in the end of described mobile platformPortion, and described permanent magnet is embedded in the square groove of mobile platform bottom setting by interference fit.
Preferably, described position detecting module is electromagnetic sensor, described in this electromagnetic sensor is arranged atIn magnet spool; Described guide rail comprises line slideway module and/or curvilinear guide module, passes throughTo the assembling of line slideway module and curvilinear guide module, can obtain required the appointing of described mobile platformMeaning motion track; Electromagnet in described electromagnetic module is led in described line slideway module and/or curveIn rail module, be array distribution.
The automated transport system of assembling provided by the invention adopts electromagnetic module to carry out Electromagnetic Drive,Do not need external power set to drive mobile platform to move, therefore without any intermediate transmission yetDevice, with respect to existing transportation system, its structure is simpler, and noise is also less; And, electricityIn magnetic module, the "on" position of each magnet spool can independently be controlled, and each on guide rail movedMoving platform also can independently be controlled, thereby makes the course of conveying of material more flexible.
Brief description of the drawings
Accompanying drawing 1 is assembling automatically based on Electromagnetic Drive and sensing module described in the embodiment of the present inventionChange the structural representation of transportation system;
Accompanying drawing 2 is another the assembling certainly based on Electromagnetic Drive and sensing module in the embodiment of the present inventionThe structural representation of Dong Hua transportation system;
Accompanying drawing 3 is controller in the embodiment of the present invention and a wherein electrical block diagram of each coil;
Accompanying drawing 4 is controller in the embodiment of the present invention and another electrical block diagram of each coil;
Wherein, the label in figure is: 1-permanent magnet, and 2-mobile platform, 3-electromagnet, 4-straight line is ledRail module, 5-curvilinear guide module.
Detailed description of the invention
For the ease of those skilled in the art's understanding, below in conjunction with accompanying drawing, the present invention is done furtherDescribe.
As shown in accompanying drawing 1-2, the described automatic transportation assembled based on Electromagnetic Drive and sensing moduleSystem includes: one or more for carrying out the mobile platform 2 of material transportation, for limiting movementThe guide rail of the motion track of platform 2, is distributed in the electromagnet mode being made up of multiple electromagnet 3 on guide railPiece, and be arranged at the permanent magnet 1 of mobile platform 2 bottoms.
Wherein, the quantity of mobile platform 2 can determine according to actual needs, and transportation system canAccording to actual needs the mobile platform 2 of respective numbers is assembled. Each mobile platform 2 is arranged atOn described guide rail and can move on described guide rail, on each mobile platform 2, be provided with for controlling movementThe control module that platform 2 moves on guide rail; On guide rail, be also provided with for obtaining described mobile platformThe position detecting module of 2 positional informations in orbit, this position detecting module is by institute's rheme of obtainingThe information of putting is converted to the corresponding signal of telecommunication and feeds back in described control module; Control module receives has instituteState the signal of telecommunication of positional information, and in required the leading to of coil calculating in the each electromagnet 3 of electromagnetic moduleAfter electricity size of current, the signal of the required electrical current of coil of each electromagnet 3 is controlled in output, so that instituteStating the electromagnetic force producing between permanent magnet 1 and electromagnetic module moves on described guide rail as mobile platform 2Moving driving force, thus the movement of described mobile platform 2 on guide rail controlled.
In the present embodiment, described permanent magnet 1 is preferably permanent magnet, and this permanent magnet is joined by interferenceClose in the square groove that is embedded in mobile platform 2 bottoms settings. Guide rail in the present embodiment comprises line slidewayModule 4 and/or curvilinear guide module 5, by line slideway module 4 and curvilinear guide module 5Combination or assembling, can obtain the required any movement of described mobile platform 2 (or motion) track,To meet the different requirements in material transportation process. Wherein, the each electromagnet in described electromagnetic module3, it is distributed in line slideway module 4 or curvilinear guide module 5 according to certain rule, each electromagnetismThe quantity of iron 3 and distance can arrange according to actual needs. In the present embodiment, each electromagnet 3 is describedIn line slideway module or in curvilinear guide module, be array distribution, as shown in accompanying drawing 1-2.
As the preferred embodiments of the present invention, described position detecting module is electromagnetic sensor, this electromagnetismSensor setting is in described magnet spool, and the position of each mobile platform all can be passed by electromagnetismSensor records, and acquisition is detected based on electromagnetic sensing in the position of mobile platform. Due to mobile flatThe mover of platform is permanent magnet, and position detecting module is the electromagnetic sensor being arranged in electromagnet, thereforeWithout any position detecting element is installed on mobile platform, and then mobile platform does not need to connect yetAny holding wire or power line. Certainly, described position detecting module can be also that other have position inspectionThe sensor of brake, as long as each mobile platform positional information in orbit being detected, andFed back to described control module.
In the present embodiment, described control module includes controller and is connected with this controllerCurrent amplifier, the electrical current of each magnet spool is provided by described current amplifier, as accompanying drawingShown in 3. In the embodiment of the present invention, control module is at the coil calculating in the each electromagnet of electromagnetic moduleAfter required electrical current size, the signal that the required electrical current of each magnet spool is controlled in output isVoltage signal, this voltage signal is first processed by a current amplifier, then puts through this electric currentLarge device is exported the required electrical current of magnet spool after processing again, each electromagnet is had correspondingMagnetic, the permanent magnet that itself and mobile platform bottom is arranged produces corresponding electromagnetic force, thereby controlsThe movement of described mobile platform on guide rail.
Consider when single mobile platform moves to different positions in transported material process on guide rail,Not all electromagnet all can exert an influence to mobile platform, the electromagnetism that distance moving platform is far awayIron is negligible on the impact of mobile platform, does not therefore need all electromagnet all to configure oneCurrent amplifier. As the preferred embodiments of the present invention, in the present embodiment, adopt a current amplifierThe scheme of output multiple electromagnet in parallel, the data signal producing by controller is selected on guide railDistance moving platform is compared with magnet spool energising near and that can produce effective electromagnetic force, but the same timeIt is only a coil electricity. Wherein, controller can be by receiving the position of each electromagnetic sensor feedbackInformation judge come distance moving platform nearer and the magnet spool that need to produce electromagnetic force.
As shown in Figure 4, the control module described in the present embodiment includes a controller and an electric currentAmplifier, described controller has one for controlling the electricity of electrical current size of each magnet spoolPress signal output part, and one selects signal for the coil electricity of selecting each magnet spool energisingOutput; Each magnet spool is all connected in series with a switch module, the control end of each switch moduleAll select signal output part to be connected with described coil electricity, the input of each switch module and described electric currentThe output of amplifier is connected in parallel, the input of described current amplifier and the output of described voltage signalEnd connects; The electrical current of each magnet spool is provided by described current amplifier, described controllerSelecting signal output part to send corresponding coil electricity by coil electricity selects signal, makes corresponding openingClosing module conducting, be required coil power supply, but same electric current is put thereby make described current amplifierIn the large same time of device, it is only a coil power supply.
The quantity of the switch module that in actual applications, the output of current amplifier is connected in parallel is passableArrange according to actual needs, the number of connection of current amplifier and magnet spool can be as requiredArrange; Meanwhile, the quantity of current amplifier and controller also can arrange according to actual needs.
It should be noted that in addition, in Fig. 3 and Fig. 4, it provides the concrete circuit of coil to connectMode: one end of coil is directly connected with current amplifier or connects by switch module and current amplifierConnect the other end ground connection of coil; In actual applications, can select according to actual conditions the tool of coilBody connected mode, if be adopted as the current amplifier of PWM formula as current amplifier, coilTwo ends are all connected with current amplifier. Certainly, coil can also adopt other connected mode,As long as providing the connected mode of required electrical current for realizing current amplifier for coil.
Described controller will exported two signals after a series of computings: for controlling each electromagnetThe voltage signal of electrical current size of coil, and for selecting each magnet spool energisingCoil electricity is selected signal. The voltage signal of control coil size of current is exported from voltage signal output endTo current amplifier, current amplifier is by the corresponding electricity of output after the processing such as this voltage signal amplifies(size of current of current amplifier output and the voltage signal of input current amplifier are linear to stream signalRelation), then export in corresponding coil through switch module; And for selecting each magnet spool logicalThe coil electricity of electricity selects signal to select signal output part to output to switch module from described coil electricityControl end, this coil electricity selects signal to make corresponding switch module conducting, thereby makes to put through electric currentLarge device process after the current signal of output output to target coil and (now need the electromagnet of energisingCoil) in. In described coil electricity selection signal and switch module are used for guaranteeing at one time, electricityThe current signal of stream amplifier output output only outputs in target coil, at one time in,Only having the switch module being connected with target coil is conducting, and other and opening that non-target coil is connectedClose module in off state.
Preferably, the switch module in the present embodiment is made up of two FETs, the grid of two FETsThe utmost point interconnects the control end as switch module, and the drain electrode of two FETs interconnects, Qi ZhongyiThe source electrode of FET is connected as the input of switch module and the output of described current amplifier,The source electrode of another FET is connected as the output of switch module and the input of described coil, asShown in accompanying drawing 4. In Fig. 4, two FET differential concatenations ensure the two-way not conducting of switch module,(be coil electricity choosing when the grid of the FET in the switch module being connected with target coil has signalSelect signal) when input, two FET conductings simultaneously; Now, the electricity of current amplifier outputStream signal outputs in target coil through this switch module, and due to other switch modules now inOff state, therefore the non-target coil of connection corresponding to other switch modules is now all in non-energisingState.
Utilize the switch module in the present embodiment, if will be target coil electricity, the coil of controller is logicalElectric separation is selected signal output part only need export corresponding signal, in the switch module that makes to be connected with target coilFET conducting, and FET in remaining switch module is off state. WhenSo, also can adopt other circuit modules with similar functions to realize the merit of above-mentioned switch moduleEnergy.
The operation principle of the assembled automated transport system below the present embodiment being provided or the course of workMake brief description: the assembled automated transport system in the present embodiment adopts close-loop control mode,Relative position between the suffered electromagnetic force of mobile platform and magnet spool and mobile platform has certain passSystem, the electromagnetic force that each electromagnet provides is directly proportional to electric current wherein, can set up logical through calculating(this of the model of relation between the electromagnetic force that while crossing unitary current, all electromagnet provide and permanent magnet positionIn invention, be referred to as model one); Each electromagnet coil power electricity when mobile platform is subject to unit forceThe optimal solution of stream also can be calculated, all electromagnet coils when therefore producing unit-sized and making a concerted effortElectrical current and mobile platform position between the model (being referred to as model two in the present invention) of relationAlso can set up.
In the process of establishing of above-mentioned model one and model two, the available Ampere force Formula of model one,?
Wherein
Wherein R ' is the point on permanent magnet, and R is the point on electromagnet, μ0For space permeability, πFor pi, ▽ is Laplace operator, and M is magnet polarization intensity, and n is the each normal to a surface of magnetDirection, the volume that V is magnet, the surface area that S is magnet.
When I in formula is unitary current and just can obtains mould while getting the component of the F mobile platform direction of motionType one:
K＝f(x)。
Can perception model one be the function relevant to mobile platform position, when having n in the mobile platform direction of motionWhen individual coil, the model one of each coil can be obtained, and mobile platform is subject at an arbitrary position soPower can express with following formula:
F＝Ku。
Wherein:
K＝[K1…Kn] be the row vector of 1 × n;
u＝[u1…un]TFor the column vector of n × 1.
K1…KnFor the value u of mobile platform each electromagnet model one correspondence when the optional position1…unFor the size of current passing in each electromagnet. The optimal solution that passes into size of current for trying to achieve makes all electricityFlow big or small quadratic sum minimum, even electromagnet consumed power minimum, u can calculate by following formulaCome:
u＝[K]T([K][K]T)-1F。
Getting F is unit force, by the size of u corresponding mobile platform electromagnet when the diverse locationRelation is carried out matching and just can obtain the model two of this electromagnet. Can perception model two be with mobile flat equallyThe function that platform position is relevant, model two corresponding to each electromagnet also can be in the hope of.
Because the optimal solution of calculating coil electricity electric current need to be carried out inversion operation, it can take control mouldA large amount of fortune of the controller in piece are deposited, and set up the optimization system program raising greatly of above-mentioned two modelsSystem real time. Above-mentioned two models (model one and model two) can be stored in to controller in advanceIn, the positional information that only need to input mobile platform is logical once calculating each coil by modelThe power providing when unitary current, by model two just may be calculated produce unit make a concerted effort each coil shouldThereby this size of current passing into has been avoided the operation of Real-time solution inverse matrix. The actual bit of mobile platformPut and can record by described electromagnetic sensor, by site error, i.e. given mobile platform position(target location that mobile platform will move in other words) and mobile platform physical location this moment itBetween deviation, input can obtain after described controller (this controller can be realized PID computing) mobileThe theoretical value of the required driving force of platform, when location aware and required driving force are when known, controller just canTo obtain electrical current required in each magnet spool by above-mentioned model two, controller outputCorresponding voltage signal is input to each magnet spool by current amplifier by required electrical currentIn, thereby the control of realization movement on guide rail to mobile platform.
The assembled automated transport system that the embodiment of the present invention provides, it adopts electromagnetic module to carry outElectromagnetic Drive, does not need external power set to drive mobile platform to move, therefore without any yetIntermediate gearing, with respect to existing transportation system, its structure is simpler, noise is also less;And in electromagnetic module, the "on" position of each magnet spool can independently be controlled, and makes on guide railEach mobile platform also can independently control, transportation system can independently be controlled by each as requiredMobile platform assemble, therefore in the process of material transportation, can be for each different workPart carries out independent pipage control, and with respect to existing transportation system, its course of conveying for material is aobviousObtain more flexible; In addition, because the mover of mobile platform is permanent magnet, position detecting module isBe arranged at the electromagnetic sensor in electromagnet, therefore without any position inspection is installed on mobile platformSurvey element, and then mobile platform do not need to connect any holding wire or power line yet, thereby at materialIn transportation, also seem very convenient, only need enter line slideway module 4 and curvilinear guide module 5Row combination or assembling, to obtain the required motion track of described mobile platform, can meet material fortuneDifferent requirements in defeated process.
The content of mentioning in above-described embodiment is preferably embodiment of the present invention, is not to the present inventionRestriction, without departing from the inventive concept of the premise, any apparent replacement is all in the present inventionProtection domain within.
Claims (10)
1. the assembled automated transport system based on Electromagnetic Drive and sensing module, its featureBe, the described automated transport system of assembling comprises:
One or more mobile platforms, for carrying out material transportation, the bottom of described mobile platform arrangesThere is permanent magnet;
Guide rail, for limiting the motion track of mobile platform, described mobile platform is arranged at described guide railGo up and can on described guide rail, move,
Electromagnetic module, comprises the multiple electromagnet that are distributed on described guide rail;
Position detecting module, for obtaining described mobile platform positional information in orbit, and shouldPositional information is converted to the corresponding signal of telecommunication and feeds back to control module;
Control module, is arranged on described mobile platform, sends for receiving described position detecting moduleThe signal of telecommunication with described positional information, and each magnet spool required electrical current is controlled in outputSignal so that the electromagnetic force producing between described permanent magnet and electromagnetic module is as described mobile platformThe driving force moving on described guide rail, thus the movement of described mobile platform on guide rail controlled.
2. the automated transport system of assembling according to claim 1, is characterized in that: described inThe current amplifier that control module includes controller and is connected with this controller, each electromagnetThe electrical current of coil is provided by described current amplifier.
3. the automated transport system of assembling according to claim 1, is characterized in that: described inControl module includes a controller and a current amplifier, and described controller has one for controlling respectivelyThe voltage signal output end of the electrical current size of magnet spool, and one for selecting each electromagnetismThe coil electricity of the coil electricity of iron is selected signal output part;
Each magnet spool is all connected in series with a switch module;
The control end of each switch module all selects signal output part to be connected with described coil electricity, each switchThe input of module and the output of described current amplifier are connected in parallel, described current amplifier defeatedEntering end is connected with described voltage signal output end.
4. the automated transport system of assembling according to claim 3, is characterized in that: each electricityThe electrical current of the coil of magnet is provided by described current amplifier, and described controller passes through coil electricitySelect signal output part to send corresponding coil electricity and select signal, make corresponding switch module conducting,Thereby making described current amplifier is required coil power supply, in the same time of same current amplifierIt is only a coil power supply.
5. the automated transport system of assembling according to claim 3, is characterized in that: described inSwitch module is made up of two FETs, and the grid of two FETs interconnects as switch moduleControl end, the drain electrode of two FETs interconnects, and wherein the source electrode of a FET is as switching moldingThe input of piece is connected with the output of described current amplifier, and the source electrode of another FET is as openingClosing the output of module and the input of described coil is connected.
6. according to the assembled automated transport system described in any one in claim 1～5, itsBe characterised in that: described permanent magnet is permanent magnet, and this permanent magnet is embedded in the bottom of described mobile platform.
7. the automated transport system of assembling according to claim 6, is characterized in that: described inPermanent magnet is embedded in the square groove of mobile platform bottom setting by interference fit.
8. according to the assembled automated transport system described in any one in claim 1～5, itsBe characterised in that: described position detecting module is electromagnetic sensor, and this electromagnetic sensor is arranged at described electricityIn the coil of magnet.
9. according to the assembled automated transport system described in any one in claim 1～5, itsBe characterised in that: described guide rail comprises line slideway module and/or curvilinear guide module, by straight lineThe assembling of rail module and curvilinear guide module obtains the required any motion track of described mobile platform.
10. the automated transport system of assembling according to claim 9, is characterized in that:
Electromagnet in described electromagnetic module is in described line slideway module and/or curvilinear guide moduleBe array distribution.
Priority Applications (2)
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| CN201610040379.8A CN105600469B (en) | 2016-01-21 | 2016-01-21 | A kind of composable automated transport system based on electromagnetic drive and sensing module |
| PCT/CN2016/072101 WO2017124574A1 (en) | 2016-01-21 | 2016-01-26 | Automated transport system capable of being assembled and based on electromagnetic drive and sensing module |
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| CN201610040379.8A CN105600469B (en) | 2016-01-21 | 2016-01-21 | A kind of composable automated transport system based on electromagnetic drive and sensing module |
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| CN105600469B CN105600469B (en) | 2018-08-31 |
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Also Published As
| Publication number | Publication date |
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| CN105600469B (en) | 2018-08-31 |
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