KR101660757B1 - absolute position recognizing system by color sensor for linear motor - Google Patents

absolute position recognizing system by color sensor for linear motor Download PDF

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Publication number
KR101660757B1
KR101660757B1 KR1020160042640A KR20160042640A KR101660757B1 KR 101660757 B1 KR101660757 B1 KR 101660757B1 KR 1020160042640 A KR1020160042640 A KR 1020160042640A KR 20160042640 A KR20160042640 A KR 20160042640A KR 101660757 B1 KR101660757 B1 KR 101660757B1
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KR
South Korea
Prior art keywords
color
mover
stator
linear motor
color sensor
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KR1020160042640A
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Korean (ko)
Inventor
임성진
서승환
차정학
탁태열
Original Assignee
주식회사 대곤코퍼레이션
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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
    • 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
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Abstract

A linear motor using a current flowing in a coil and a thrust generated by a magnetic field of a permanent magnet, the linear motor comprising: a guide rail; A stator fixedly disposed on the guide rail; A mover inserted into the stator and moving linearly along the guide rail; A color pattern attached to one surface of the stator or the mover; A color sensor provided on at least one of the guide rail, the stator, and the mover to sense the color pattern; And a control unit for determining the position of the mover according to the color sensed by the color sensor. The present invention relates to an absolute position recognition system for a linear motor using a color pattern and a color sensor. According to the present invention, there is provided an absolute position recognition system for a linear motor using a color pattern and a color sensor capable of detecting a color pattern attached to one surface of a mover in real time by detecting a color sensor provided on a stator or a guide rail, .

Description

[0001] The present invention relates to an absolute position recognizing system for a linear motor,

The present invention relates to a linear motor. More particularly, the present invention relates to a linear motor in which a color pattern attached to one surface of a mover is detected by a color sensor provided on a stator or a guide rail, To an absolute position recognition system for a linear motor.

The present invention relates to a linear motor.

Generally, the linear motor moves the guide rail linearly by using the current flowing in the coil of the stator disposed on the guide rail and the driving force generated by the magnetic field of the permanent magnet provided on the mover, and the real time position of the mover is checked In order to do this, absolute encoders should be used.

However, there is a disadvantage that the higher the precision, the higher the cost of the absolute encoder and the equipment therefor.

Although the technique as a background of the present invention is disclosed in Korean Patent Registration No. 10-0779827, a fundamental solution to the above-mentioned problem is not presented.

According to an aspect of the present invention, there is provided a color pattern detecting apparatus for detecting a color pattern attached to a surface of a mover by a color sensor provided on a stator or a guide rail, The present invention provides an absolute position recognition system for a linear motor using a color sensor.

Another object of the present invention is to provide a color image forming apparatus and a color image forming apparatus, which are capable of storing position information of a mover corresponding to each color of a color pattern, To provide an absolute position recognition system.

Another object of the present invention is to provide an absolute position recognition system for a linear motor using a color pattern and a color sensor that can confirm the absolute position of a mover according to the color sensed through the color sensor even when the linear motor is rebooted .

Another object of the present invention is to provide an absolute position recognition system for a linear motor using a color pattern and a color sensor capable of precisely confirming an absolute position of a mover by forming a color pattern in RGB or gradation.

According to an aspect of the present invention, there is provided a linear motor using a current flowing in a coil and a driving force generated by a magnetic field of a permanent magnet, the linear motor comprising: a guide rail; A stator fixedly disposed on the guide rail; A mover inserted into the stator and moving linearly along the guide rail; A color pattern attached to one surface of the stator or the mover; A color sensor provided on at least one of the guide rail, the stator, and the mover to sense the color pattern; And a control unit for determining a position of the mover according to a color sensed by the color sensor, wherein the control unit comprises: a color code storage unit storing a color code for each color; A color code extracting unit for extracting a color code of a color sensed by the color sensor; And a position information storage unit for storing position information of the mover corresponding to each color code.

The control unit may further include: a color code storage unit storing a color code for each color; A color code extracting unit for extracting a color code of a color sensed by the color sensor; And a position information storage unit for storing position information of the mover corresponding to each color code.

The color pattern may be RGB (Red, Green, Blue) additive mixture.

In addition, the color pattern is formed in a gradation pattern.

Further, the stator selectively includes one of the coils or permanent magnets, and the shifter includes the other one of the coils or the permanent magnets not provided by the stator, so that the current flowing in the coils and the magnetic field of the permanent magnets So that the mover moves forward or backward along the stator using the thrust generated by the stator.

As described above, according to the present invention, a color pattern attached to one surface of a mover is detected by a color sensor provided on a stator or a guide rail, and a color pattern capable of checking the absolute position of the mover in real time, A position recognition system can be provided.

According to the present invention, position information of a mover corresponding to each color of each color pattern is stored. When a specific color is sensed, a color pattern that can confirm the current position of the mover and an absolute position A recognition system can be provided.

In addition, according to the present invention, it is possible to provide a linear motor absolute position recognition system using a color pattern and a color sensor that can confirm the absolute position of the mover according to the color sensed through the color sensor even when the linear motor is rebooted.

In addition, according to the present invention, it is possible to provide a linear motor absolute position recognition system using a color pattern and a color sensor which can accurately identify the absolute position of a mover by forming a color pattern in RGB or gradation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an external configuration of a linear motor according to a preferred embodiment of the present invention; FIG.
2 is an exemplary diagram illustrating the formation of a color pattern according to a preferred embodiment of the present invention.
FIG. 3 is a diagram illustrating colors by inputting actual R, G, and B in FIG. 2; FIG.
4 is an exemplary view of a color pattern formed by adding and mixing R, G, and B in FIG. 3;
5 illustrates an example of a gradation of a color pattern according to a preferred embodiment of the present invention.
6 is an exemplary view for explaining the operation principle in which the mover overlaps with the stator and moves.
7 is a cross-sectional view illustrating a configuration of a stator according to a preferred embodiment of the present invention.
8 is a perspective view of a mover according to a preferred embodiment of the present invention;
9 is a view showing an example in which permanent magnets are provided on the inner wall of a mover according to a preferred embodiment of the present invention.
10 to 12 are views illustrating an example in which a color pattern is attached to a mover according to a preferred embodiment of the present invention.
13 and 14 are views illustrating an example in which a color pattern is attached to a stator according to a preferred embodiment of the present invention.
15 is a block diagram according to a preferred embodiment of the present invention;

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings.

The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, the present invention will be described with reference to the drawings for explaining an absolute position recognition system of a linear motor using a color pattern and a color sensor according to embodiments of the present invention.

Generally, the linear motor 10 uses a force generated in a direction perpendicular to the magnetic field direction of the permanent magnet 810 and the direction of the electric current, in accordance with the so-called Fleming's left-hand rule.

To this end, the linear motor 10 includes a fixed permanent magnet 810 opposing the N pole and the S pole and disposed alternately and repeatedly, and a coil 710 for supplying current between the N pole and the S pole of the permanent magnet 810 Is included so that the moving mover 800 can be moved forward or backward in accordance with Fleming's left-hand rule.

In the linear motor 10, a coil 710 may be provided in the stator 700, a permanent magnet 810 may be provided in the mover 800, a permanent magnet 810 may be provided in the stator 700, And the coil 710 can be provided on the mover 800 so that the inventor can easily select the coil 710. In the embodiment of the present invention, the coil 710 is attached to the stator 700, (810) are provided.

The linear motor 10 according to the present invention includes a coil 710 mounted on a stator 700 fixedly mounted on a top surface of a guide rail 900 and a direction of a current supplied to the coil 710 of the stator 700 The mover 800 having the permanent magnets 810 arranged so that the N poles and the S poles are opposed to each other so as to form a magnetic field in a direction substantially orthogonal to each other can be moved forward or backward in accordance with Fleming's left-hand rule.

At this time, the linear motor 10 detects the position of the mover 800 by having an absolute encoder device such as an encoder scale and an encoder reader to check the current position of the mover 800.

However, such an absolute encoder apparatus has a disadvantage that it is expensive, and the higher the accuracy of the linear motor 10 is, the more the cost of the absolute encoder is increased and the malfunction There is a disadvantage that it can occur.

However, when the absolute position recognition system of the linear motor using the color pattern and the color sensor of the present invention is used, the absolute position of the mover 800 corresponding to a specific color of the color pattern 100 sensed by the color sensor 300 In the case of the color pattern 100, the color information can be output to the general print by setting the color. In addition, the color sensor 300 can also output the color information The above-mentioned conventional problems can be solved.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the external configuration of a linear motor according to a preferred embodiment of the present invention.

Referring to FIG. 1, a linear motor 10 includes a guide rail 900, a stator 700, a mover 800, a color pattern 100, and a color sensor 300.

The stator 700 is disposed on the upper surface of the guide rail 900 and has a coil 710 or a permanent magnet 810 therein.

The mover 800 has a groove-like insertion groove formed therein so that the mover 800 can be inserted from one side of the stator 700 to the other side.

The mover 800 is inserted from one side of the stator 700 to the other side and moves linearly by using a driving force generated by the magnetic field of the permanent magnet 810 and the coil 710 of the inner or inner wall .

Also, as described above, when the permanent magnet 810 is provided on the stator 700, it is preferable that a coil 710 is provided on the mover 800.

More specifically, the stator 700 selectively includes one of the coils 710 and the permanent magnets 810, and the mover 800 includes the coil 710 or the stator 700 among the permanent magnets 810 And the mover 800 is moved forward or backward along the stator 700 using the current flowing in the coil 710 and the driving force generated by the magnetic field of the permanent magnet 810, do.

The color pattern 100 is attached to one side of the mover 800 or the stator 700.

The color sensor 300 is provided on at least one of the guide rail 900, the stator 700 and the mover 800 to sense the color pattern 100.

The control unit 500 determines the position of the mover 800 according to the color sensed through the color sensor 300.

The control unit 500 includes a color code storage unit 510, a color code extraction unit 530, a position information storage unit 550, a movement speed calculation unit 590, and an average position calculation unit 570.

The color code storage unit 510 stores color codes for respective colors.

The color code extracting unit 530 extracts a color code of the color sensed by the color sensor 300.

At this time, the color sensor 300 senses a specific color of the color pattern 100 located opposite to the current color sensor 300, and the color code extraction unit 530 of the control unit 500 senses a specific color And loads the color code from the color code storing unit 510.

The location information storage unit 550 stores location information of the mover 800 corresponding to each color code.

The position information stored in the position information storage unit 550 can be set by the practitioner of the present invention. For example, in FIG. 1 showing a preferred embodiment of the present invention, The position of the mover 800 can be expressed in units of cm and mm in accordance with the color after setting the position to 0 when the first stator 700a coincides with the left end of the first stator 700a.

The moving speed calculating unit 590 calculates the current moving speed of the mover 800 through the position information of the mover 800 corresponding to the color extracted from the color sensor 300. [

Since the speed is distance / time, it is calculated by calculating the moving distance in unit time through the position information of the mover 800 corresponding to a specific color of the color pattern 100 sensed per unit time, Since it is a calculation method, further detailed description will be omitted.

The average position calculating unit 570 calculates an average of K position information when the K color patterns 100 are sensed by the vibration of the guide rail 900. [

More specifically, the linear motor 10 may generate vibration due to a certain external force. In this case, vibration may be transmitted to the guide rail 900, and vibration may also occur in the stator 700 and the mover 800, Accordingly, two or more of the color sensors 300 sense the color.

For example, when three colors A, B, and C are sensed and the position of the mover 800 corresponding to each color is 3012 mm , 3014 mm, and 3016 mm, the three averages are calculated to determine the position of the current mover 800 as 3014 mm.

The position of the color pattern 100 and the color sensor 300 is not limited to a specific position and can be performed at any position as long as the color sensor 300 can sense the color pattern 100. [

1 showing a preferred embodiment of the present invention, a first stator 700a, a second stator 700b and a third stator 700c are illustrated as a stator 700, The sensor 301, the second color sensor 303, the third color sensor 305, the fourth color sensor 311, and the fifth color sensor 313.

When the color sensor 300 is attached to the stator upper surface 730, a first color sensor 301 is provided on the upper surface of the first stator 700a and a second color sensor 301 is provided on the upper surface of the second stator 700b. 303, and a third color sensor 305 is provided on the upper surface of the third stator 700c.

Further, the color pattern 100 is attached to the mover inner wall upper surface 830 for sensing the color pattern 100. [

The exact position of the upper surface of the inner wall of the mover 800 is shown in Fig.

In this case, preferably, when the length of the mover 800 is longer than the interval between the color sensors 300, when the colors are sensed by the two color sensors 300, the average position calculation unit 570 calculates The average of the position information of the number of the nodes is calculated so that there is no error in the system.

When the color sensor 300 is attached to the upper surface of the guide rail 900, the fourth color sensor 311a or 313a or the fifth color sensor 311b or 313b is provided on the upper surface of the guide rail 900 The color pattern 100 is attached to the lower surface of the mover 800 so that the color sensor 300 provided on the guide rail 900 can sense the color pattern 100. [

In addition, when the color sensor 300 is attached to the stator side 750, it is preferable to attach the color pattern 100 to the inner wall side of the mover 800.

Since the color pattern 100 can be attached to the stator 700, the color sensor 300 is provided on the mover inner wall side 850 so as to be sensible when attached to the side surface of the stator 700, The color sensor 100 is provided on the upper surface 830 of the mover inner wall so that the color pattern 100 can be sensed.

Preferably, the color pattern 100 is printed with dyes that are durable to light and chemicals.

The linear motor 10 can be implemented in various fields such as a semiconductor process, a clean room, and a chemical experiment. Since the linear motor 10 may be damaged due to light or chemical substances, it may cause an error in sensing the absolute position. Respectively.

FIG. 2 is an exemplary view illustrating the formation of a color pattern according to a preferred embodiment of the present invention. FIG. 3 is a diagram illustrating colors by inputting actual R, G, and B in FIG. FIG. 8 is an illustration of a color pattern formed by adding R, G, and B of FIG.

The color pattern 100 is composed of additive mixture of RGB (Red, Green, Blue).

The additive mixture is a mixture of R (red), G (green), B (blue), and B (light) in which the mixed color becomes brighter (brighter) ) Are mixed with various concentrations to obtain any color.

At this time, the color pattern 100 is divided into N equally divided regions in the longitudinal direction, and the respective regions are formed into different R (red) colors.

As a result, N different R colors are formed.

M colors are added to each of the above N colors to form N × M colors.

(N × M × L) colors are formed by adding different L G (Green) colors to each of the N × M colors to form N × M × L colors.

2, G and B colors are set to 0, and R colors are set to 10 colors with 0, 28, 56, 84, 112, 140, 168, 196, 224 and 255 . ≪ / RTI >

10 colors were added to each of the above 10 R colors with 0 and 28 colors, 0, 28, 56, 84, 112, 140, 168, 196, 224, Colors.

10 colors are added to each of the 10 x 10 colors and the colors of R and B are set to 0 and 10 colors of 0, 28, 56, 84, 112, 140, 168, 196, Forming 10 x 10 colors.

At this time, the order of adding and mixing the colors of R, G, and B is not limited, and is easily selected by the practitioner of the present invention.

Since each of R, G and B includes 256 colors in steps of 0 to 255, if the performance of the color sensor 300 is supported, theoretically 256 × 256 × 256 = 16,777,216 patterns are formed It is possible.

FIG. 3 shows a color pattern 100 that was described as a numerical value in FIG. 2 as an actual color, and FIG. 4 shows the completion of forming an actual color pattern 100 according to an embodiment of the present invention.

The color pattern 100 shown in FIG. 4 can not be distinguished from a human eye by a minute difference, but when it is sensed by the color sensor 300, it is sensed by 10 × 10 × 10 colors.

More specifically, for example, the color pattern 100 of FIG. 4 is attached to the upper surface of the inner wall of the mover 800 from one end to the other end.

In this case, if the total length of the mover 800 is 5 m, the width of each color of the color pattern 100 becomes 5 mm, 1/1000 of 5 m.

In this way, one end of the mover 800 is positioned at 0, and the end of the mover 800 is positioned at 5000 mm.

As a result, the mover 800 moves and the RGB (168, 0, 96) which is the color of RGB (112, 0, 55) The position information of the mover 800 is loaded from the position information storage unit 550 in which the position information of the mover 800 corresponding to each color is stored.

5 is an exemplary diagram illustrating a gradation of a color pattern 100 according to a preferred embodiment of the present invention.

Referring to FIG. 5, the color pattern 100 is formed in a gradation pattern.

Gradation refers to a state in which the gradation is made according to brightness, color, or saturation. For example, it means that the brightness is gradually changed since the start portion is brightened and the end portion is darkened.

Referring to FIG. 5, it is meant that the left end is set to B, the G color is set to 0, the R color is set to 0, and the right end is set to R color 255 so that the R color value is gradually increased.

Hereinafter, since the B color and the G color are also applied, the detailed description will be omitted.

This embodiment can be implemented according to the needs of the practitioner in the case where a higher accuracy than that exemplified in Figs. 3 and 4 is not required to be great.

6 is an exemplary view for explaining the operation principle in which the mover 800 overlaps with the stator 700 and moves.

6 is a side view of the external configuration of the linear motor 10 illustrated in FIG. 1. The stator 700 is disposed on the upper surface of the guide rail 900. The stator 700 is inserted into the stator 700 And linearly moving.

Each of the plurality of stator 700 includes a driver 715 for supplying current to each of the coils 710. A coil 710 of each stator 700 is connected to a corresponding driver 715).

In this case, generally, an encoder such as an encoder scale and an encoder reader is installed to calculate position information of the mover 800, but the present invention is not limited to the color sensor 300 and the color pattern 100, The position information of the mover 800 is calculated.

That is, the control unit 500 can calculate the position information of the mover 800 and the moving speed of the mover 800 through the specific color of the color pattern 100 extracted by the color sensor 300.

6, when applying the color sensor 300 and the color pattern 100 of the present invention when the mover 800 moves from the left to the right of the guide rail 900, , The number of the color sensors 300 and the installation position can be easily selected according to the length of the mover 800.

6, if the mover 800 is positioned at the stop of the first stator 700a, the second stator 700b, and the third stator 700c, if the color sensor 300 is located on the mover Since the color sensor 300 installed on the upper surfaces of the first stator 700a, the second stator 700b and the third stator 700c can sense the color pattern 100 regardless of the position of the color sensor 100, It is possible to sense at which position the sensor 800 is located.

7 is a cross-sectional view illustrating the configuration of a stator according to a preferred embodiment of the present invention.

Each of the coils 710 included in each of the plurality of stator 700 is preferably constituted by a plurality of winding wire coils 710. A plurality of winding wire coils 710 are disposed inside the stator 700 from one side to the other side .

In this case, when the coil 710 included in one stator 700 is constituted by a plurality of winding wire coils 710, the plurality of winding wire coils 710 may be composed of three-phase or five-phase coils 710 .

When the plurality of winding coils 710 are constituted by the three-phase coil 710, the plurality of winding wire coils 710 are wound in a winding coil 710 having a number of multiples of 3 such as 3 or 6 When the plurality of winding wire coils 710 are constituted by the five-phase coil 710, the plurality of winding wire coils 710 may be composed of five or ten, And a setting coil 710.

7 of the present invention illustrates that the coil 710 of the stator 700 is made up of three winding coils 710 and the driver 715 is provided on the lower side.

FIG. 8 is a perspective view of a mover according to a preferred embodiment of the present invention, and FIG. 9 is an exemplary view in which a permanent magnet is provided on an inner wall of a mover 800 according to a preferred embodiment of the present invention.

8 is a perspective view of the mover 800, which is attached to assist understanding of the mover inner wall upper surface 830, the mover inner wall side 850, and the mover bottom 870 described in Fig.

8, a permanent magnet 810 is provided inside the mover 800, and the color pattern 100 may be directly attached to the mover 800.

When the permanent magnet 810 is provided on the inner wall of the mover 800 as shown in FIG. 9, the color pattern 100 may be attached to the permanent magnet 810.

Since the color pattern 100 has no influence on the driving force generated by the current flowing in the coil 710 of the stator 700 and the magnetic field of the permanent magnet 810 provided on the mover 800.

9, the arrangement of the permanent magnets 810 of the mover 800 will be described. The mover 800 has a shape of '?' In which groove-shaped insertion grooves are formed to penetrate one side and the other side, The two inner walls of the groove are repeatedly coupled to each other so that the permanent magnet 810, which is opposite to the N pole and the S pole, crosses from one side to the other side.

That is, a plurality of permanent magnets 810 are installed on opposite inner walls of the insertion grooves such that the N pole and the S pole are opposed to and intersected with each other with respect to the winding wire coil 710 of the inserted stator 700 .

Therefore, in the insertion groove of the mover 800, the direction of the magnetic field is alternately repeated from one side of the mover 800 to the other side between two opposing inner walls of the insertion groove.

That is, when the stator 700 is positioned in the insertion groove of the stator 700, the direction of the current flowing in the winding coil 710 is substantially perpendicular to the direction of the magnetic field formed in the insertion groove.

10 to 12 are diagrams illustrating an example in which a color pattern is attached to a mover according to a preferred embodiment of the present invention.

10 illustrates that the color pattern 100 is attached to the upper surface 830 of the mover inner wall.

At this time, the color sensor is connected to the first color sensor 301 of the first stator 700a, the second color sensor 303 of the second stator 700b, the third color sensor 305 of the third stator 700c, It is preferable that the color pattern 100 provided on the upper surface of the stator and attached to the mover inner wall upper surface 830 is sensed.

FIG. 11 illustrates that the color pattern 100 is attached to the mover inner wall side 850.

At this time, it is preferable that the color sensor is provided on the side surface of the stator 700 to sense the color pattern 100 attached to the mover inner wall surface 850.

12 illustrates that the color pattern 100 is attached to the bottom surface 870 of the mover.

At this time, it is preferable that the color sensor is provided on the upper surface of the guide rail 900 to sense the color pattern 100 attached to the mover's bottom surface 870.

13 and 14 are views illustrating an example in which a color pattern is attached to a stator according to a preferred embodiment of the present invention.

13 illustrates that the color pattern 100 is attached to the side surface of the stator 700. FIG.

At this time, it is preferable that the color sensor 300 is provided on the mover inner wall side 850 to sense the color pattern 100.

In addition, when the color sensor 300 provided on the mover inner wall side 850 is located between the stator 700, it may not be possible to sense the color pattern 100. Therefore, And the number is preferably selected easily.

Fig. 14 illustrates that a color pattern is attached to the upper surface of the stator 700. Fig.

At this time, it is preferable that the color sensor 300 is provided on the mover inner wall upper surface 830 to sense the color pattern 100.

13, when the color sensor 300 provided on the mover inner wall upper surface 830 is located between the respective stators 700, sensing of the color pattern 100 may not be possible. Therefore, It is preferable to easily select the position and the number of the plurality of light sources 300.

15 is a block diagram of an absolute position recognition system for a linear motor using a color pattern and a color sensor according to a preferred embodiment of the present invention.

Referring to FIG. 15, in a linear motor absolute position recognition system using a color pattern and a color sensor according to the present invention, a color sensor 300 provided on a guide rail 900 or a stator 700, The specific color of the pattern 100 is sensed and transmitted to the control unit 500.

The control unit 500 includes a color code storage unit 510, a color code extraction unit 530, a position information storage unit 550, a movement speed calculation unit 590, and an average position calculation unit 570, The position and speed of the mover 800 are determined.

1 to 15, even if an inexpensive color pattern 100 and color sensor 300 are used without using an expensive encoder in the linear motor 10, Position, and speed of the linear motor 10 can be finely determined.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and range of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.

10: Linear motor 100: Color pattern
300: color sensor 500: control unit
510: Color code storage unit 530: Color code extraction unit
550: Position information storage unit 570: Average position calculating unit
590: moving speed calculating unit 700: stator
710: Coil 715: Driver
800: mover 810: permanent magnet
830: mover inner wall upper surface 850: mover inner wall side
870: Slide 900: Guide rail

Claims (7)

A linear motor using a current flowing in a coil and a thrust generated by a magnetic field of a permanent magnet,
Guide rails;
A stator fixedly disposed on the guide rail;
A mover inserted into the stator and moving linearly along the guide rail;
A color pattern attached to one surface of the stator or the mover;
A color sensor provided on at least one of the guide rail, the stator, and the mover to sense the color pattern; And
And a controller for determining a position of the mover according to a color sensed by the color sensor,
Wherein,
A color code storage unit storing a color code for each color;
A color code extracting unit for extracting a color code of a color sensed by the color sensor; And
A position information storage unit for storing position information of the mover corresponding to each color code;
And a color sensor for detecting an absolute position of the linear motor.
delete delete 2. The method of claim 1,
(RGB), and an additive mixture of RGB (Red, Green, Blue).
delete 2. The method of claim 1,
Wherein the color sensor is formed of a color pattern and a gradation pattern.
The method according to claim 1,
The stator comprises:
And one of the coil and the permanent magnet is selectively provided,
The shifter includes:
And the other one of the coils or permanent magnets not provided by the stator is provided and the mover moves forward or backward along the stator by using a current flowing in the coil and a driving force generated by a magnetic field of the permanent magnet. Absolute position recognition system of linear motor using color pattern and color sensor.
KR1020160042640A 2016-04-07 2016-04-07 absolute position recognizing system by color sensor for linear motor KR101660757B1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03164092A (en) * 1989-11-20 1991-07-16 Ckd Corp Linear motor driver/controller
JPH1023714A (en) * 1996-07-01 1998-01-23 Toshiba Corp Device for detecting position of rotor of synchronous machine
KR100779827B1 (en) * 2004-09-06 2007-11-28 도시바 기카이 가부시키가이샤 Linear motor and linear moving stage device
KR101191328B1 (en) * 2012-05-24 2012-10-16 주식회사 대곤코퍼레이션 Linear motor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03164092A (en) * 1989-11-20 1991-07-16 Ckd Corp Linear motor driver/controller
JPH1023714A (en) * 1996-07-01 1998-01-23 Toshiba Corp Device for detecting position of rotor of synchronous machine
KR100779827B1 (en) * 2004-09-06 2007-11-28 도시바 기카이 가부시키가이샤 Linear motor and linear moving stage device
KR101191328B1 (en) * 2012-05-24 2012-10-16 주식회사 대곤코퍼레이션 Linear motor

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