CN107117462A - Determine the conveying body phase of at least one suspension for the position of suspension supply unit and/or the apparatus and method of orientation - Google Patents
Determine the conveying body phase of at least one suspension for the position of suspension supply unit and/or the apparatus and method of orientation Download PDFInfo
- Publication number
- CN107117462A CN107117462A CN201710102853.XA CN201710102853A CN107117462A CN 107117462 A CN107117462 A CN 107117462A CN 201710102853 A CN201710102853 A CN 201710102853A CN 107117462 A CN107117462 A CN 107117462A
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- CN
- China
- Prior art keywords
- suspension
- supply unit
- conveying body
- weight sensor
- weight
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
Abstract
The present invention relates to for determining at least one conveying body suspended（12）Relative to suspension supply unit（14）Position and/or orientation position determining means（20）, wherein, the position determining means include weight sensor unit, and the weight sensor unit, which is set, to be used for：It is arranged at the suspension supply unit and the weight signal dependent on gravity is provided at multiple weight sensor positions, wherein, the gravity causes and is applied at least in part in the suspension supply unit at least partially through at least one described conveying body suspended.The position determining means according to the present invention also have a kind of assessment unit, and the assessment unit, which is set, to be used for：Based on the weight signal, position or orientation of the conveying body phase of at least one suspension for the suspension supply unit are asked at least in part.The invention further relates to the conveying body phase for determining at least one suspension for the position of suspension supply unit and/or the method for orientation.
Description
Technical field
Field of the present invention based on production control, especially flexible delivery and the positioning for producing object.Here, the present invention is related to
And for determining the conveying body phase of at least one suspension for the position of suspension supply unit and/or the apparatus and method of orientation.
Background technology
Produce the Curve guide impeller controlled and improvement and Optimizing manufacture can be usually in the industry with sum technically
Big meaning economically.Here, " industry 4.0 " is upperseat concept to concept, and it is combined with the progress on these fields.
Trend in this technical field can be herein manufacturing line until the flexibility of such line, the line can be manufactured individually
The product of property.
Here, such system is especially interesting：The system article to be transported for having provides motion as much as possible
The free degree, the frees degree with three rotations of such as up to three translations.Here, can be for example using such suspension feed list
Member, suspended one or more conveying bodies using the suspension supply unit, namely contactlessly lifted or to float, and energy
It is enough that feed is carried out on feed direction.Here, suspension supply unit there can be stator tile system, wherein, so arrange
Magnetic coil：So that the corresponding conveying body that can be also referred to as " Mover shifters " is according to maglev principle free floating ground energy
It is enough move and be supplied through the suspension supply unit watt and can approach to different positions by this way.Generally,
The conveying body is furnished with permanent magnet, and suspension is realized will pass through the suspension supply unit.But, it is optionally or additional
Scheme, can also be used by the magnetic field produced by electromagnet in the conveying body.Generally, suspension supply unit can have
Induction coil, the induction coil is configured to：Flowed through by electric current, so as to contactlessly suspend it is with feed magnetic, especially encourage forever
Conveying body.
The suspension supply unit of example is described in the A1 of WO 2013/059934.
The conveying body phase can have herein for the accurate position of the suspension supply unit or the understanding of orientation
Big importance, to realize the feed of accurate positioning and the insurance for conveying body.Especially, with submillimeter accuracy
To the understanding of position be necessary for some purposes.
Here, generally using the Hall sensor of big quantity, the Hall sensor is typically disposed at the suspension feed
On the upside of unit, one or more conveying bodies should thereon suspended and transported.Here, the Hall sensor can be with conjunction
Suitable mode is set for：It is spatially-resolved detecting by suspend conveying body caused by magnetic field, and thus by means of
The position of the Hall sensor of corresponding signal is detected, the position of the conveying body is asked for.In order to utilize high standard
True property determines the position of the conveying body of the suspension, the very high density of Hall sensor can be needed herein or is supplied suspending
Send the spacing of the very little between the adjacent Hall sensor on unit.Here, in principle be applicable, it is described it is adjacent suddenly
Your spacing of sensor is smaller, then the accuracy that can be realized that position is determined is higher.
Based on the Hall sensor needed for usual big quantity, suspension supply unit being capable of the thus big manufacturing cost of demand
And/or big purchase and cost of upkeep, the suspension supply unit allows to determine the position of the conveying body using high accuracy
Put.
Therefore it is desirable that there is provided for determine suspend conveying body phase for suspension supply unit position with/
Or the feasible program of orientation, the small cost expenses of the suspension supply unit demand and but allow using high accuracy come true
The fixed position and/or orientation.
The content of the invention
In accordance with the present invention it is suggested that with it is with good grounds it is of the invention it is feature, for determining at least one conveying body suspended
Relative to the apparatus and method of the position and/or orientation of suspension supply unit.Favourable design is preferred embodiment and its
The theme of its embodiment and ensuing explanation.
In an aspect, the present invention relates to a kind of conveying body phase for being used to determine at least one suspension for suspension feed
The position of unit and/or the position determining means of orientation, the position determining means include weight sensor unit, weight sensing
Device unit, which is set, to be used for：It is disposed at the suspension supply unit and is provided at multiple weight sensor positions and is depended on
The weight signal of gravity, wherein, the gravity causes and at least in part at least partially through the conveying body of the suspension
It is applied in the suspension supply unit.The position determining means according to the present invention also have a kind of assessment unit, and this is commented
Estimating unit and setting is used for：Based on the weight signal, ask at least in part at least one described conveying body phase for suspending for
The position of the suspension supply unit or orientation.
In another aspect, the present invention relates to a kind of conveying body phase for being used to determine at least one suspension for suspension feed
The position of unit and/or the method for orientation, wherein, methods described includes step：Along the suspension supply unit multiple heavy
Weight signal is provided at quantity sensor position, wherein, the weight signal depends on gravity, and wherein, the gravity is by hanging
Floating conveying body causes and is applied at least in part in the suspension supply unit.Methods described also has step：It is based on
The weight signal, asks for position or the orientation of at least one conveying body suspended.
According to the present invention preferred embodiment, the weight sensor unit can be passed except one or more weight
Also there is other components, such as wiring and/or overcoat and/or protecting crust and/or tightening member outside sensor component.Institute's commentary
Estimate unit can for example with computing unit, such as CPU or computer and can with the weight sensor unit and（Such as
Fruit is present）It is connected with magnetic sensor unit.In addition, the assessment unit can also fulfil other tasks, for example, control described
Suspension supply unit, the position determining means are mounted with the suspension supply unit.
The weight sensor unit and/or the assessment unit and/or the position determining means can be for example also complete
Entirely or it is partially integrated into suspension supply unit.Here, the assessment unit can for example be integrated into the suspension feed
In the control element of unit.
In another aspect, present invention is accordingly directed to for controllably transport at least one magnetic, especially encourage forever it is defeated
The feeder of body is sent, the feeder includes suspension supply unit, wherein, the suspension supply unit, which is set, to be used for：Nothing connects
The conveying body at least one magnetic described in suspending of contacting to earth, and supplied at least one feed direction along the supply unit
The conveying body is given, and wherein, the feeder according to the present invention also includes the position determining means according to the present invention.
Here, present invention provide the advantage that, by means of the gravity of the conveying body of the suspension, it can determine the defeated of suspension
Send position and the orientation of body.If here, for example described gravity is uneven in the scope or basal plane of the conveying body, or borrowed
Help the known/previously given in size geometrically of at least one conveying body, obtain the orientation, the size energy
Enough recognized by sensor element and be considered for determining the orientation.According to the present invention it is therefore feasible that, independent of
In the magnetic field of domination, it is determined that position and the orientation of conveying body.Here, the position that described device is not limited to unique conveying body is true
It is fixed, but preferably can also follow one another and ground and/or simultaneously determine positions and the orientation of multiple conveying bodies.The present invention is herein
Have the advantage that, determined for reliable position, it is not necessary to employ usual very dynamic magnetic field, the magnetic field is particularly by described
Magnet or conveying body in the multiple magnets for being generally configured permanent magnet and pass through the usual of the suspension supply unit
The magnet for being configured to electromagnet is formed.By this way, it is furthermore possible to that measurement inaccuracy is reduced or avoided, the measurement is inaccurate
Performance is enough by dynamic or cause in magnetic field that is local and/or changing strongly in time.Cumbersome coordination or calibration（Just
Such as these are often necessary, when position is determined by means of measuring the magnetic field to carry out）It is unwanted according to the present invention
Or at least need not be in identical yardstick.
The present invention an additional advantage be, it is described according to the present invention position determining means weight sensor unit
It could be provided as the layer of itself or can have such layer, this layer can for example be arranged on traditional suspension feed list
At member.This point such as permission, existing suspension supply unit is installed additional using the position determining means according to the present invention, and
It need not consider as the suspension supply unit and/or as the magnetic caused by conveying body when optimizing the position determining means herein
.Usually, the position determining means according to the present invention are preferably configured such：So that the position determine independent of
It can be carried out in the magnetic field of appearance and the magnetic field is preferably without the significant of the operation to the position determining means
Influence.In addition this point allows, and the position determining means are independent of the suspension supply unit, especially independent of institute
The arrangement and structural scheme of the magnet of suspension supply unit is stated to optimize and come excellent for desired measurement accuracy
Change.
In addition, present invention provide the advantage that, the measurement of the gravity need not be forcibly in the suspension supply unit
At upside namely in sidepiece（Conveying body should be suspended on the sidepiece（Suspension side））Place is carried out, but for example also in downside or
Carried out departing from the sidepiece of the suspension side, if the effect of the gravity of the conveying body suspended towards extension at this and/or to
The effect transmitted and/or caused in this place at this and can detect.For example, the weight for the conveying body being applied in suspension supply unit
Power can be transferred on weight sensor unit by the suspension supply unit, and the weight sensor unit is for example arranged in institute
At the downside for stating suspension supply unit.For example, the conveying body at position of the conveying body phase for the suspension supply unit
Gravity can cause the single component at this position or the deformation of whole suspension supply unit, the deformation also can be
Determined at the downside of the suspension supply unit.
On the suspension side for not being arranged in the suspension supply unit forcibly due to the weight sensor unit, but
Can be arranged at other positions, then after facilitating in existing system installation and can be for example in the defeated of suspension
The hoverheight or such height are reduced in the holding identical flying height for sending body：Conveying body must lead to during suspending
The suspension supply unit is crossed to be maintained in the height.This has the advantage that, compared in higher hoverheight
, it is necessary to which smaller expense is for improving and keeping the conveying body on for the flying height set by transport in situation,
And thus need smaller energy consumption.In addition, less hoverheight also can result in during suspending and/or during conveying
Conveying body stability improvement.
Equally, according to the favourable modification of the present invention it is possible that by one or more weight sensor lists
Member is arranged at the different positions at the suspension supply unit, so as to can for example realize the measurement signal for asking for redundancy
And/or larger accuracy.
Especially, according to the present invention it is not necessary that, the position determining means and/or the weight sensor unit are in
In mechanical contact with conveying body, it should determine the position of the conveying body.In fact, it is sufficient that according to the present invention, it is described defeated
The gravity of body is sent to be transferred on suspension supply unit or position determining means or weight sensor unit and/or make by magnetic force
Use on these.This is particularly by the carrying magnetic element for conveying body in suspension supply unit（Especially coil）And institute
The mechanical contact between weight sensor unit is stated to carry out.
The additional advantage of the present invention is that the location determining device can be advantageously provided in cost.For example,
The weight sensor unit, which can be set, to be used for：By means of suspension supply unit, particular on the coil layer inside it
There is provided weight signal for deformation.In other words, the weight sensor unit can set and be used for：Ask for the suspension feed list
The deformation of member, the deformation is by conveying body（The position of the conveying body should be measured）To cause.Such deformation usually being capable of profit
Measured with simple and/or favourable in cost device, so that acquisition cost and/or cost of upkeep are for according to the present invention
Position determining means for can be than for traditional position determining means（Its especially for position determine and to magnetic field really
Indicated calmly）For significantly it is smaller.Such deformation can magnetic be active, for example magnetostrictive material preferably by installing
Expect to strengthen, which further simplifies measurement.
In a preferred manner, can be at least partially pressure-sensitive and/or power quick for the weight sensor unit
Sense and/or that change in shape is sensitive and/or piezoelectricity and/or pressure drag and/or electric capacity and/or inductance property and/or tool
There are the material or element gathered around and had the property that.For example, when the gravity of conveying body is applied to the weight at corresponding position
When on sensor unit, electric signal can be obtained by this way（Electric current or voltage）Or the change of such signal, base
The weight signal for position determination then can be provided in it.
Here, the weight sensor unit can have multiple weight sensor elements, the weight sensor element cloth
Put at multiple weight sensor positions of the suspension supply unit.Optionally or additional aspects, the weight is passed
Sensor cell can have the weight sensor element of flat configuration, and the weight sensor element can flattened be arranged in described
At suspension supply unit.For example, the weight sensor element of such flat configuration can include one or more layers, this layer of example
As having suitable property as described above, to determine to act on gravity thereon.Preferably, flat configuration
Weight sensor element so set：Enable thus it is spatially-resolved asked at multiple weight sensor positions weight
The appearance of power.In other words, the weight sensor element of flat configuration is so set：So that the signal provided（The signal
Formed by the gravity acted on thereon）Also achieve and ask for position, at the position, the Action of Gravity Field to the flat structure
On the weight sensor element made.This point can for example by the segmentation or grid of the weight sensor element of flat configuration come
Realize, wherein, being sized to of the segmentation is matched at desired resolution ratio.Here, for example single section being capable of table
It is now each weight sensor position, gravity can be measured at the section and gravity can be locally being arranged to section
In the presence of.It is optionally or additional aspects, multiple that especially adjacent sections also can jointly show and attach most importance to against each other
Quantity sensor position.
Preferably, the segmentation of the weight sensor element of flat configuration or grid pass through electrode（Referring to Fig. 5）Column-shaped
Realized with the arrangement of row shape, wherein, the electrode for defining the row and define the row electrode in measurement direction between
Every.The electrode is preferably imbedded in material, such as dielectric, and the material is defined between corresponding row electrode and row electrode
Resistance, the resistance is dependent on gravity at this position.This dependence is realized particularly by the deformation at this position.
Preferably, such layer unfertile land can be constructed very much, especially no thicker than 5mm, no thicker than preferably 1mm, particularly preferably
Ground is no thicker than 0.5mm, is also more preferably no thicker than 0.25mm, preferably is no thicker than 0.1mm.Especially, so thin layer
It can be applied to：It is arranged on the suspension side of suspension supply unit, and but realizes that conveying body phase is true for traditional position
Determine the reduction of the hoverheight of device.
For example, the layer of piezoelectricity can be used, to generate electric signal in pressure change, power change or alteration of form.
Optionally or additional aspects, the layer of pressure drag can be used, the layer changes in pressure change, power or changed during alteration of form
Become its resistance.Equally, other layers can be used, the layer changes its resistance in deformation, the layer is, for example, by for example carrying out autohemagglutination
The flexible layer of compound material and the combination of metal level such as platinum formation.Here, described at the weight sensor position
The local resistance of metal level is previously given at least partially through crackle and/or hole.Here, can be changed in institute by deformation
The microstructure of the metal level at weight sensor position is stated, furthermore so as to change resistance dependent on the deformation.Here, excellent
Selection of land, uses such material or structure：Its resistive linearity or square ground be changed with the deformation, wherein, its
Its correlation also can be suitable.Here, especially, the material worked using foil gauge or according to same or like principle
Material and/or device.In addition, the use of the layer formed by the material of triboelectrification also can be favourable, in this layer, by described
The contact of inside caused by gravity causes electric signal.
Optionally or additional aspects, the weight sensor unit of multiple point-like, weight sensing can also be used
Device unit relative configurations are used for：The gravity is measured point by point.Here, must select in an appropriate manner sensor density or
Spacing between adjacent weight sensor unit（As also in tradition using in the case of Hall sensor）, so as in place
Desired resolution ratio or accuracy in position is realized when putting determination.
Advantageously, in the plane including z-axis in the vertical arrangement of suspension supply unit and in conveying body
In corresponding motion in, position detection be also feasible.Especially, in this case, the center of gravity of the conveying body is acted on
Gravity pass through different act on caused by the leverage passed on of magnetic force between conveying body and suspension supply unit
Power in the horizontal direction at the magnet of the suspension supply unit, the power can be distorted sensor element detecting.
According to preferred embodiment, the present invention can also extraly include magnetic sensor unit or be passed with such magnetic
Sensor cell is combined, and the magnetic sensor unit, which is set, to be used for：In multiple magnetic sensor locations along the suspension supply unit
Place there is provided the magnetic signal dependent on magnetic force, wherein, the magnetic force is caused and at least portion by the conveying body suspended at least in part
It is applied in the suspension supply unit with dividing, and wherein, the assessment unit may still be configured to：Based on weight letter
Number and the magnetic signal, at least one described conveying body phase for suspending is asked at least in part for the suspension supply unit
Position or orientation.In other words, the position determining means can so be set：So that weight is not used only in the assessment unit
Measure signal and also use magnetic signal, to ask for the position for conveying body of the suspension.In this way it is possible to for example perform redundancy
Position determine, for example to reduce vulnerability to jamming.Such combination can be equally used, for example to improve position resolution
Rate and the accuracy for thus improving position determination.
Especially, now such combination can be favourable：The biography of the Hall sensor determined for position ought be possessed
When the suspension supply unit of system according to the position determining means of the present invention by be extended, wherein, the position determining means
Then except the weight signal can also use the magnetic signal provided by the Hall sensor.
The further advantage and structural scheme of the present invention is drawn by specification and drawings.
Obviously, the above-mentioned and following feature also to be explained can not only be used in the combination correspondingly illustrated
In, it could be used that in others combination or be used alone, without departing from the framework of the present invention.
The present invention is schematically shown and retouched in detail hereinafter with reference to accompanying drawing according to the embodiment in accompanying drawing
State.
Brief description of the drawings
Figure 1A shows traditional feeder with suspension supply unit and traditional magnetic sensing in the cross-section
The schematic diagram of device unit；
Figure 1B shows the feed preferred embodiment of the with good grounds position determining means of the invention of band in the cross-section
The schematic diagram of device；
Fig. 2 shows the principle of work and power preferred embodiment of the position determining means according to the present invention in the cross-section
Schematic diagram；
Fig. 3 shows the other signal preferred embodiment of the position determining means according to the present invention in the cross-section
Figure；
Fig. 4 shows the other signal preferred embodiment of the position determining means according to the present invention in the cross-section
Figure；
Fig. 5 shows the other signal preferred embodiment of the position determining means according to the present invention in the cross-section
Figure；
Fig. 6 shows the other signal preferred embodiment of the position determining means according to the present invention in the cross-section
Figure.
Embodiment
Different features preferred embodiment can be combined with each other, without departing from the idea of the present invention.Similar
Or similar component is provided with identical reference in the accompanying drawings, and in order to avoid repeating without explaining in multiple times.It is described attached
Figure is only schematic diagram, the schematic diagram and the magnitude relationship that need not be reflected in perspectively between single component.
Figure 1A shows the schematic diagram of the feeder 10 with conveying body or " shifter " 12 in cross sectional view, and this is defeated
Body is sent to be suspended by suspension supply unit 14 and can be in feed plane 100（Perpendicular to drawing）It is middle to transport.Here, described outstanding
Floating supply unit 14 has coil layer 16, and magnetic coil is disposed with the coil layer（It is not shown）, can by means of the magnetic coil
Magnetic field is produced, for one or more conveying bodies 12 that lifted or suspended.Here, described suspend by balance and adjust corresponding
Conveying body 12 and suspension supply unit 14 between attraction and repulsion magnetic force realize that the magnetic force passes through in the coil layer
The magnetic field that is produced in 16 and cause in one or more of the conveying body 12 permanent magnet 12a.The intensity in the magnetic field or institute
The intensity for stating magnetic force determines hoverheight 120 of the conveying body in the suspension supply unit 14 herein.Convey the reality of body 12
The flying height 140 on border is to subtract the height or thickness of possible component to determine from hoverheight 120 herein, the component structure
Make in suspension supply unit 14, namely between the coil layer 16 of suspension supply unit 14 and conveying body 12.
Shown feeder 10 has magnetic sensor unit 18 in the suspension supply unit 14 herein in figure ia,
The magnetic sensor unit is used to convey position in feed plane 100 determination of the body 12 relative to suspension supply unit 14.
This, traditional magnetic sensor unit 14 has multiple Hall sensors（It is not shown）, the Hall sensor is arranged in described
In feed plane 100.
Thus, the flying height is reduced the thickness of magnetic sensor unit 18 in traditional feeder 10.
If for example needing at least 1.5mm flying height 140 for the friction free of the conveying body and glitch-free transport
And if magnetic sensor unit 14 has same 1.5mm thickness, then need at least 3mm hoverheight 120.The coil
Layer 16 being capable of such as thickness with 6mm.
Figure 1B show with good grounds position determining means 20 of the invention it is preferred embodiment, according to the present invention
Feeder 10 schematic diagram preferred embodiment.Here, the position determining means 20 include weight sensor list
Member 22 and assessment unit 24.The weight sensor unit 22 is arranged in the suspension supply unit in the embodiment shown
It is arranged at 14 downside and especially the lower section of the coil layer 16.
Position determine in this case not by detect by it is described conveying body 12 magnetic field caused by its position place come
Carry out, but carried out by detecting gravity, the gravity passes through in the magnetic accordingly between conveying body 12 and coil layer 16
Field is applied or is transferred in the coil layer 16 by the magnetic force.The weight sensor unit 22 is configured to herein：
Based on by conveying the body gravity or pressure that are applied, at the position of conveying body 12 accordingly detecting coil layer 16 or
The deformation of suspension supply unit 14, the pressure is applied in the coil layer 16 or suspension supply unit 14 and at least in part
It is transferred on the weight sensor unit 22.
Especially, weight sensor unit 22 need not be constructed in the top of the coil layer 16, for can be by described
The presence of the conveying body 12 of suspension detects deformation and/or pressure and for providing weight signal based on this.Especially, in institute
The pressure or deformation maximum at the position of suspension supply unit 14 are stated, there is conveying body 12 at the position or on the position.
In this way it is possible to provide weight letter by the pressure measxurement or distortion measurement of the position resolution of weight sensor unit 22
Number, so that assessment unit 24 can ask for or determine to convey position and/or the orientation of body 12.
In fig. ib particular it appear that advantage be that the flying height 140 is not by needing to be arranged on coil layer 16 and defeated
Send the component between body 12 reduce and thus in the case of shown the flying height 140 be equal to the hoverheight
120.For this reason, when for example needing 1.5mm flying height 140, also hoverheight 120 can be reduced to 1.5mm,
So as to which the intensity in the magnetic field and the magnet 12a in conveying body 12 of the energy consumption and the required coil in coil layer can
It is reduced and so as to improve the stability of the suspension.
Fig. 2 shows the signal of the principle of work and power preferred embodiment of the position determining means 20 according to the present invention
Figure.It is shown in which, the presence of the conveying body 12 of the suspension at its position in suspension supply unit 14, based on weight
Power causes deformation 200, and the deformation is at least partially transferred on the weight sensor unit 22.The weight sensor list
Member 22 has at least one weight sensor element or is divided into section respectively at multiple weight sensor position 22a herein,
So as to arrange at least one section to each weight sensor position 22a.
For example, the size of the section and/or the weight sensor position 22a to each other away from can so be selected
Select：So that the detecting deformation only at the 22a of weight sensor position.Assessment unit 24 is then dependent on weight from weight signal
Quantity sensor position 22a determines the position of the conveying body 12, and the deformation is detected at the weight sensor position.Make
For alternative, the size and/or the mutual spacing of weight sensor position 22a of the section can be so selected：
So that just as shown in Figure 2, preferably can be detectd at multiple weight sensor position 22a in different degree
Survey the deformation.In this case, for example by the weighting of the detected deformation of consideration or by forming average value, Neng Gouyou
It realizes the position for determining each conveying body 12 and orientation exactly.
Fig. 3 shows the other schematic diagram preferred embodiment of the position determining means according to the present invention, at it
In, the weight sensor unit 22 is arranged on the upside of coil layer 16 or the suspension supply unit 14 and utilizes cap rock
26 cover.Closed in the thickness here, it is noted that signal in figure 3 is not in perspective, but between single layer
System can be different to that shown progress is constructed.
Especially, this embodiment is now especially advantageous：I.e. when the weight sensor unit 22 and the cap rock 26 are outstanding
When its unfertile land is constructed.For example, being carried when using less than 0.5mm or the only sensor unit of 0.1mm thickness and also
When stating cap rock 26 with the thickness for being not more than about 0.25mm or 0.1mm, this point can be the situation.But, so
Unfertile land construction weight sensor unit 22 and cap rock 26 in, especially compared to typically have Hall sensor layer（For example
About 1.5mm）Significantly bigger thickness, the difference between flying height 140 and hoverheight 120 can be maintained at very
In small degree.
Here, the cap rock 26 can be configured in such a manner：So that the cap rock reduces or hinders to be based on mechanism and base
In the danger of the damage weight sensor unit 22 and/or the coil layer 16 that get into fluid and/or particle.As long as institute
State weight sensor unit 22 and/or the coil layer 16 is constituted by multiple watts, then enable in particular to facilitate between adjacent watt
Gap effective protection.Especially advantageous can be such cap rock 26, the cap rock reduce get into water and/or moisture and/
Or the danger of oxygen, so as to the degeneration for the component for reducing sensitivity.
In addition, the cap rock 26 can be configured to：It is also formed in effective before biology and/or chemistry reactant
Protection.For example, the cap rock 26 can also be by the plastics of especially resistance and/or by metal construction.It is particularly advantageous by special type
The cap rock of steel formation, even if because this special steel is also provided before mechanism and in fluid and particle in the thickness of very little
Preceding effective protection.
Especially, in the case of sane cap rock 26 is configured with wherein, to weight sensor unit 22 and/or coil layer
The demand of resistance can be smaller.For example, can also be connect in this case in weight sensor unit 22 using with metal
The polyvinylidene fluoride layer of the usual very sensitive piezoelectricity of contact portion（PVDF layers）, the weight sensor unit is typically in oxidation or crowded
Easily degenerated in the case of entering moisture.
In addition, in others preferred embodiment（It is not shown）According to the present invention position determining means 20 also can
Enough there is multiple weight sensor units 22 and/or multiple cap rocks 26.For example, multiple weight sensor units 22 can be arranged in
At the sidepiece or different sidepieces of coil layer 16 and/or suspension supply unit 14.In addition, multiple cap rocks 26 also being capable of cloth
Put at a sidepiece or the different sidepieces in the coil layer 16 and/or suspension supply unit 14 and covering one or many
Individual weight sensor unit 22 is arranged between multiple weight sensor units 22.
In Fig. 4 to 6, it is shown in and is illustrated in cross sectional view according to the other preferred of the position determining means 20 of the present invention
Embodiment.In Fig. 4, the position determining means 20 for example with the material surrounded weight sensor position
Put the weight sensor element such as foil gauge imbedded at 22a, and the structure or element 22b imbedded.
In Figure 5, three other embodiments of weight sensor unit 22 are schematically illustrated, the embodiment passes through
Vertical dotted line is separated on image.In any situation, the weight sensor unit has from being spaced each other and to each other
Row electrode 22c and row electrode 22d so that each one between row electrode 22c and row electrode 22d be projected intersection point performance
For weight sensor position 22a.According to the first variations（The left side）, the weight sensor unit 22 is without extra quilt
The element or structure imbedded.According to the second variations（Middle part）, the weight sensor unit 22 has to be passed in the weight
The structure 22b imbedded at the 22a of sensor position.According to the 3rd variations（The right）, the weight sensor unit 22 has
There is the structure 22b imbedded outside the weight sensor position, namely the structure 22b each imbedded is located to not only existing
In the projection of main extension plane between two row electrode 22c and between two row electrode 22d.
In another advantageous embodiment, the grid of structure that the is electrode and being imbedded be it is different, so as to
It is achieved in the further raising of the positioning accuracy.
The structure imbedded or element 22b of Figure 4 and 5 can have the structure for supporting signal, such as magnetic active（For example
It is magnetostrictive）Element, the element changes its shape by the influence in the magnetic field from the conveying body of the suspension and/or big
It is small and thus sensed signal in the weight sensor unit 22.Except the deformation based on weight（The deformation passes through institute
State the deformation of coil layer 16 and be transferred on the weight sensor unit 22）, the deformation based on magnetic force（The deformation is by conveying body
12 one or more of permanent magnet 12a magnetic force is caused）Thus also contribute in weight signal.This is for vertical arrangement
Mode is especially advantageous, wherein, the gravity is vertically built up on magnetic force, is determined and/or is orientated because hence improving position
It is determined that.
Optionally or additional aspects, the structure imbedded or element 22b also have sensitive or produce letter
Number structure, such as magnetic susceptibility（Such as magnetic resistance）Element, the element passes through the magnetic field from the conveying body of the suspension
Influence and change its resistance.Such element is the part for producing the magnetic sensor unit 18 of magnetic signal.This point for
Vertical arrangement is especially advantageous, wherein, the gravity is vertically built up on magnetic force, because hence improving position determination
And/or orientation is determined.
Illustrate in figure 6 one in addition preferred embodiment, wherein, coil layer 16 and weight sensor list
Member 22 is structuring.Especially, corresponding single coil part 16a is arranged in the weight on single weight sensor element
At sensing station 22a（It is also feasible in turn）, the weight sensor element is arranged on common carrier again.It is middle empty
Between can for example utilize optional cushion（Such as epoxy resin）To fill, to hinder getting into for dirt etc..
Claims (13)
1. a kind of conveying body for being used to determine that at least one suspends（12）Relative to suspension supply unit（14）Position and/or take
To position determining means（20）, the position determining means include：
Weight sensor unit（22）, the weight sensor unit, which is set, to be used for：It is arranged in the suspension supply unit（14）Place
And in multiple weight sensor positions（22a）Place provides the weight signal dependent on gravity, wherein, the gravity is at least partly
The conveying body that ground passes through at least one suspension（12）Cause and be applied to the suspension supply unit at least in part
（14）On；
Assessment unit（24）, the assessment unit, which is set, to be used for：Based on the weight signal, the suspension is asked at least in part
Convey body（12）Relative to the suspension supply unit（14）Position and/or orientation.
2. according to the position determining means described in claim 1（20）, wherein, the weight sensor unit（22）Setting is used
In：Without in weight sensor unit（22）With the conveying body of at least one suspension（12）Between Mechanical Contact
There is provided the weight signal in situation.
3. according to the position determining means described in claim 1 or 2, wherein, the weight sensor unit（22）With at least
The weight sensor element and/or multiple weight sensor elements of one flat configuration.
4. according to the position determining means described in claim 3（20）, wherein, at least one described weight sensor element plane
Ground and the suspension supply unit（14）It is connected.
5. according to the position determining means described in claim 3 or 4（20）, wherein, at least one described weight sensor unit
Be at least partially that pressure-sensitive and/or power is sensitive and/or change in shape is sensitive and/or piezoelectricity and/or pressure drag
And/or electric capacity and/or inductance property.
6. according to the position determining means any one of claim 3 to 5（20）, wherein, at least one described weight is passed
Sensor component is so set：So that using machinery power loading when and/or using machinery pressure-loaded when and/or
In the deformation of machinery, the weight sensor element changes resistance and/or the generation of the weight sensor element at least in part
Electric signal.
7. according to the position determining means described in claim 6（20）, wherein, the amplitude of the change of the resistance or produced
The amplitude of electric signal depends on the size of the mechanical pressure loaded and/or the size dependent on the mechanical power loaded
And/or the degree of the deformation dependent on machinery, wherein, the dependence be preferably it is linear or square.
8. according to the position determining means any one of claim 3 to 7（20）, wherein, at least one described weight is passed
Sensor component is set for being arranged in the suspension supply unit（14）Sidepiece at, the sidepiece is departing from the suspension feed list
Member（14）Suspension side.
9. the position determining means as any one of preceding claims（20）, wherein, the weight sensor unit
（22）With magnetic is active, for example magnetostrictive material（22b）.
10. the position determining means as any one of preceding claims（20）, the position determining means are also including magnetic biography
Sensor cell（18）, the magnetic sensor unit, which is set, to be used for：There is provided the letter of the magnetic dependent on magnetic force at multiple magnetic sensor locations
Number, wherein, the magnetic force is at least in part by the conveying body of at least one suspension（12）Cause and make at least in part
Use the suspension supply unit（14）On, and wherein, the assessment unit（24）It may still be configured to：Based on the weight
Signal and the magnetic signal, ask for the conveying body of at least one suspension at least in part（12）Relative to the suspension feed
Unit（14）Position or orientation.
11. a kind of be used for the conveying body of controllably at least one magnetic of feed（12）Feeder（10）, the feeder bag
Include：
Suspension supply unit（14）, the suspension supply unit, which is set, to be used for：Contactlessly suspend at least one magnetic
Convey body（12）, and at least one feed direction（100）On along the supply unit（10）Carry out the feed conveying body；With
And
Position determining means as any one of the claims（20）.
12. a kind of conveying body for being used to determine that at least one suspends（12）Relative to suspension supply unit（14）Position and/or
The method of orientation, the method comprising the steps of：
Along the suspension supply unit（20）Multiple weight sensor positions（22a）Place there is provided weight signal, wherein,
The weight signal depends on gravity, and wherein, the gravity by the suspension conveying body（12）Cause and at least portion
It is applied to the suspension supply unit with dividing（14）On；And
Based on the weight signal, the conveying body of at least one suspension is asked for（12）Position and/or orientation.
13. the method as described in claim 12, further comprising the steps of：
Along the suspension supply unit（14）Multiple magnetic sensor locations at there is provided magnetic signal, wherein, the magnetic signal
Dependent on magnetic force, and wherein, the magnetic force by it is described at least one suspend conveying body（12）Cause；
Wherein, the conveying body of at least one suspension（12）Along the suspension supply unit（14）Position or orientation borrow
Help the weight signal and the magnetic signal to be asked for.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016202934.7A DE102016202934A1 (en) | 2016-02-25 | 2016-02-25 | Device and method for determining a position and / or orientation of at least one levitated transport body relative to a levitation transport unit |
| DE102016202934.7 | 2016-02-25 |
Publications (2)
| Publication Number | Publication Date |
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| CN107117462A true CN107117462A (en) | 2017-09-01 |
| CN107117462B CN107117462B (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710102853.XA Active CN107117462B (en) | 2016-02-25 | 2017-02-24 | Device and method for determining the position and/or orientation of at least one suspended conveyor relative to a suspended feed unit |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107117462B (en) |
| DE (1) | DE102016202934A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109284755A (en) * | 2018-11-02 | 2019-01-29 | 杭州钱江称重技术有限公司 | Iron ladle identifying system based on computer image recognition technology |
| CN110597301A (en) * | 2018-06-13 | 2019-12-20 | 罗伯特·博世有限公司 | Motion device with decoupled orientation adjuster |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018005422A1 (en) * | 2018-07-07 | 2020-01-09 | Ptg Präzisionstechnologien Goldau Gmbh | Arrangement for reproducible clamping of identical workpieces and method for operating the arrangement |
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Also Published As
| Publication number | Publication date |
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| CN107117462B (en) | 2020-11-10 |
| DE102016202934A1 (en) | 2017-08-31 |
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