KR20220101929A - Mulberry cotton manufacturing apparatus - Google Patents

Abstract

The present invention relates to a carrier position control method for a magnet-movable linear transfer apparatus including a carrier to which a magnet is attached as a mover, a coil unit including a coil as a stator and a plurality of Hall sensors for detecting the position of the carrier, and a control part controlling the transfer of the carrier. The plurality of Hall sensors include a left position sensor recognizing a position value when the carrier enters in a forward direction, a right position sensor recognizing a position value when the carrier enters in a reverse direction, and a moving direction determination sensor installed between the left and right position sensors and determining the moving direction of the carrier. The control part performs carrier starting point return or carrier overlapping avoidance control by determining the moving direction of the carrier based on detected signals of the left and right position sensors and the moving direction determination sensor when the carrier is returned to its starting point or is overlapped. In accordance with the present invention, the carrier position control method can have the effects of improving a manufacturing yield through the minimization of a manufacturing delay time by enabling the carrier to be quickly returned to the starting point through the Hall sensors, and also, preventing the risk of an accident which can occur when a worker is performing manual work, by enabling the carrier to be quickly separated when the carrier is overlapped.

Description

A method for controlling the position of a carrier in a linear transfer device using a hall sensor {Mulberry cotton manufacturing apparatus}

The present invention relates to a method for controlling the position of a carrier in a linear transport device using a Hall sensor, and more particularly, a carrier capable of quickly and automatically processing a carrier separation process when a carrier overlaps and a return to origin operation of a carrier using a Hall sensor It is about position control technology.

A transport device for transporting an object to be treated is used in the manufacturing process of semiconductors, displays, food, and the like, and a representative transport device is a ball screw transport device. However, in the ball screw transfer device, there is a problem in that the alignment state of the object to be transferred is distorted due to deterioration of quality due to surface scratches or particle generation, and vibration generated during transfer.

Accordingly, a mechanism using a linear motor was developed. A linear motor (LM) type linear transport device drives a carrier mounted reciprocally along a guide rail using the linear motor principle to transport the carrier mounted on the carrier. There is an advantage that an object can be moved from an arbitrary position to a target position without damage or misalignment. The linear transfer device has a general coil movement method in which a magnet is fixed to a rail and a coil on the rail moves as a mover to transfer an object, and a magnet movement method in which a magnet moves as a mover. The magnet movement method is a carrier Since there is no cable in the track and a plurality of carriers can be moved within the track, it has been introduced a lot recently. The present invention relates to a linear transfer device of a magnet movement method.

In the linear transfer device of the magnet movement type, it is indispensable to detect the movement position of the carrier including the magnet. As a means for detecting such a moving position, a linear encoder, a rotary encoder, a hall sensor, etc. are used, and a hall sensor which is inexpensive in terms of unit cost is often used.

The encoder or Hall sensor can detect the amount of carrier movement, that is, the amount of increase, but cannot detect the absolute position (position with respect to the arbitrary coordinate origin).

In a linear transport system, a situation in which the system needs to be stopped may occur due to the occurrence of a failure, such as a sudden power off when transporting an object. In this case, the control system cannot detect the absolute position of the carriers, and therefore, in order to restart the system and restart the process, the positions of all carriers present on the transfer line of the transfer system must be initialized.

In relation to the return to the origin of the carrier, in Prior Document 1 (Japanese Laid-Open Patent Publication No. 1996-322276), marks used when performing the return to the origin of the linear motor are respectively formed on the fixed support part and the moving member, and these marks are used in the return to the origin. The position is determined by moving the carrier to a position where the mark given to the carrier coincides with the mark given to the fixed support part using the By executing the return sequence program, the linear motor is driven in a predetermined direction at a low speed to move the carrier in a predetermined direction. Then, when a change in the polarity of the magnetic signal output from the hall sensor installed in the linear motor is detected, a reset command is output to the reversible counter to reset the reversible counter, and the origin return process is ended.

However, in Prior Document 1, the intervention of an operator is essential when setting the origin of the linear motor, and various setting operations by humans are required, so that the origin setting process cannot be fully automatically realized.

As another method, there is a homing method in which all carriers on the transport device are aligned in one direction. This is because the system has to wait until all carriers are aligned to one side, so the number of carriers on the transport device The initial positioning time increases in proportion to , resulting in a loss of manufacturing time.

On the other hand, Prior Document 2 (European Patent No. 1547230) discloses a configuration in which a position sensor array of a stator is disposed along a transport path.

However, in this prior document 2, additional cost is incurred because a separate limit sensor or homing sensor must be used in addition to the Hall sensor used to detect the amount of movement of the carrier in the linear transfer device, and the operator intervenes when adjusting the position of the limit sensor. There is a problem that must be addressed.

On the other hand, in the linear transfer device of the magnet movement method, carriers may be overlapped with one linear motor (coil), and in this case, it is difficult to select a coil to move the magnet, so the operator manually moves the magnet exposed to the environment of

Japanese Patent Laid-Open No. 1996-322276 "Method for establishing origin of linear motor" European Patent No. 1547230 "Controlled motion system"

The present invention has been devised to solve the above problems, and an object of the present invention is to implement a linear transport device that enables a rapid return to the origin of a carrier by using a Hall sensor and enables rapid separation of a carrier when the carriers overlap. .

According to the present invention for achieving the above object, a carrier with a magnet attached as a mover, a coil unit as a stator and a coil unit equipped with a plurality of hall sensors for detecting the position of the carrier, and a control unit for controlling the transport of the carrier In the carrier position control method of the magnet movement type linear transfer apparatus having A right position sensor and a movement direction determination sensor installed between the left and right position sensors to determine a movement direction of the carrier, wherein the control unit moves with the left and right position sensors when returning to the origin of the carrier or overlapping the carrier There is provided a carrier position control method of a magnet movement type linear transfer device, characterized in that the carrier origin return or carrier overlap avoidance control is performed by determining the movement direction of the carrier based on the detection signal of the direction determination sensor.

Here, the movement direction determination sensor includes first to fourth positioning sensors, and the control unit calculates the occupancy of the coil unit of the carrier based on the detection signals of the first to fourth positioning sensors, and the occupancy of the coil unit It is preferable to perform carrier origin return or carrier overlap avoidance control based on The sensor may be disposed at a position capable of detecting a position where the occupancy rate of the coil unit exceeds 50%.

And, when the carrier occupies only one coil unit in the return to origin operation, the control unit moves the carrier to any one of the coil units located on the left and right of the coil unit occupied by the carrier to move the carrier to the carrier. The moment it completely leaves the occupied coil sensor board, the corresponding coil unit returns to the origin state, and when a carrier occupies two adjacent n and n+1 coil units at the same time, the carrier is moved to the high occupancy coil unit. It is preferable to return to the origin of the n and n+1 coil units by moving them to another coil unit again.

As another embodiment of the origin return, the control unit stores the detection signals of the first to fourth positioning sensors according to the movement of the carrier at each count point, and recognizes while moving the carrier in a preset direction when the system is restarted after stopping the system It is also possible to determine the absolute position of the carrier based on the detection signals of the first to fourth positioning sensors and the detection signals of the first to fourth positioning sensors stored at the time of system stop.

In the carrier overlap avoidance control, when m and m+1 carriers are overlappingly located in the n coil unit, the control unit controls the occupancy of the m carrier for the n-1 coil unit and the n+1 coil unit of the m+1 carrier. By detecting the occupancy of the carrier, the carrier having a high occupancy can be moved toward the corresponding coil unit to avoid carrier overlap.

As a prerequisite for avoiding carrier overlap, the length of the carrier, the spacing between the coil units, and the spacing of the left and right position sensors in the same coil unit are determined by one carrier in one coil unit left and right position sensors or It is required to be determined so that it can be recognized at the same time by the left and right position sensors between the two coil units.

According to the present invention as described above, there is an advantage in that the manufacturing yield can be improved by minimizing the manufacturing delay time by enabling the carrier to quickly return to the origin using the Hall sensor.

In addition, the present invention has the effect of preventing in advance the risk of an accident that may occur during manual operation of the operator by enabling the rapid separation of the carrier when the carrier overlaps.

1 is a schematic representation of the configuration of a linear transfer device according to an embodiment of the present invention.
Figure 2 shows the planar structure of the coil unit in the configuration of the linear transfer device according to an embodiment of the present invention.
3 is a view showing a first example of a process of returning to the origin of a carrier according to the present invention.
4 is a view showing a second example of the process of returning to the origin of the carrier according to the present invention.
5 is a diagram for explaining the prerequisites for implementing a software algorithm for checking the overlap of carriers.
6 is a view for explaining a method of checking the carrier overlap in the linear transfer device according to an embodiment of the present invention.
7 shows an example of an overlapping carrier separation method according to the present invention.

Hereinafter, the present invention will be described in more detail with reference to the drawings. It should be noted that the same components in the drawings are denoted by the same reference numerals wherever possible. In addition, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the gist of the present invention will be omitted.

1 schematically shows the configuration of a linear transfer device according to an embodiment of the present invention, and FIG. 2 shows a planar structure of a coil unit among the configurations of the linear transfer device according to an embodiment of the present invention.

As shown in FIG. 1 , the linear transfer device according to an embodiment of the present invention has the same structure as a conventional magnet moving type linear transfer device, and the configuration of the linear transfer device is very simplified in FIG. 1 . In the linear transfer device of the magnet movement type, a plurality of coil units 20 are installed along the transfer direction on the upper surface of the base 10 constituting the transfer track, and by electromagnetic force generated by the plurality of coil units 20 . The carrier 30 positioned above the coil unit 20 moves along the transport track. The carrier 30 has a magnet attached to the bottom surface of the carrier body 31 formed in the form of a flat plate, in which magnetic poles are alternately and continuously arranged.

1, the configuration of the control unit for controlling the transport of the carrier 30 by applying electric power to the coil unit 20 is omitted, where the control unit is a driver for driving the individual coil units 20 according to the type of position control of the carrier Alternatively, it may be a controller of an upper stage. The control unit determines the movement direction of the carrier 30 based on the detection signals of the left and right position sensors 23 and 24 and the movement direction determination sensor 25 when returning to the origin of the carrier or overlapping the carrier, thereby returning to the origin of the carrier or the carrier Perform overlap avoidance control.

Referring to FIG. 2 , the coil unit 20 according to the present invention includes a coil 21 and a sensor board 22 implemented in the form of a PCB, and a plurality of Hall sensors are mounted on the sensor board 22 .

The plurality of Hall sensors include a left position sensor (23, L) for recognizing a position value when the carrier 30 enters in the forward direction, a right position sensor (24, R) for recognizing a position value when entering the carrier in the reverse direction, and, It is installed between the left and right position sensors (23, 24) and includes a movement direction determination sensor (25) for determining the movement direction of the carrier (30).

The left position sensor 23 and the right position sensor 24 are respectively disposed at the front and rear of the coil 21 when viewed in the moving direction of the carrier 30 , and may include a plurality of Hall sensors, respectively.

The movement direction determination sensor 25 is disposed on the side of the coil 21 to detect the rate at which the carrier 30 occupies (covers) the coil 21, and based on the detected value, to determine the direction of movement.

The movement direction determination sensor 25 may include first to fourth positioning sensors 25a to 25d. Here, the first positioning sensor 25a and the fourth positioning sensor 25d may be at positions that can cover the first pair of UVW phases of the coil 21 when the carrier 30 enters in the forward or reverse direction. have. This may be a position corresponding to approximately 20% of the total length of the coil 21 . In addition, the second positioning sensor 25b and the third positioning sensor 25c may be at positions that can recognize that the carrier 30 occupies more than half of the coil 21 when entering in the forward or reverse direction. have. For example, the second positioning sensor 25b and the third positioning sensor 25c are to be disposed at left and right points (48% and 52% positions, respectively) of the middle position (50% position) of the entire length of the coil 21. can

For example, when a detection signal is detected by the third positioning sensor 25c when the carrier 30 enters the forward direction, it can be seen that the carrier 30 occupies more than half of the coil 21 .

3 shows a first example of a carrier return-to-origin process according to the present invention.

The case of FIG. 3 is a case in which only one carrier 30 is located on the coil unit 20. As shown in FIG. 3, in the state where the carrier 30 is located, the origin is returned by power OFF, Fail, etc., that is, the absolute position of the carrier is determined. In case you need to find out At this time, since there is no carrier 30 on the other coil unit 20, the origin return is not required. In other words, it can be seen that the origin is returned. In this case, the controller drives the coil unit 20 occupied by the carrier 30 to move the carrier 30 to the adjacent coil unit 20 . At this time, the coil unit 20, into which the carrier 30 is entering, detects a single turn according to the entry of the carrier 30 through the left and right position sensors 223 and 24, and then performs a multi turn. Since this is sensed, the absolute position of the carrier 30 can be known, and the return to the origin of the coil unit 20 to which the carrier 30 advances is completed when the carrier 30 completely leaves the coil unit 20 .

Accordingly, it can be seen that the homing operation of carriers is performed very quickly compared to the prior art through this homing process.

4 is a view showing a second example of a process of returning to the origin of a carrier according to the present invention.

The case of FIG. 4 is a case in which one carrier 30 occupies two coil units 20 at the same time. In case you need to find the absolute position. In this case, since one carrier 30 occupies the two coil units 20 at the same time, the return to the origin for the n and n+1-th coil units 20 is required.

In this case, the control unit calculates the occupancy of the carrier 30 for the n and n+1-th coil units 20 based on the detection signals of the first to fourth positioning sensors 25a to 25d, and a coil unit with a high occupancy. After transferring the carrier 30 to step 30 , the origin return may be performed only by an operation of returning the carrier 30 to the corresponding coil unit 20 again. In FIG. 4, when the occupancy of the carrier for the n-th coil unit is higher than the occupancy of the carrier for the n+1-th coil unit, the control unit first moves the carrier 30 to the n-th coil unit, and at this time, the n+1-th carrier The origin return operation is first completed (refer to (b)). Then, the control unit returns the carrier 30 back to the n+1-th coil unit, and when the carrier 30 completely leaves the n-th coil unit, the entire origin return operation is completed.

As described above, the n+1-th coil unit to which the carrier 30 returns is multi-turn after detecting a single turn according to the entry of the carrier 30 through the left and right position sensors 223 and 24 . Since (multi turn) is detected, the absolute position of the carrier 30 can be known.

Accordingly, it can be seen that the homing operation of carriers is performed very quickly compared to the prior art through this homing process.

In another embodiment of the present invention, the control unit stores the detection signals of the first to fourth positioning sensors according to the movement of the carrier 30 at each count time for position detection, and sets the carrier 30 in advance when the system is restarted after stopping. The carrier 30 based on the detection signals of the first to fourth positioning sensors 25a to 25d recognized while moving at a low speed in the set direction and the detection signals from the first to fourth positioning sensors 25a to 25d stored at the system stop time. It is also possible to determine the absolute position of ).

Hereinafter, a process in which the carrier overlap confirmation and carrier overlap avoidance algorithms are performed will be described with reference to FIGS. 5 to 7 .

5 and 6 are for explaining a software algorithm for checking the overlap of carriers. It is a view for explaining a method of checking the carrier overlap in the linear transfer device according to.

First, in order to implement the carrier overlap check algorithm of FIG. 6, the prerequisites as shown in FIG. 5 must be satisfied, which is as follows. First, as in (a), in the case of both ends of the transport track, the carrier 30 does not deviate from the coil unit 20 and the left and right position sensors 23 and 24 must be designed to recognize the carrier 30, and the carrier 30 ) length, the spacing between the coil units 20, and the spacing of the left and right position sensors 23 and 24 within the same coil unit, one carrier 30 at all positions is one coil unit with the left and right position sensors ( 23 and 24) or between the two coil units should be designed to be recognized simultaneously by the left and right position sensors 23 and 24.

When the method for checking carrier overlap is described with reference to FIG. 6 , in (a), the detection value of the left position sensor 23 of the n-th coil is 0, the detection value of the right position sensor 24 is 1, and n+1 When the detection values of the left and right position sensors 23 and 24 of the th coil unit 20 are 1, it is determined that the carriers are in an overlapping state.

And, in (b), the detection values of the left and right position sensors 23 and 24 of the n-th coil unit 20 are 1 and the overlapping state (two carriers 30 are placed on the n-th coil unit 20) state), and if the detection values of the left and right position sensors 23 and 24 of the n+1th coil unit 20 are 1, it is determined that the two carriers 30 are placed on the n+1th coil unit 20 . do.

7 shows an example of an overlapping carrier separation method according to the present invention. 7, when carriers m and m+1 are overlapped on the n-th coil unit, the control unit m times based on the detection signals of the first to fourth positioning sensors 25a to 25d of the n-1st coil unit. Based on the occupancy of the n-1 th coil unit of the carrier 30 and the detection signals of the first to fourth positioning sensors 25a to 25d of the n+1 th coil unit, By calculating the occupancy rate for the n+1-th coil unit, the carrier 30 having a high occupancy rate is transferred to the corresponding coil unit 30 side.

In the case of Figure 7, the occupancy of the m+1-th carrier for the n+1-th coil unit is higher than the occupancy of the m-th carrier for the n-1 th coil unit, so the m+1-th carrier is moved to the n+1-th coil unit. to avoid carrier overlap.

Although the present invention has been described with reference to the above preferred embodiments, various modifications and variations can be made without departing from the spirit and scope of the invention. Accordingly, the appended claims are intended to cover such modifications and variations as fall within the scope of the present invention.

10: base 20: coil unit
21: coil 22: sensor board
23: left position sensor 24: right position sensor
25: movement direction determination sensor 30: carrier
31: carrier body 32: magnet

Claims (8)

A carrier of a magnet movement type linear transfer device comprising: a carrier to which a magnet is attached as a mover; a coil unit equipped with a plurality of hall sensors for detecting the position of the coil and the carrier as a stator; and a control unit for controlling the transfer of the carrier In the position control method,
The plurality of Hall sensors are installed between a left position sensor for recognizing a position value when the carrier enters in the forward direction, a right position sensor for recognizing a position value when the carrier enters in the reverse direction, and the left and right position sensors, and is installed between the carrier including a movement direction determination sensor for determining the movement direction of
The control unit performs carrier origin return or carrier overlap avoidance control by determining the movement direction of the carrier based on the detection signals of the left and right position sensors and the movement direction determining sensor when returning to the origin of the carrier or overlapping the carriers A method of controlling the position of a carrier of a magnet movement type linear transfer device.
The method of claim 1,
The movement direction determination sensor includes first to fourth positioning sensors, and the control unit calculates the occupancy of the coil unit of the carrier based on the detection signals of the first to fourth positioning sensors, and based on the occupancy of the coil unit A method of controlling a carrier position of a magnet movement type linear transfer device, characterized in that to perform a carrier origin return or carrier overlap avoidance control.
3. The method of claim 2,
The first and fourth positioning sensors are disposed at positions corresponding to the first pair of left and right UVWs of the coil, and the second and third sensors can detect a position in which the occupancy of the coil unit exceeds 50%. Carrier position control method of the magnet movement type linear transfer device, characterized in that disposed in the position.
4. The method of claim 3,
In the return to origin operation, when the carrier occupies only one coil unit, the control unit moves the carrier to any one of the coil units located on the left and right of the coil unit occupied by the carrier to be occupied by the carrier. Carrier position control method of a magnet moving type linear transfer device, characterized in that the coil unit is returned to the origin as soon as it completely leaves the coil sensor board in progress.
4. The method of claim 3,
In the origin return operation, when the carrier occupies two adjacent n and n+1 coil units at the same time, the control unit moves the carrier to a coil unit having a high occupancy rate, and then moves it to another coil unit to move the n and n coil units. Carrier position control method of a magnet movement type linear transfer device, characterized in that the +1 coil unit is returned to the origin.
4. The method of claim 3,
The control unit stores the detection signals of the first to fourth positioning sensors according to the movement of the carrier at each count point, and the first to fourth positioning recognized while moving the carrier in a preset direction when the system is restarted after stopping Carrier position control method of a magnet movement type linear transfer device, characterized in that the absolute position of the carrier is determined based on the detection signal of the sensor and the detection signal of the first to fourth positioning sensors stored at the time of system stop.
4. The method of claim 3,
When m and m+1 carriers are overlappingly located in the n coil unit, the control unit detects the occupancy of the m carrier with respect to the n-1 coil unit and the occupancy of the m+1 carrier with respect to the n+1 coil unit, and , The carrier position control method of the magnet moving type linear transfer device, characterized in that by moving the carrier with a high occupancy rate toward the corresponding coil unit to avoid carrier overlap.
8. The method of claim 7,
The length of the carrier, the spacing between the coil units, and the spacing of the left and right position sensors in the same coil unit are the positions of one carrier in one coil unit, the left and right position sensors in one coil unit, or the left and right positions between two coil units. Carrier position control method of the magnet movement type linear transfer device, characterized in that determined to be recognized at the same time by the sensor.

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