CN116620868A - Magnetic drive conveying line with movable element moving at high speed and track-changing function and Hall displacement sensor - Google Patents
Magnetic drive conveying line with movable element moving at high speed and track-changing function and Hall displacement sensor Download PDFInfo
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- CN116620868A CN116620868A CN202310857722.8A CN202310857722A CN116620868A CN 116620868 A CN116620868 A CN 116620868A CN 202310857722 A CN202310857722 A CN 202310857722A CN 116620868 A CN116620868 A CN 116620868A
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 239000004593 Epoxy Substances 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 79
- 239000010959 steel Substances 0.000 claims description 79
- 238000000034 method Methods 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000003672 processing method Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
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- 238000012545 processing Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The application discloses a magnetic drive conveying line with a movable element moving at a high speed and a rail changed, and relates to the technical field of magnetic drive conveying lines. The magnetic drive conveying line comprises a motor stator and a rotor, wherein the motor stator is filled with epoxy, and is provided with a position sensor, the position sensor is a Hall displacement sensor comprising double rows of Hall devices, eight rollers are symmetrically arranged on one rotor, the rollers are arranged in a rectangular shape in overlook direction and are coaxially arranged on the same side, the rollers are meshed with an annular guide rail, and the rotor can switch the track of the magnetic drive conveying line in high-speed movement, so that the rotor can acquire the absolute position of the rotor in real time and can independently control the switching of high speed on a plurality of magnetic drive conveying lines.
Description
Technical Field
The application relates to the field of magnetic drive conveying lines, in particular to a magnetic drive conveying line with a movable element moving at a high speed and a Hall displacement sensor.
Background
The magnetic drive line has the characteristics of high speed and high precision, and is widely applied to high-production efficiency and high-precision manufacturing scenes. And the manufacture of complex products often requires multiple processes, and materials often need to be moved from one conveyor line to another. The existing magnetic drive transfer line has two modes of material movement, the first is to pick up the load material on the first magnetic drive transfer line rotor by using an industrial mechanical arm and then place and fix the load material on the second magnetic drive transfer line rotor, and the second is by using a connection mode. When the rotor is connected, the rotor is required to stop on the connecting section stator, the connecting section stator moves to the second magnetic drive conveying line with the rotor stopped on the connecting section stator, and the rotor starts to leave the connecting section stator and then returns to the original magnetic drive conveying line. The mechanical arm is used for carrying out multiple clamping on materials, and the production efficiency of products is reduced. The method of connection also needs to spend the steps of rotor stopping, connection, starting, connection returning and the like, has long execution time and reduces the production efficiency of products.
The measuring method for directly measuring the displacement industrially (without considering the indirect measurement from the linear motion to the rotary motion transmission) mainly comprises the methods of laser interference type, grating type, laser pulse method, laser phase ranging method, laser triangle method, magnetic grating type and the like. Among them, the laser interference type resolution is the highest, but the price is high; the grating technology is mature and widely applied, but is limited by the width of a scribing line, so that the requirements on the use scene are high, and the factors limit the grating measuring method; laser pulse, laser phase ranging, laser triangulation and conventional magnetic grid measuring methods are limited by the performance of AD devices and other electronics, limiting further resolution improvements. The reading heads of the traditional grating type displacement sensor and the traditional magnetic grating type displacement sensor are both connected with data wires for transmitting analog quantity or digital quantity signals, so that the application of the position measurement scene of the moving part in the circular movement occasion is limited. The prior double-row coupling type displacement sensor performs finite element electromagnetic field analysis based on ANSYS, effectively improves the resolution of a magnetic grid ruler, but does not solve the problem of abnormal judgment of intervals at magnetic steel gaps, and limits practical application.
The resolution, cost and measuring range of the displacement sensor have a mutual constraint relationship, the effect of high resolution is difficult to achieve in a wide-range occasion, the simultaneous satisfaction of the wide-range and the high resolution often means extremely high cost, in addition, the existing sensor can only measure the displacement along a certain axial direction or a certain circular arc, and the displacement sensor does not have measurement capability on any curve on a two-dimensional plane.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a magnetic drive conveying line and a Hall displacement sensor for rail transition in high-speed movement of a rotor, and solves the problems in the prior art.
In order to achieve the above purpose, the application is realized by the following technical scheme:
the utility model provides a magnetic drive transfer chain of track in rotor high-speed removal, contains motor stator, rotor two parts, motor stator adopts epoxy embedment, irritates position sensor simultaneously, and position sensor is for the hall displacement sensor that contains double hall device, has arranged eight rollers on the rotor symmetry, and the roller overlook the orientation and be arranged according to the rectangle, the roller coaxial arrangement that is located the homonymy, the roller meshes with annular guide rail.
The motor coil of magnetic drive transfer chain is inside to be inlayed with the iron core, the active cell is the symmetry setting, and the absorption magnet steel is all installed to the both sides of active cell, and the normal suction between absorption magnet steel and the motor core is perpendicular with active cell direction of movement.
The annular guide rail is provided with an upper annular guide rail and a lower annular guide rail, the upper annular guide rail is arranged in a V-shaped section, and the lower annular guide rail is arranged in a flat section.
A track changing method of a magnetic drive conveying line for track changing in high-speed movement of a rotor comprises the following steps of
S1, placing a rotor on a magnetic drive conveying line, wherein the motor coils on the two magnetic drive conveying lines are equal in size and opposite in direction on the overlapping section to the normal suction force on the two sides of the adsorption magnetic steel on the rotor;
s3, controlling the magnitude, direction and phase of the coil current to enable the inherent iron core to overlap electromagnetic force outside the attraction force of the attraction magnetic steel, wherein the direction of the electromagnetic force on the moving-out magnetic drive line of the rotor is repulsive force, and the direction of the electromagnetic force on the moving-in magnetic drive line of the rotor is attractive force;
s2, adjusting the current of a control coil of one magnetic drive conveying line to increase the electromagnetic attraction force of the one magnetic drive conveying line, and capturing the mover by the magnetic drive conveying line with large attraction force when the mover leaves the overlapping section, so as to realize the movement of the mover from one magnetic drive conveying line to the other magnetic drive conveying line
The Hall displacement sensor for the magnetic drive conveying line for the track change in the high-speed movement of the mover comprises a moving part and a fixed part, wherein two rows of magnetic steels arranged in an array are arranged on the moving part, and a position sensor matched with the phase on the moving part is arranged on the fixed part;
the motion part comprises a high-resolution magnetic steel group and a low-resolution magnetic steel group, wherein the magnetic steel width of the high-resolution magnetic steel group is 2mm, the total number of the magnetic steels of the high-resolution magnetic steel group is thirteen, the thirteen magnetic steels of the high-resolution magnetic steel group are arranged on the end face of one side of the high-resolution magnetic steel group, which is close to the fixed part, according to a NSNSNSNSNSNSN sequence, the low-resolution magnetic steel group consists of three magnetic steels, and the low-resolution magnetic steel group obtains a monotonic magnetic field interval with the length exceeding 20 mm;
the fixed part is a hardware circuit board with analog Hall devices, and the fixed part is composed of a high resolution board and a low resolution board, the length of the high resolution board is 100mm, ten Hall devices I are arranged on the high resolution board and are distributed on the circuit board in five groups, each group of Hall devices I comprises two Hall devices I with the interval of 2mm, the length of the low resolution board is 100mm, five Hall devices II are arranged on the low resolution board, and the interval of each Hall device II is 20mm.
Preferably, the magnetic steel of the high-resolution magnetic steel group is strip-shaped magnetic steel magnetized in a sinusoidal manner, and the strip-shaped magnetic steel is used for obtaining a standard sine wave magnetic field with ten periods.
Preferably, the high-resolution magnetic steel group and the low-resolution magnetic steel group of the moving part are aligned along the width direction.
A signal processing method of a Hall displacement sensor for a magnetic drive conveying line of a movable element track in high-speed movement comprises the following steps:
step one: when the low-resolution magnetic steel group of the motion part passes through the low-resolution plate, a monotonically-changing magnetic field is detected on a Hall device II at the phase position, the Hall device II outputs monotonically-changing voltage, the monotonically-changing voltage is converted by an AD converter to obtain monotonically-changing digital quantity, a monotonic interval of 20mm is divided into ten intervals through calibration, and each interval occupies 2mm;
step two: the analog quantity change read on different devices can know which group of 20mm is distributed in, so that a single low-resolution plate can obtain the reading of a coarse-precision absolute value displacement sensor with the measuring range of 100mm and the resolution of 2mm;
step three: n plates are distributed along the moving direction, and each plate is numbered, so that a low-resolution absolute value displacement sensor with the resolution of 2mm on the measuring range of N x 100mm can be obtained;
step four: when the high-resolution magnetic steel group of the motion part passes through the high-resolution plate, two analog quantity Hall devices at corresponding positions of each group detect two continuous sine waves with phase difference pi/2, wherein one phase angle is smaller and defined as a sine value, and the other phase angle is defined as a cosine value; the sine value and the cosine value are used as tangent, so that a monotonic tangent value on pi is obtained, and the arc tangent value, namely the actual phase angle, is solved by locating a corresponding phase segment table in an MCU chip by a dichotomy; because the high-resolution magnetic steel group takes 2mm as a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain an absolute value type high-resolution position sensor within 2mm;
step five: the low resolution sensor obtains which set of displacement segments of 2mm are located on any stroke, and the high resolution sensor can obtain 0.1 mu m-level position accuracy in the stroke of 2 mm.
Step six: and (3) obtaining the readings of the displacement sensors of the plurality of moving parts on the same fixed part through algorithm processing, and arranging the sensors of each group according to different polygons to obtain the position precision of multipoint movement on a curve in any two-dimensional plane.
The data such as the size listed in the above steps is only one choice of the sensor for realizing the function thereof, in the practical application process, the data such as the size can be adaptively adjusted, and the adjustment of any data such as the size is made to fall within the protection scope of the application.
The application provides a magnetic drive conveying line and a Hall displacement sensor for transferring a moving element in high-speed movement. The beneficial effects are as follows:
(1) According to the application, due to the special sensor design and control method, the rotor can move at a controlled high speed and move from one magnetic drive conveying line to the other magnetic drive conveying line in the high-speed movement, so that the switching time of materials among the magnetic drive lines can be reduced, the production efficiency is greatly improved, and meanwhile, the layout of the production line is more flexible and compact.
(2) The wireless double-row coupling type Hall displacement sensor has the characteristics of wide range, high resolution and low cost, can measure the curve length of a plurality of points on the same plane along the length direction of any curve, can simultaneously support the position measurement of a plurality of independent moving parts, and can simultaneously realize wireless non-contact measurement.
(3) According to the magnetic drive conveying line, the sensor encapsulated in epoxy is an absolute value type position sensor designed by using a hysteresis-free double-row coupling type displacement measurement method, the resolution of the sensor is further improved by using double-row Hall devices, and meanwhile, the cost is further reduced by using a mode of combining a switching value Hall device and an analog value Hall device, so that the problems of high resolution and low cost of the displacement sensor are solved.
Drawings
FIG. 1 is a schematic diagram of a moving part and a high-resolution magnetic steel set in embodiment 1;
FIG. 2 is a schematic diagram of a moving part and a low-resolution magnetic steel set in embodiment 1;
FIG. 3 is a schematic diagram of a high resolution plate and Hall device in accordance with example 1;
FIG. 4 is a schematic diagram of a low resolution plate and a Hall device in embodiment 1;
FIG. 5 is a schematic diagram of a magnetic drive conveyor line in example 3;
FIG. 6 is a schematic diagram of a mover in example 3.
In the figure: 1. a moving part; 2. a high resolution magnetic steel group; 3. a low resolution magnetic steel group; 4. a high resolution plate; 5. a low resolution plate; 6. a Hall device I; 7. a Hall device II; 8. a motor stator; 9. a mover; 10. a roller; 11. an annular guide rail; 12. and (5) adsorbing the magnetic steel.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
Referring to fig. 1-4, the embodiment provides a wireless double-row coupling type hall displacement sensor, which comprises a moving part 1 and a fixed part, wherein two rows of magnetic steels arranged in an array are arranged on the moving part 1, and a position sensor matched with the phase of the moving part 1 is arranged on the fixed part;
the motion part 1 comprises a high-resolution magnetic steel group 2 and a low-resolution magnetic steel group 3, wherein the magnetic steel width of the high-resolution magnetic steel group 2 is 2mm, the total number of the magnetic steels of the high-resolution magnetic steel group 2 is thirteen, the thirteen magnetic steels of the high-resolution magnetic steel group 2 are arranged on the end face of one side, close to the fixed part, according to the sequence of NSNSNSNSNSNSN, the low-resolution magnetic steel group 3 consists of three magnetic steels, and the low-resolution magnetic steel group 3 obtains a monotonic magnetic field interval with the length exceeding 20 mm;
the fixed part is a hardware circuit board with analog Hall devices, and the fixed part is composed of a high resolution board 4 and a low resolution board 5, the length of the high resolution board 4 is 100mm, ten Hall devices I6 are arranged on the high resolution board 4, the ten Hall devices I6 are divided into five groups and uniformly distributed on the circuit board, each group of Hall devices I6 comprises two Hall devices I6 with 2mm intervals, the length of the low resolution board 5 is 100mm, five Hall devices II 7 are arranged on the low resolution board 5, and the interval of each Hall device II 7 is 20mm.
The magnetic steel of the high-resolution magnetic steel group 2 is in a sine magnetized strip shape and is used for obtaining a standard sine wave magnetic field with ten periods.
The high-resolution magnetic steel group 2 and the low-resolution magnetic steel group 3 of the moving part 1 are aligned in the width direction.
Example 2
The embodiment provides a signal processing method of a wireless double-row coupling type Hall displacement sensor, which comprises the following steps:
step one: when the low-resolution magnetic steel group 3 of the motion part 1 passes through the low-resolution plate 5, a monotonically-changing magnetic field is detected on the Hall device II 7 at the phase position, the Hall device II 7 outputs monotonically-changing voltage, the monotonically-changing voltage is converted by an AD converter to obtain monotonically-changing digital quantity, a monotonic interval of 20mm is divided into ten intervals by calibration, and each interval occupies 2mm;
step two: the analog quantity change read on different devices can know which group of 20mm is distributed in, so that a single low-resolution plate 5 can obtain the reading of a coarse-precision absolute value displacement sensor with the measuring range of 100mm and the resolution of 2mm;
step three: n plates are distributed along the moving direction, and each plate is numbered, so that a low-resolution absolute value displacement sensor with the resolution of 2mm on the measuring range of N x 100mm can be obtained;
step four: when the high-resolution magnetic steel group 2 of the moving part 1 passes through the high-resolution plate 4, two continuous sine waves with phase difference pi/2 are detected by two analog quantity Hall devices 6 at corresponding positions of each group, wherein one phase angle is smaller and defined as a sine value, and the other phase angle is defined as a cosine value; the sine value and the cosine value are used as tangent, so that a monotonic tangent value on pi is obtained, and the arc tangent value, namely the actual phase angle, is solved by locating a corresponding phase segment table in an MCU chip by a dichotomy; because the high-resolution magnetic steel group 2 takes 2mm as a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain an absolute value type high-resolution position sensor within 2mm;
step five: the low resolution sensor obtains which set of displacement segments of 2mm are located on any stroke, and the high resolution sensor can obtain 0.1 mu m-level position accuracy in the stroke of 2 mm.
Step six: the displacement sensor readings of the plurality of motion parts 1 in the same fixed part are obtained through algorithm processing, and the sensors of each group are laid out according to different polygons to obtain the position precision of multipoint motion on a curve in any two-dimensional plane.
In addition, the data such as the above-mentioned size listed in this embodiment is only one option for the sensor to realize its function, and in the practical application process, the data such as the above-mentioned size can be adaptively adjusted, and the adjustment of any data such as the size made falls within the scope of protection of this embodiment.
Example 3
Referring to fig. 5-6, the embodiment discloses a magnetic drive conveying line with a hall displacement sensor, which comprises a motor stator 8 and a rotor 9, wherein the motor stator 8 is encapsulated by epoxy and is filled with a position sensor, the position sensor is a hall displacement sensor with double rows of hall devices, eight rollers 10 are symmetrically arranged on one rotor 9, the rollers 10 are arranged in a rectangular shape in the overlook direction, the rollers 10 on the same side are coaxially arranged, the rollers 10 are meshed with a circular guide rail 11, and the magnetic drive conveying line is adsorbed on the magnetic drive conveying line by normal suction.
The absolute value type position sensor designed by the hysteresis-free double-row coupling type displacement measurement method is used for the sensor encapsulated in epoxy, the resolution of the sensor is further improved by using double-row Hall devices, and meanwhile, the cost is further reduced by utilizing a mode of combining a switching value Hall device and an analog value Hall device, so that the problems of high resolution and low cost of the displacement sensor are solved.
The motor coil of the magnetic drive conveying line is internally embedded with iron cores, the rotor 9 is symmetrically arranged, the two sides of the rotor 9 are provided with adsorption magnetic steel 12, and the normal suction force between the adsorption magnetic steel 12 and the motor iron cores is perpendicular to the moving direction of the rotor 9.
The rotor 9 is designed as a symmetrical rotor 9, the two sides of the rotor are provided with adsorption magnetic steel 12, and the normal suction forces on the two sides of the overlapped section are equal in size and opposite in direction. Electromagnetic force can be superimposed outside the inherent attraction force of the iron core and the attraction magnet steel 12 by controlling the magnitude, direction and phase of the coil current. The direction of the electromagnetic force moving out of the magnetic drive line on the rotor 9 is repulsive force, the direction of the electromagnetic force moving in of the rotor 9 on the magnetic drive line is attractive force, and the rotor 9 is captured by the side with the large attractive force when the rotor 9 leaves the overlapping section, so that the rotor 9 can move from one magnetic drive conveying line to the other magnetic drive conveying line.
The annular guide rail 11 has two upper and lower annular guide rails 11, and the annular guide rail 11 of top is V-arrangement cross-section setting, and the annular guide rail 11 of below is the plain cross-section setting to release the parallelism assembly error of roller 10 between two annular guide rails 11.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a magnetic drive transfer chain of track in active cell high-speed removal which characterized in that: the novel double-row Hall sensor comprises a motor stator (8) and a rotor (9), wherein the motor stator (8) is encapsulated by epoxy, a position sensor is simultaneously encapsulated, the position sensor is a Hall displacement sensor comprising double-row Hall devices, eight rollers (10) are symmetrically arranged on one rotor (9), the rollers (10) are arranged in a rectangular shape in the overlooking direction, the rollers (10) on the same side are coaxially arranged, and the rollers (10) are meshed with a circular guide rail (11).
2. The magnetic drive conveying line for rail transition in high-speed movement of a rotor according to claim 1, wherein the magnetic drive conveying line is characterized in that: the motor coil of magnetic drive transfer chain is inside to be inlayed with the iron core, active cell (9) are the symmetry setting, and absorption magnet steel (12) are all installed to the both sides of active cell (9), and the normal suction between absorption magnet steel (12) and the motor core is perpendicular with active cell (9) direction of movement.
3. The magnetic drive conveying line for rail transition in high-speed movement of a rotor according to claim 2, wherein the magnetic drive conveying line is characterized in that: the annular guide rail (11) is provided with an upper annular guide rail (11) and a lower annular guide rail (11), the upper annular guide rail (11) is arranged in a V-shaped section, and the lower annular guide rail (11) is arranged in a flat section.
4. A track changing method of a magnetic drive transmission line for track changing in high-speed movement of a mover according to any one of claims 1 to 3, characterized in that: comprising
S1, placing a rotor (9) on a magnetic drive conveying line, wherein motor coils on the two magnetic drive conveying lines are opposite in normal suction force on two sides of adsorption magnetic steel (12) on the rotor (9) on a superposition section;
s3, controlling the magnitude, direction and phase of the coil current to enable electromagnetic force to be superposed outside the suction force of the inherent iron core and the adsorption magnetic steel (12), wherein the direction of the electromagnetic force of the mover (9) moving out of the magnetic drive line is repulsive force, and the direction of the electromagnetic force of the mover (9) moving into the magnetic drive line is attractive force;
s2, adjusting the current of a control coil of one magnetic drive conveying line, so that the electromagnetic attraction force of the one magnetic drive conveying line is increased, and when the mover leaves the overlapping section, the mover is captured by the magnetic drive conveying line with large attraction force, so that the mover can move from one magnetic drive conveying line to the other magnetic drive conveying line.
5. A hall displacement sensor for runner's magnetic drive transfer chain in rotor high-speed removal, including motion part (1) and fixed part, its characterized in that: two rows of magnetic steels arranged in an array are arranged on the moving part (1), and a position sensor matched with the phase of the moving part (1) is arranged on the fixed part;
the motion part (1) comprises a high-resolution magnetic steel group (2) and a low-resolution magnetic steel group (3), wherein the magnetic steel width of the high-resolution magnetic steel group (2) is 2mm, the total number of the magnetic steels of the high-resolution magnetic steel group (2) is thirteen, the thirteen magnetic steels of the high-resolution magnetic steel group (2) are arranged on the end face, close to one side of the fixed part, of the high-resolution magnetic steel group according to a NSNSNSNSNSNSN sequence, the low-resolution magnetic steel group (3) consists of three magnetic steels, and the low-resolution magnetic steel group (3) obtains a monotonic magnetic field interval with the length exceeding 20 mm;
the fixed part is a hardware circuit board with analog Hall devices, and the fixed part is composed of a high resolution board (4) and a low resolution board (5), the length of the high resolution board (4) is 100mm, ten Hall devices I (6) are arranged on the high resolution board (4), the ten Hall devices I (6) are distributed on the circuit board in five groups, each group of Hall devices I (6) comprises two Hall devices I (6) with 2mm intervals, the length of the low resolution board (5) is 100mm, five Hall devices II (7) are arranged on the low resolution board (5), and the interval between each two Hall devices II (7) is 20mm.
6. The hall displacement sensor for a magnetic drive transmission line of a mover for orbital transfer in high speed movement according to claim 5, wherein: the magnetic steel of the high-resolution magnetic steel group (2) is in a sine magnetized strip shape and is used for obtaining a standard sine wave magnetic field with ten periods.
7. The hall displacement sensor for a magnetic drive transmission line for a trolley in high-speed movement of a mover according to claim 6, wherein: the high-resolution magnetic steel group (2) and the low-resolution magnetic steel group (3) of the moving part (1) are aligned along the width direction.
8. The signal processing method of the hall displacement sensor for the magnetic drive transmission line of the orbit transfer machine in the high-speed movement of the mover according to any one of claims 5 to 7, wherein: the method comprises the following steps:
step one: when the low-resolution magnetic steel group (3) of the motion part (1) passes through the low-resolution plate (5), a monotonically-changing magnetic field is detected on the Hall device II (7) at the phase position, the Hall device II (7) outputs monotonically-changing voltage, the monotonically-changing voltage is converted by an AD converter to obtain monotonically-changing digital quantity, a monotonic interval of 20mm is divided into ten intervals by calibration, and each interval occupies 2mm;
step two: the analog quantity change read on different devices can know which group of 20mm is distributed in, so that a single low-resolution plate (5) can obtain the reading of a coarse-precision absolute value displacement sensor with the measuring range of 100mm and the resolution of 2mm;
step three: n plates are distributed along the moving direction, and each plate is numbered, so that a low-resolution absolute value displacement sensor with the resolution of 2mm on the measuring range of N x 100mm can be obtained;
step four: when the high-resolution magnetic steel group (2) of the moving part (1) passes through the high-resolution plate (4), two continuous sine waves with phase difference pi/2 are detected by two analog quantity Hall devices I (6) at corresponding positions of each group, wherein one phase angle is smaller and defined as a sine value, and the other phase angle is defined as a cosine value; the sine value and the cosine value are used as tangent, so that a monotonic tangent value on pi is obtained, and the arc tangent value, namely the actual phase angle, is solved by locating a corresponding phase segment table in an MCU chip by a dichotomy; because the high-resolution magnetic steel group (2) takes 2mm as a pi phase, the arctangent phase angle can be directly divided by pi and multiplied by 2mm to obtain a high-resolution position sensor with an absolute value within 2mm;
step five: the low resolution sensor obtains which set of displacement segments of 2mm are located on any stroke, and the high resolution sensor can obtain 0.1 mu m-level position accuracy in the stroke of 2 mm.
9. The signal processing method of the hall displacement sensor for the magnetic drive transmission line of the orbit transfer machine in the high-speed movement of the mover according to claim 8, wherein the signal processing method comprises the following steps: the method further comprises the step six of: and (3) obtaining the readings of the displacement sensors of the plurality of moving parts (1) on the same fixed part through algorithm processing, and arranging the sensors of each group according to different polygons to obtain the position precision of multipoint movement on a curve in any two-dimensional plane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310857722.8A CN116620868A (en) | 2023-07-13 | 2023-07-13 | Magnetic drive conveying line with movable element moving at high speed and track-changing function and Hall displacement sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310857722.8A CN116620868A (en) | 2023-07-13 | 2023-07-13 | Magnetic drive conveying line with movable element moving at high speed and track-changing function and Hall displacement sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873540A (en) * | 2023-09-06 | 2023-10-13 | 上海果栗自动化科技有限公司 | Transmission control method, transmission control device, and computer storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116873540A (en) * | 2023-09-06 | 2023-10-13 | 上海果栗自动化科技有限公司 | Transmission control method, transmission control device, and computer storage medium |
| CN116873540B (en) * | 2023-09-06 | 2023-11-21 | 上海果栗自动化科技有限公司 | Transmission control method, transmission control device, and computer storage medium |
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