CN117606525A - Rotor position detection sensor and flexible conveying line system - Google Patents
Rotor position detection sensor and flexible conveying line system Download PDFInfo
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- CN117606525A CN117606525A CN202311487857.6A CN202311487857A CN117606525A CN 117606525 A CN117606525 A CN 117606525A CN 202311487857 A CN202311487857 A CN 202311487857A CN 117606525 A CN117606525 A CN 117606525A
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- 238000001514 detection method Methods 0.000 title claims abstract description 68
- 238000012790 confirmation Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000012545 processing Methods 0.000 abstract description 5
- 238000002955 isolation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000012546 transfer Methods 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
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Classifications
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- 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
- H02K11/225—Detecting coils
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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
-
- 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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
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- General Physics & Mathematics (AREA)
Abstract
The application relates to the technical field of linear driving equipment, in particular to a rotor position detection sensor and a flexible conveying line system, wherein the flexible conveying line system comprises a guide rail, a motor module and a rotor position detection sensor; the rotor position detection sensor comprises an encoder rotor and a plurality of encoder stators, wherein the encoder rotor and the encoder stators are oppositely arranged in parallel, each encoder stator comprises a plurality of coils and a decoder, the plurality of coils are arranged at intervals, the length of the encoder rotor is not less than that of any one coil, and each coil is used for acquiring detection signals when the encoder rotor is covered; the decoder is respectively connected with the plurality of coils and is used for receiving the detection signals and resolving the position information of the corresponding encoder rotor. The application has the effects of reducing the magnetic isolation processing requirement, simplifying the motor module structure and improving the position measurement precision.
Description
Technical Field
The application relates to the field of linear driving equipment, in particular to a rotor position detection sensor and a flexible conveying line system.
Background
Instead of the traditional belt conveying mode, the flexible conveying line system is a novel method using a linear motor, uses a magnet to precisely control movement in a friction-free propelling mode, and is a novel intelligent conveying line formed by a guide rail, a motor module installed by depending on the guide rail and a position detection sensor. Any motor module comprises two parts, one is a motor coil stator and the other is a magnetic steel rotor, and when the motor module is used, rotor transportation can be completed in a relay mode. The position detection sensor is used for detecting the position detection of the motor rotor, and the position detection technology applied by the position detection sensor directly influences the control performance of the motor.
In the related art, a scheme of a plurality of magnetoelectric sensors and a magnetic grating ruler is generally adopted, the magnetic grating ruler is arranged on a magnetic steel rotor, each motor coil stator is provided with one magnetoelectric sensor, the distance between every two adjacent magnetoelectric sensors is smaller than the length of the magnetic grating ruler, and the position of the magnetic grating ruler can be detected by one magnetoelectric sensor all the time in the operation process.
In the related art, the accuracy is low due to the susceptibility to disturbance of the magnet, and the magnetism is required to be isolated, so that the installation position of the magneto-electric sensor is limited, and the layout cannot be adjusted according to the requirement.
Disclosure of Invention
In order to reduce the requirement of magnetism isolation processing, simplify the motor module structure, guarantee position measurement accuracy simultaneously, the purpose of this application is to provide a rotor position detection sensor and flexible transfer chain system.
In a first aspect, the present application provides a mover position detection sensor that adopts the following technical scheme:
the utility model provides a rotor position detection sensor, is applied to flexible transfer chain system, including locating the encoder rotor on the motor rotor of flexible transfer chain system, a plurality of encoder stators of interval distribution on the guide rail of flexible transfer chain system, encoder rotor and the relative parallel arrangement of encoder stator, wherein, every encoder stator includes:
the coils are arranged at intervals, the length of the encoder rotor is not smaller than that of any one coil, and each coil is used for acquiring a detection signal when the encoder rotor is covered;
and the decoder is respectively connected with the plurality of coils and is used for receiving the detection signals and resolving the position information of the corresponding encoder rotor.
By adopting the technical scheme, the encoder rotor is matched with the encoder stator with the coil, the induction type principle is adopted, the self-magnetic field is utilized for position calculation, the external strong magnetic interference is resisted, the extra magnetism isolating treatment is not needed, and the motor structure is simplified; further, in order to improve the position measurement precision and ensure the stable signal when the position encoder rotor is in a crossing state, each encoder stator comprises a plurality of coils, and the encoder rotor with a preset length can always cover one coil, so that the coils can detect the position of the encoder rotor; still further, set up signal solution circuit in the decoder, a plurality of coils share same signal solution circuit, need not unnecessary signal induction chip, practice thrift the cost.
Optionally, a portion of the encoder mover opposite the encoder stator includes conductive regions and non-conductive regions alternately arranged along the extending direction of the guide rail.
By adopting the technical scheme, the encoder rotor is arranged into a plate-shaped structure with fixed proportion of conductive areas and non-conductive areas alternately arranged, and compared with the grating or the magnetic grating, no additional magnetizing or plating layer is needed, so that the encoder rotor has strong environmental tolerance and is free from dust and dirt.
Optionally, the length of the encoder rotor is equal to the occupied length of any two adjacent coils.
By adopting the technical scheme, the length of the encoder rotor is set to be equal to the occupied length of any two adjacent coils, the length of the encoder rotor is reduced, the measurement accuracy is improved, the encoder rotor can always cover one coil in the moving process, and the signal stability of the position encoder rotor during the crossing is ensured.
Optionally, the device further comprises a driver connected with the decoder and used for receiving the position information of the decoder and controlling the motor rotor to move according to the position information provided by the decoder.
By adopting the technical scheme, the decoder judges the working coil which is currently fully covered based on the position information and is used for controlling the gating of the coils, the detection accuracy of the same signal resolving circuit shared by a plurality of coils is improved, and the driver controls the movement of the motor based on the position information of the decoder, so that the movement precision can be improved.
Optionally, the decoder receives the detection signal and calculates the position information of the corresponding encoder rotor specifically as follows:
the adjacent decoders are connected with each other so that coils of the adjacent encoder stators are respectively connected with the adjacent decoders;
in the initial stage of power-on, the decoder polls the corresponding coil to acquire a detection signal, and when the signal intensity is low, the decoder polls detection signals transmitted by the adjacent encoder stators;
resolving position information of the corresponding encoder rotor based on the detection signal;
and in a normal working stage, the decoder gates the coils at corresponding positions to acquire signals according to the positions of the encoder movers.
By adopting the technical scheme, the moving direction of the encoder rotor is judged through the decoder, the gating of the coil is controlled according to the position information, and the cost is saved while the measurement requirement is met.
In a second aspect, the flexible conveying line system provided in the present application adopts the following technical scheme:
a flexible conveying line system comprises a guide rail, a plurality of motor modules mounted by the guide rail, and a rotor position detection sensor, wherein each motor module comprises a motor rotor and a motor stator.
By adopting the technical scheme, the flexible conveying line system comprises a rotor position detection sensor, adopts an induction type principle, resists external strong magnetic interference, does not need additional magnetism isolation treatment, and simplifies the motor structure; further, each encoder stator comprises a plurality of groups of coils, so that the position measurement precision is improved; still further, a plurality of coils share the same signal resolving circuit, and redundant signal sensing chips are not needed, so that the cost is saved.
Optionally, the guide rail comprises a fixed guide rail and a movable guide rail, wherein the fixed guide rail comprises a base extending along the conveying direction and a pair of mounting seats arranged on the base at intervals along the width direction of the base; the movable guide rail comprises a connecting seat and a carrying disc which are vertically arranged, the connecting seat is fixedly arranged on the opposite side surface of one of the mounting seats in a sliding manner, and the carrying disc is positioned above the fixed guide rail;
a plurality of motor modules are arranged in a space surrounded by the connecting seat and the other mounting seat;
the plurality of encoder stators are arranged on one of the mounting seats, and the encoder rotor is arranged on the movable guide rail.
By adopting the technical scheme, the pair of mounting seats are matched with the movable guide rail to provide isolated spaces for respectively mounting the motor module and the rotor position detection sensor, so that mounting interference is reduced; further, the movable guide rail is matched with one mounting plate to provide mounting support for the rotor position detection sensor, so that the convenience of mounting is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the encoder rotor is matched with the encoder stator with the coil, the induction type principle is adopted, the spontaneous magnetic field is utilized for position calculation, the external strong magnetic interference is resisted, the extra magnetism isolating treatment is not needed, and the motor structure is simplified;
2. each encoder stator comprises a plurality of coils, so that the encoder rotor with a preset length can always cover one coil, the position measurement precision is improved, and the signal stability of the position encoder rotor during the crossing of the boundary is ensured;
3. a signal resolving circuit is arranged in the decoder, a plurality of coils share the same signal resolving circuit, redundant signal sensing chips are not needed, and cost is saved.
Drawings
Fig. 1 is a schematic diagram of the structure of a mover position detection sensor of embodiment 1 of the present application;
FIG. 2 is a cross-sectional view of the flexible conveyor line system of embodiment 2 of the present application;
FIG. 3 is a cross-sectional view of the flexible conveyor line system of embodiment 3 of the present application;
fig. 4 is an enlarged schematic view of the portion a in fig. 3.
Reference numerals illustrate:
1. a mover position detection sensor; 2. an encoder mover; 20. a detection unit; 21. a mounting part; 22. positioning holes; 3. an encoder stator; 30. a coil; 31. a decoder; 32. a driver; 4. a guide rail; 40. a fixed guide rail; 41. a base; 42. a mounting base; 43. a slide rail; 44. a slide block; 45. a movable guide rail; 46. a connecting seat; 47. a carrier plate; 48. a guide plate; 49. a carrier plate; 5. a motor module; 50. a motor stator; 51. a motor rotor; 6. a first sealing plate; 60. a second sealing plate; 7. a stator adapter; 8. a mover adaptor; 80. a riser; 81. a flat plate; 9. an extension; 90. a positioning part; 91. perforating; 92. a groove; 93. disassembling the notch; 94. a positioning sleeve; 95. a slot; 96. a positioning rod; 97. and (5) positioning the plate.
Detailed Description
The present application is described in further detail below with reference to fig. 1-4.
Example 1:
the embodiment 1 of the application discloses a rotor position detection sensor, which is applied to a flexible conveying line system, and referring to fig. 1 and 2, the rotor position detection sensor comprises an encoder rotor 2 and a plurality of encoder stators 3, and for one flexible conveying line system, the number of the encoder rotor 2 can be 1 or more according to actual measurement requirements, and when the number of the encoder rotor 2 is more, the plurality of encoder rotor 2 can be correspondingly assembled with a motor rotor 51 of the flexible conveying line system;
for any encoder rotor 2, the encoder rotor is arranged by depending on a motor rotor 51 of a flexible conveying line system, and moves along with the movement of the motor rotor 51, the part, opposite to the encoder stator 3, of each encoder rotor 2 comprises conductive areas and non-conductive areas which are alternately arranged along the extending direction of the guide rail 4, the widths of the conductive areas and the non-conductive areas along the extending direction of the guide rail 4 are the same, specifically, the encoder rotor 2 is a plate body, the conductive areas can be metal areas, and illustratively, copper foils can be used for forming the conductive areas, and strip-shaped hole areas can be formed for penetrating the plate body for forming the non-conductive areas;
the plurality of encoder stators 3 are distributed on the guide rail 4 of the flexible conveying line system at intervals, and can be specifically a signal resolving plate, the plane of the encoder rotor 2 is opposite to and parallel to the plane of the encoder stators 3, and each encoder stator 3 comprises a plurality of coils 30, a decoder 31 and a driver 32;
each encoder stator 3 is provided with at least two independent coils 30, and each coil 30 forms a position sensing area on the encoder stator 3, and the position sensing area is used for acquiring detection signals by matching with the work of the encoder rotor 2;
exemplary may include two independent coils 30 or more than 3, each independent coil 30 including an excitation coil and a receiving coil, both of which are integrated for cooperation with the encoder rotor 2 to obtain a detection signal for the encoder rotor 2; in this embodiment, each encoder stator 3 has two independent coils 30, which are respectively defined as a first coil and a second coil along the moving direction of the encoder rotor 2;
at least two coils 30 are arranged at intervals, the interval distance is adjusted according to practical conditions, the adjacent arrangement without distance is included, and in the embodiment, the coils 30 are arranged at equal intervals along the moving direction of the encoder rotor 2; for all coils 30, the length of the encoder rotor 2 is not smaller than the occupied length of any two adjacent coils 30, namely, the length of the encoder rotor 2 is equal to or larger than the occupied length of any two adjacent coils 30, by the arrangement of the scheme, the encoder rotor 2 can always cover one coil 30, the coil 30 can detect the position of the encoder rotor, the detection accuracy is improved, and in the embodiment, the length of the encoder rotor 2 is equal to the occupied length of any two adjacent coils 30;
each coil 30 is used for acquiring a detection signal when the encoder rotor 2 is covered, when the encoder rotor is used, a decoder monitors the signal intensity of the corresponding coil in real time, judges whether the corresponding coil is active or not, outputs an active cell-free zone bit when the corresponding coil is inactive, and needs to keep communication between adjacent decoders, when the signal intensity of the detection signal acquired by the current decoder is insufficient to generate position information, the adjacent decoder sends the position information of the encoder active cell, and the current decoder sends the position information after resolving according to the relative position relation of the adjacent decoders;
the decoder 31 is respectively connected with at least two corresponding independent coils 30 and is used for receiving detection signals, and calculating real-time position signals of the encoder rotor 2 according to the detection signals, meanwhile, adjacent decoders 31 are connected in a communication mode, so that coils of adjacent encoder stators (3) are respectively connected with adjacent decoders (31) to be used for sending detection signals which are obtained based on tail coils and correspond to the first-stage decoder 31 in the transmission direction to the next-stage decoder 31, and for the coils 30 corresponding to the same decoder 31, the coil 30 at the beginning end is determined to be a head-end coil and the coil 30 at the tail end is determined to be a tail-end coil along the conveying direction of the encoder rotor 2; the decoder 31 specifically includes an inductance chip and an MCU, on which a signal resolving circuit is provided, and illustratively, includes, for the signal resolving circuit: the signal processing unit is used for receiving the output detection signals and performing signal processing to filter useless signals, and the holding circuit can accurately acquire the detection signals; the signal correction unit is in signal connection with the signal processing unit and is used for correcting the processed output signal; the signal resolving unit is in signal connection with the signal correcting unit and is used for resolving the corrected output signal and deducing the position information of the encoder rotor 2;
the driver 32 is connected to the decoder 31, and is configured to receive the position information of the decoder 31, and control the motor mover 51 to move according to the position information provided by the decoder 31; the method comprises the following steps:
the decoder 31 receives the detection signal and resolves the position information of the corresponding encoder rotor 2 into: the coils 30 are sequentially defined as 1, 2, & gt, n-1, n, n+1, & gt in the encoder rotor 2 forward direction of movement;
when the encoder rotor 2 moves from the current coil n forward to the coil n+1 or the current coil n-1 backward, the decoder 31 judges the moving direction of the encoder rotor 2 according to the position information;
as the encoder rotor 2 moves, the amplitude of the detection signal measured by the coil n gradually decreases, and when the amplitude is smaller than a preset value (the preset value is a value when the encoder rotor 2 completely covers the coil n), the decoder is disconnected from the coil n, and whether the coil 30 is an end coil corresponding to the decoder 31 is determined;
if not, the decoder selects to switch on the next stage coil 30;
if so, the next stage decoder 31 gates with its head end coil 30.
The implementation principle of embodiment 1 of the present application is: the encoder rotor 2 moves by the movement of the motor rotor 51 of the flexible conveying line system, taking an example that each encoder stator 3 has one coil 30 and the encoder rotor 2 moves forward, the encoder rotor 2 moves forward from the current coil n to the coil n+1, the current coil n outputs a detection signal, and the decoder 31 obtains a position signal based on the detection signal;
the amplitude (intensity) of the detection signal measured by the coil n gradually decreases, and when the amplitude is smaller than a preset value (the preset value is a value when the encoder rotor 2 fully covers the coil n), the encoder rotor 2 fully covers the coil n+1 at this time; the connection between the coil n+1 and the corresponding decoder 31 is turned on, a detection signal is outputted, and the connection between the coil n and the decoder 31 is cut off.
Example 2:
embodiment 2 of the application discloses a flexible conveying line system. Referring to fig. 2, the flexible conveyor line system includes a guide rail 4, a plurality of motor modules 5, and the above-described mover position detection sensor 1;
the guide rail 4 comprises a fixed guide rail 40 and a movable guide rail 45, the fixed guide rail 40 comprises a base 41 and a pair of mounting seats 42, the base 41 extends along the conveying direction, the base 41 is illustratively arranged horizontally, the pair of mounting seats 42 are arranged on the base 41 at intervals along the width direction (perpendicular to the conveying direction) of the base 41, each mounting seat 42 is a mounting plate perpendicular to the base 41, a pair of sliding rails 43 are arranged at intervals up and down on one side of one mounting plate opposite to the other mounting plate, and a sliding block 44 is arranged in sliding connection with each sliding rail 43;
the movable guide rail 45 comprises a vertically arranged connecting seat 46 and a carrying disc 47, wherein the connecting seat 46 is arranged opposite to one mounting plate and is arranged on the sliding rail 43 in a sliding way through a sliding block 44, so that the movable guide rail 45 is arranged on the fixed guide rail 40 in a sliding way, the carrying disc 47 is positioned above the fixed guide rail 40 and is used for carrying materials to be conveyed, the carrying disc 47 comprises a guide plate 48 and a carrying plate 49, the guide plate 48 is vertically far away from the guide plate 48 of the connecting plate and extends towards the other mounting plate, and the carrying plate 49 extends reversely along the free end of the guide plate 48 to form a disc surface for the materials to be conveyed; the guide plate 48 and the carrier plate 49 are arranged at intervals, so as to improve the protection of the internal elements of the flexible conveying line system, and the flexible conveying line system further comprises a first sealing plate 6 with an L-shaped section, one end of the first sealing plate 6 is fixedly connected with the base 41, and the other end of the first sealing plate is inserted into the interval between the guide plate 48 and the carrier plate 49;
the motor modules 5 are mounted by the guide rail 4 and are mounted in a space surrounded by the connecting seat 46 and the other mounting seat 42, the motor modules 5 are arranged at intervals along the conveying direction of the guide rail 4 to comprehensively form a conveying line motor of the flexible conveying line system, each motor module 5 comprises a motor stator 50 and a motor rotor 51, the motor rotor 51 is mounted on the other mounting seat 42, the motor rotor 51 is mounted on the connecting seat 46 of the movable guide rail 45, when the motor stator 50 is electrified with an alternating current power supply, a travelling wave magnetic field is generated in an air gap, the motor rotor 51 is cut by the travelling wave magnetic field, electromotive force is induced and generates current, the current and the magnetic field in the air gap act to generate electromagnetic thrust, so that the motor rotor 51 moves linearly under the action of the thrust, and under the condition that the motor rotor 51 moves linearly, the motor rotor 51 drives the movable guide rail 45; further, to enhance the protection of the internal components of the flexible conveyor line system, the guide plate 48 is spaced from the free end of the mounting seat 42, and further includes a second sealing plate 60 having an L-shaped cross section, one side of the second sealing plate 60 is fixedly connected to the side wall of the fixed guide rail 40, and the other end is inserted into the space between the guide plate 48 and the mounting seat 42;
each encoder stator 3 corresponds to a stator adaptor 7, the stator adaptor 7 is mounted at the top end of one of the mounting seats 42, the encoder stator 3 corresponding to the stator adaptor 7 is mounted on the stator adaptor 7, each encoder rotor 2 corresponds to a rotor adaptor 8, the exemplary rotor adaptor 8 is L-shaped, the encoder rotor comprises a vertical plate 80 fixedly connected with a guide plate 48 and a flat plate 81 vertically fixedly connected with the vertical plate 80, and the encoder rotor 2 is mounted on the flat plate 81, so that the encoder rotor 2 is mounted on a movable guide rail 45 and moves along with the movement of the movable guide rail 45.
The implementation principle of embodiment 2 of the present application is: the motor module 5 of flexible transfer chain system is the module that integrates, and a plurality of motor module 5 splice into complete transfer chain, and with the synchronous encoder rotor 2 that sets up of motor rotor 51 of motor module 5, at the removal in-process of motor rotor 51, can drive encoder rotor 2 and remove, through the positional information of survey encoder rotor 2, the work of reaction motor module 5, and then do corresponding adjustment control, at encoder rotor 2 removal in-process, encoder rotor 2 can stride across encoder stator 3 along the direction of delivery, detects encoder rotor 2's positional information through encoder stator 3.
Example 3:
embodiment 3 of the present application discloses a flexible conveying line system, referring to fig. 3, which is the same as embodiment 2, except that:
the stator adaptor 7 is mounted on one side of one mounting seat 42 opposite to the sliding rail 43, and the encoder stator 3 corresponding to the stator adaptor 7 is mounted on the stator adaptor 7, so that each encoder stator 3 is mounted on one side of one mounting seat 42 far away from the connecting plate, and the encoder stators 3 are vertically arranged;
the rotor adaptor 8 is in a fishhook shape, the rotor adaptor 8 comprises an extension part 9 and a positioning part 90, the extension part 9 is fixedly connected with the guide plate 48 and is arranged along the direction far away from the guide plate 48, in particular to a plate body which is parallel to the base 41, the positioning part 90 reversely extends along the free end of the extension part 9, a certain distance is reserved between the positioning part 90 and the guide plate 48, so that an adaptor space is formed between the positioning part 90 and the extension part 9, and a disassembly gap 93 is reserved between the free end of the positioning part 90 and the guide plate 48;
the encoder rotor 2 comprises a detection part 20 and an installation part 21, wherein the detection part 20 is arranged opposite to the encoder stator 3 and is used for obtaining detection signals in cooperation with the encoder stator 3, the installation part 21 is fixedly connected with the detection part 20 and is detachably fixedly connected with the rotor adapter 8 and is used for positioning the encoder rotor 2 and the movable guide rail 45;
the positioning portion 90 vertically penetrates through a through hole 91 for positioning and penetrating the mounting portion 21 of the encoder rotor 2, and the extending portion 9 is provided with a groove 92 for receiving the penetrating end of the mounting portion 21 of the encoder rotor 2; the top end of the encoder rotor 2 passes through the through hole 91 and then is inserted into the groove 92, the part of the encoder rotor 2 in the switching space is provided with at least one positioning hole 22 in a penetrating way, the number of the positioning holes 22 is set based on the installation and positioning requirements, the embodiment comprises two positioning holes which are arranged at intervals, and the two positioning holes 22 equally divide the encoder rotor 2 into 3 parts along the length direction of the encoder stator 3;
a positioning sleeve 94 and a positioning rod 96 are arranged in matching with each positioning hole 22, and for any group of positioning sleeves 94 and positioning rods 96: one end of the positioning portion 90 opposite to the free end thereof is provided with a positioning sleeve 94, one end of the positioning sleeve 94 facing the free end of the positioning portion 90 is recessed with a slot 95, the free end of the positioning portion 90 is detachably provided with a positioning rod 96, and illustratively, the free end of the positioning portion 90 is fixedly connected with a positioning plate 97, the positioning rod 96 is detachably connected with the positioning plate 97 through the positioning plate 97, and when the positioning rod 96 is connected with the positioning plate 97, the free end of the positioning rod 96 passes through the positioning hole 22 and is spliced with the positioning sleeve 94.
The implementation principle of embodiment 3 of the present application is: the mounting part 21 of the encoder rotor 2 is positioned through the perforation 91, the penetrating end is abutted in the groove 92 of the extension part 9, the free end of the positioning rod 96 penetrates through the positioning hole 22 and is spliced with the positioning sleeve 94, and then the positioning rod 96 is detachably connected with the positioning plate 97.
The embodiments of this embodiment are all preferred embodiments of the present application, and are not intended to limit the scope of the present application, in which like parts are denoted by like reference numerals. Therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (8)
1. The rotor position detection sensor is applied to a flexible conveying line system and is characterized by comprising at least one encoder rotor (2) arranged on a motor rotor (51) of the flexible conveying line system and a plurality of encoder stators (3) distributed on a guide rail (4) of the flexible conveying line system at intervals, wherein the encoder rotor (2) and the encoder stators (3) are arranged in parallel relatively, and each encoder stator (3) comprises:
the coils (30) are arranged at intervals, the length of the encoder rotor (2) is not smaller than any coil (30), and each coil (30) is used for acquiring a detection signal when the encoder rotor (2) is covered;
and a decoder (31) connected to the plurality of coils (30) for receiving the detection signal and resolving the position information of the corresponding encoder rotor (2).
2. The mover position detection sensor according to claim 1, wherein a portion of the encoder mover (2) opposite to the encoder stator (3) includes conductive areas and non-conductive areas alternately arranged along an extending direction of the guide rail (4).
3. The mover position detection sensor according to claim 1, characterized in that the encoder mover (2) length is equal to the occupied length of any adjacent two coils (30).
4. The mover position detection sensor according to claim 1, further comprising a driver (32) connected to the decoder (31) for receiving position information of the decoder (31) and controlling the movement of the motor mover (51) according to the position information provided by the decoder (31).
5. The mover position detection sensor according to claim 1, wherein,
the adjacent decoders (31) are connected to each other so that coils of adjacent encoder stators (3) are respectively connected to the adjacent decoders (31);
in the initial stage of power-on, a decoder (31) polls a corresponding coil (30) to acquire a detection signal, and when the signal intensity is low, polls detection signals transmitted by adjacent encoder stators (3);
position information of the corresponding encoder rotor (2) is resolved based on the detection signal.
6. The rotor position detection sensor according to claim 5, wherein in a normal operation phase, the decoder (31) gates the coils at the corresponding positions according to the positions of the encoder rotor (2) for signal acquisition, and solves the position information of the corresponding encoder rotor (2) according to the received detection signals;
or, in the normal working phase, the decoder (31) acquires the detection signal from the corresponding coil (30), judges the signal intensity, determines the detection signal for resolving according to the signal intensity, and resolves the position information of the corresponding encoder rotor (2).
7. Flexible conveyor line system, characterized by comprising a guide rail (4), a plurality of motor modules (5) mounted depending on said guide rail (4), a mover position detection sensor (1) according to any of claims 1-6, wherein each motor module (5) comprises a motor mover (51) and a motor stator (50).
8. The flexible conveyor line system according to claim 7, wherein the guide rail (4) comprises a fixed guide rail (40) and a movable guide rail (45), the fixed guide rail (40) comprising a base (41) extending in a conveying direction, and a pair of mounting seats (42) provided on the base (41) at intervals in a width direction of the base (41); the movable guide rail (45) comprises a connecting seat (46) and a carrying disc (47) which are vertically arranged, the connecting seat (46) is fixedly arranged on the opposite side face of one mounting seat (42) in a sliding mode, and the carrying disc (47) is positioned above the fixed guide rail (40);
a plurality of motor modules (5) are arranged in a space surrounded by the connecting confirmation seat (46) and the other mounting seat (42);
a plurality of encoder stators (3) are arranged on one of the mounting seats (42), and the encoder rotor (2) is arranged on the movable guide rail (45).
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| CN202311487857.6A CN117606525A (en) | 2023-11-08 | 2023-11-08 | Rotor position detection sensor and flexible conveying line system |
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| CN202311487857.6A CN117606525A (en) | 2023-11-08 | 2023-11-08 | Rotor position detection sensor and flexible conveying line system |
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