TW201215553A - Brushless DC motor transport system and single-area controller used in the transport system - Google Patents

Abstract

A brushless DC motor transport system comprises a transport device, a plurality of single-area controllers and a central controller for adjusting the single-area controllers. The transport device comprises a plurality of rotary axles and a plurality of brushless DC motors for driving the corresponding rotary axles. Each single-area controller comprises a driving unit for outputting a three-phase signal to drive the corresponding brushless DC motor and a microprocessing unit for controlling the driving unit. The use of the single-area controllers can provide distributed control, and the central controller can be further used to adjust the parameters of the single-area controllers in a remote manner, enabling the brushless DC motors and the rotary axles to achieve common transport functions such as delayed starting, delayed stopping, accumulation, de-accumulation and serial linkage.

Description

201215553 VI. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a Ma Yuanluo sample gold special single, transportation system and its control device,

It does not refer to a brushless DC motor conveying wire B ting system and a zone control device for the conveying system. [Prior Art] The mainstream technology of the existing conveyor system is a belt-driven rotating shaft (

BeU-Driven Live Roller, R) is the transmission. In recent years, the Hanhan conveyor system has been widely used in factories, warehouses, and logistics collection stations, and has become the most effective solution for handling various types of goods. BDLR is still one of the most commonly used architectures for the Power Roller Conveyor, as the bdlr's range of applications ranges from small warehouse conveyors that are several feet long to large warehouse conveyors that are miles long. Referring to Figures 1 and 2, the conventional BDLR transport system 丨 includes a trajectory 11, a plurality of rotating shafts 12 rotatably arranged on the rail u, and a rail 11 and the rotating shaft 12 are jointly defined for transport. a conveyor lane 13 for a plurality of cargoes 2, a belt μ for interlocking one of the rotation axes a, a chain 15 for connecting the rotation shaft 12, a belt for driving the belt 14, and thereby being linked by the chain 15 An AC motor 16 for rotating the rotating shaft 12, a Programmable Logic Controller (PLC) 17 electrically connected to and controlling the AC motor 51, and a plurality of distributed on the track 11 and electrically connected The sensor (Sensor) 18 of the programmable logic controller 17. In particular, the AC motor 16 is typically a high power AC motor. <!; 3 201215553 When the cargo 2 is actually transported, the programmable logic controller 17 and the sensor 18 monitor the current position of the cargo 2 between the sections to form a Chinese-style conveyor system. . However, the programmable logic controller 17 can only be used to control the opening and closing of the AC motor 16. Since the rotating shafts 12 are connected to each other by the chain 5, when the AC motor 16 is running, all The rotating shaft 12 is rotated accordingly and does not differ depending on whether or not the cargo 2 is present on the section. That is to say, the rotating shaft 12 has only two choices of king or king. However, when the rotating shafts K are all rotated at the same time, not only a considerable noise is generated, but also a waste of kinetic energy. Moreover, it is limited to the above design, and the distance between two adjacent goods #2 is kept constant during the movement and cannot be adjusted by the programmable logic controller. In particular, when the cargo 2 is transported to the intersection of the transport lane 13, it is usually necessary to additionally provide a steering mechanism or a robot arm at the intersection to allow the cargo 2 to be sent into the path of the male, so the steering mechanism or the mechanical arm is set. Increased acquisition costs and maintenance difficulties #. Further, it is limited that the parent flow motor 16 drives the entire carriage 13 at the same time, so that even if there is no cargo 2 in a certain area, the rotation shaft 12 of the region continuously rotates to cause unnecessary noise and wear. As described on the jujube, the existing BDLR delivery system --- the procedural logic: the controller 17 is the centralized control mode of the control core, and the sensor r = the device. The above-mentioned control command communication and information exchange method belong to the agricultural point-to-point (Pomt-To-Poim) communication system. However, the existing BDLR transmission system, although the system 1 is widely used, there are still many shortcomings in practical applications. For example, regardless of whether or not the goods 2 are being transported on the delivery line 201215553, the AC motor μ will continue to operate 2 and drive the rotating shaft 12 to rotate, which represents the continuous raft wear and volume. AC motor 16 that consumes and may be involved in debris and continues to operate and causes accidental n high input power, high output torque, high moment of inertia, high AC voltage (220V or more), and may also have clothing for workers. Safety concerns such as involvement, electric shock, etc., will increase the cost of equipment construction and maintenance.

Although the existing BDLR conveyor system can be said to be the cornerstone of the conveyor technology, the existing BDLR conveyor system! The use of centralized control results in an inability to judge immediately, and an overly complex system design is more likely to cause control signals, which is later, so for today's production, production capacity and cost

Strict requirements [no longer meet the demand. Therefore, how to improve the shortcomings of the existing bDLR transmission system 1 is an important goal of continuous efforts by those skilled in the art. SUMMARY OF THE INVENTION Therefore, (4) of the present invention is to provide a single-zone control device suitable for use in a brushless DC motor and for use in a conveyor system. Thus, the present invention is directed to a single zone control device for a brushless DC motor delivery system. The brushless DC motor delivery system is for conveying a plurality of cargo and includes a conveyor. The conveyor includes a trajectory, and most of the trajectories are disposed on the trajectory. The single zone conveying unit, the single zone conveying sheet & has a rotating shaft 'and a brushless DC motor disposed in the rotating shaft to drive the rotating shaft to rotate, the single zone control device comprises: a driving unit , for outputting a three-phase signal to drive the corresponding brushless straight 201215553 flow motor; a micro processing unit electrically connected to the driving unit to control the opening and closing of the brushless DC motor; and a debt detector To detect the goods and send back signals to the microprocessor unit. Another object of the present invention is to provide a brushless DC motor delivery system comprising the single zone control device described above. Therefore, the brushless DC motor conveying system of the present invention is used for conveying a plurality of goods, and comprises: a conveying device comprising a track, and a plurality of single-zone conveying units disposed on the track, each single-zone conveying unit having a rotation a shaft, and a brushless DC motor disposed in the rotating shaft to drive the rotating shaft to rotate. Most single-zone control devices 'each single zone control 奘萨β田匕抆剌褒 Jl疋 is used to control the corresponding Brushing the DC motor, each single zone control device comprises: - a driving unit for outputting a three-phase signal to drive the brushless DC motor to operate; a micro processing unit electrically connected to the driving unit to control the brushless DC motor Opening and closing and rotating speed; 1 - a detector for detecting the cargo and capable of returning a signal to the micro processing unit; and an external transmission unit of the element having a parameter adjustment electrically connected to the micro processing unit a switch, and an electrical connection to the micro-processing single port; and 8 6 201215553 a central control device, including an external transmission of the lightning-discharging electrical connection to the single-zone control device Busbars, and - a thousand and electrically connected to the control bus to control the early region of the control means so as to adjust the overall delivery device. The effect of this month is to use the single-zone control device for controlling the corresponding brushless DC motor to control the effect of the control to the knife, and of course, the progress of the moon is improved by the 4 central control device. Adjusting the parameters of the single-zone control device in a remote manner, thereby causing the brushless DC motor to cooperate with the rotating shaft to achieve: slow start, slow start, accumulation, de-accumulation, string Commonly used conveying functions such as lines. [Embodiment] The foregoing and other technical contents, features, and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments. Before the present invention is described in detail, it is noted that in the following description, similar elements are denoted by the same reference numerals. Referring to Figures 3 and 4', a preferred embodiment of the brushless DC motor delivery system of the present invention includes a delivery device 3, a plurality of single zone control devices 4, and a central control device 5. The distal conveyor 3 includes a track 31 and a plurality of single zone transport units 32 disposed on the track. Each single-zone conveying unit 32 has a rotating shaft 321 rotatably disposed on the rail 31, a brushless DC motor 322 disposed in the rotating shaft 321 to drive the rotating shaft 321 to rotate, and a plurality of rotatably A passive shaft (Passive R〇Uer) 323 disposed on the lane 31 and spaced apart from the rotating shaft 321 . Each of the single-zone conveying units 32 borrows 201215553: the brushless DC motor 322 drives the rotating shaft 32ι and interlocks the passive rotating shaft to transport a plurality of goods 6. In the preferred embodiment, the rotating shaft is disposed through the rotating shaft The 321 is coupled to the belt (not shown) on the passive shaft 323. Of course, the belt can also be used, even when the spacing between the two adjacent rotating shafts 3 2 1 is smaller than the size of the cargo 6 ρ U 6 . The purpose of transporting the cargo 6 can also be achieved without providing a belt. In particular, the brushless DC motor 322 in the preferred embodiment is an operating voltage of 24V #3 phase brushless DC motor (3 phase bldc)

In addition, in the preferred embodiment, the structure of a brushless DC motor 322 is controlled by each single zone control device 4, and when each single zone is controlled, 4 (4) The above brushless DC motor 322' is not limited thereto. Referring to FIG. 5 and FIG. 4, a preferred embodiment of a single-zone control device for a brushless DC motor delivery system is provided. Each of the single-zone control devices 4 includes a driving unit 41 and a micro processing unit. 42. A detector, and a transmission unit 44. The driving unit 41 has a three-phase driving circuit 4n for outputting a three-phase signal to drive the corresponding brushless DC motor 322, and an upper bridge driving circuit 412 electrically connected to the three-phase driving circuit 411 and the micro processing unit 42. And a lower bridge driving circuit 413 electrically connected to the three-phase driving circuit 411 and the micro processing unit 42. The micro processing unit 42 has an operation decision circuit 421 capable of generating a control signal, and a pulse width modulation (PWM) circuit 201215553 422 electrically connected to the operation decision circuit 421 and the input end of the driving unit 41. An AC/DC converter circuit 423 connected to the operation decision circuit 421 and the output end of the driving unit 41, an AC/DC conversion circuit 423 and a corresponding brushless DC motor 322 are electrically connected to obtain a feedback signal. The circuit 424 and a parameter adjustment circuit 425 electrically connected to the operation decision circuit 421, the pulse width modulation circuit 422, the AC/DC conversion circuit 423, and the feedback circuit 424 and electrically connected to the transmission unit 44 are worth a It is noted that in the preferred embodiment, the driving unit 41 is a 3-Phase Inverter. In addition, the three-phase inverter is composed of six field effect transistors as shown in FIG. Referring to FIG. 5, the micro processing unit 42 is a digital signal processor (DSP); the operation decision circuit 421 is a Proportional-Integral-Derivative Controller (PID Controller); The width modulation circuit 422 is a six-channel pulse width modulator (Six-Channel PWM); the feedback circuit 424 is a Hall-Sensor. Of course, the above components and circuits can also be used with the same function. Replacement of components or circuits is not limited to this. In addition, the AC/DC conversion circuit 423 is configured to receive the AC temperature signal transmitted by the brushless DC motor 322, and convert the AC temperature signal into a DC signal and then transmit the signal to the operation decision circuit 421. Referring to Figure 5 and in conjunction with Figure 3, the detector 43 is electrically coupled to the microprocessor unit 42 for transmitting signals for detecting the cargo 6 to the microprocessor unit 42. In the preferred embodiment, the detector 43 is an electric eye. Of course, it can also be replaced by an infrared detector or other component that can detect the cargo 6. This is not limited to 201215553. The transmission unit 44 has a parameter adjustment switch 441' electrically coupled to the microprocessor unit 42 and an external transmission bee 442 electrically coupled to the microprocessor unit 42. The parameter adjustment switch 441 in the preferred embodiment is described with reference to the dial switch, and it is of course possible to use a twist or other separate adjustment switch, which is not limited by the embodiment. The external transmission bee 442 is w RS232, joint test working group (Dingzhou

Group's rrAG) and other communication protocols to achieve the transmission effect, of course, you can also use the Universal Sequence Separation (Universal Seda), or other transmission modes, not limited to this. Additionally, the external transport port 442 can also be built into the microprocessor unit 42. See Figure 7. The central control device 5 includes a bus bar 51 electrically connected to the external transfer port 442 of the single zone control sink j, and an electrical connection to the row 51 for controlling the single zone control device 4 to adjust the transport device The total control of H 52. In particular, in the preferred embodiment, the CAN bus has a high degree of immediacy, porting, and expansion. New Zealand and other excellent Μ can also use the 32, joint test engineer 'and spray Test Action Gr〇up,; then) the transmission line or other transmission = inner two U to achieve the effect of transmission signal, not to compare The computer valley disclosed in the preferred embodiment is limited. The general controller 52 is a computer (desktop, notebook, and ship). Special instructions must be made for the above (4): (4) _ selected equipment 'components, of course, not limited by the better example. 201215553 Referring to Figures 3 and 5 and in conjunction with Figure 7, in use, when any of the detectors 43 detects that there is a cargo 6 (the cargo 6 is shielded from the detection path of the detector 43), the signal is fed back. To the corresponding micro-processing unit 42, the micro-processing unit 42 sends a driving signal to the driving unit 41, thereby generating a three-phase signal to drive the corresponding brushless DC motor 322 to rotate corresponding to the rotating shaft 32 i. The shaft 321 cooperates with the passive shaft 323 to convey the cargo 6 forward. Next, the single zone control unit 4 located in the front area detects and continues to transport the cargo 6 forward, and the purpose of continuously advancing the cargo 6 can be achieved by the continuously provided single zone control device 4. In addition, since the bus bar 51 is electrically connected to the single-zone control device 4, the parameters of the single-region control device 4 can be remotely adjusted by the total controller 52 electrically connected to the bus bar 51. Different modes of operation. Several operating modes are listed below. ’, Soft Start: When the delivery of the cargo 6 is started, the speed is slowly increased to prevent the cargo 6 from shaking or even falling backwards. Soft Stop To stop the delivery of the goods for 6 days, the speed of the delivery is gradually slowed down and then stopped. Avoid the goods # 6 | Suddenly stop at high speed and do not fall down. When the slow stop function is on the downhill section of the track 3, it can prevent the cargo 6 from moving downhill too quickly and dumping. Accumulation: By adjusting the conveying speed, the goods 6 accumulate the goods 6 on the track η while maintaining the spacing. De-aggregation (7)e-aCC_lation): Contrary to the accumulation function, when the obeying is full, the cargo 6 can be emptied in the order of the cargo (4) in the case of the (four) distance. 201215553 Serial (Slug) : The goods 6 are transported at the same speed, that is to say without changing the distance between the goods 6. Because of the many new conveying technologies, Brushless DC (BLDC) conveying technology is leading the way. The BLDC motor delivery system takes a completely different design from the existing BDLr conveyor system. BLDC technology revolutionizes the motor design, communication network, decision-making to control, with the aim of achieving optimum delivery efficiency while reducing system complexity. And reducing the cost. Since the brushless DC motor 322 and the rotating shaft 321 can be modularly installed and controlled, and the whole brushless DC motor conveying system is divided into a plurality of independent sections (z〇ne ), each section will be composed of one (or more) rotating shaft 321 and the passive rotating shaft 323, and each section can independently or coordinate the adjacent sections. 6 Transfer without any additional control shaft (Shaft) or control motor. The brushless DC motor delivery system of the present invention is superior to the existing BDLR delivery system in that the existing AC motor must be continuously operated while the brushless brush of the present invention The DC motor 322 is only operated when the drive command is issued, and remains unrotated for the rest of the time. This will greatly reduce the noise and energy loss, which is more in line with the environmental protection trend. In addition, the power source of the existing BDLR transmission system is only a few large. The power AC motor, while the invention uses a large number of 24V-DC low power brushless DC motor 322, so it is less harmful to the operator working near the brushless DC motor delivery system, and more in equipment maintenance. In the control method, the existing BDLR transport system is centralized control, and the brushless DC motor transport system of the present invention adopts the distributed control 12 201215553 (Distributed Control) architecture and can be at the far end (G1〇). Bal) The total controller 52 carries out the whole cargo 6 transport monitoring to achieve the real pLc free control mode. In addition, the control signal delay can be avoided by using the PLC, and at the near end, the control parameter can be adjusted by the parameter adjustment switch 441 of each single-zone control device 4 to perform slow start, slow stop, and accumulation. Conveyor belt function such as accumulation, serial, etc. Since the single-zone control device 4 of each segment receives the feedback signal returned by the segment detector 43 for control decision operation, the signal can be greatly reduced. Since the total controller 52 is required for calculation and communication, the existing BDLR delivery system often suffers from insufficient communication bandwidth and will not occur in the brushless DC motor delivery system of the present invention. In summary, the brushless DC motor conveying system of the present invention can easily realize the work of the Zero Pressure Accumulating (ZPA), that is, the cargo 6 can be maintained by the coordination between the sections. Appropriate spacing, so there is no doubt of collision, of course, it can easily achieve the usual conveying functions such as slow start, slow stop, accumulation, de-aggregation, serial. The distributed control architecture gives each single-zone control device 4 a near-end decision-making capability to instantly respond to control needs while significantly reducing the need for remote computing and communication equipment. Thus, the object of the present invention can be achieved. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple application of the present invention and the content of the invention. Both effect changes and modifications are still within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing a conventional BDLR transport system; FIG. 2 is a schematic view of the auxiliary diagram 1; FIG. 3 is a schematic view of the brushless DC motor transport system of the present invention. Figure 4 is a schematic view of a preferred embodiment of a brushless DC motor delivery system of the present invention; Figure 5 is a system block diagram illustrating a single zone control device for a brushless DC motor delivery system of the present invention Figure 6 is a circuit diagram for assistance in explaining the electric road repairing structure of the three-phase driving circuit of Figure 0; and / 疋 system block diagram illustrating the central control device and the majority of the brushless DC motor conveying system of the present invention The connection pattern of the single zone control unit.

14 8 201215553 [Description of main component symbols]

3 ........... conveying device 31 ..... track 32 .......... single zone conveying unit 321 ........ Rotary shaft 322 ........ brushless DC motor 333 ........passive shaft 4 ........... single zone control device 41 ....... ... drive unit 411 ........ three-phase drive circuit 412 ........ upper bridge drive circuit 413 ........ lower bridge drive circuit 42 ..... ..... micro processing unit 421 . . . operation decision circuit 422 . . . pulse width modulation circuit 423 ..... AC and DC conversion circuit 424 ........Return circuit 425........Parameter adjustment circuit 43 ..........Detector 44 ..........Transmission unit 441 ........ parameter adjustment switch 442 ........ external transmission 埠 5 ........... central control device 51 .......... Bus bar 52 .......... total controller 6 ........... goods

15

Claims (1)

201215553 VII 1. Shunqing patent scope: - A single-zone control device for brushless DC · ' 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、疋 used to rotate most of the goods, and includes a transfer, and most of the soap zone delivery unit disposed on the track, ^ mother early delivery unit has a rotation axis 'and a set in the rotation. If the brushless straight motor is driven in the moving shaft to drive the rotating shaft, the single-zone control device includes a driving unit for driving the two-phase signal to drive the corresponding brushless straight-forward operation; The microprocessor unit is connected to the driving unit to control the brushless straight motor opening and closing and the rotating speed; and the utility model can detect the cargo and return the signal to the microprocessor. 2 · According to Shen Qing patent range 1st top μ. "(4) The early-area control device for the brushless DC motor delivery system, further comprising -α, electrically connected to the transmission unit of the micro-processing unit, the transmission unit and the right one. 八 has an electrical connection to the micro-processing unit The parameter adjustment switch, and an electric discharge connection to the external transmission of the processing unit. 3 · According to the scope of the patent application, the second field of the field, the single-zone control device for the brushless DC motor delivery system Wherein, the Κ糸1 double 疋 疋 has an operational decision circuit, an electrical connection to the transport I, a sacred calculation circuit, and a pulse width modulation circuit of the input end of the drive unit,诖 OD > 冤 connecting the operation decision circuit and the AC/DC conversion lightning circuit at the output end of the driving unit, and electrically connecting the AC/DC conversion circuit and the brushless DC motor to take back a feedback signal of the feedback signal 16 201215553, And a parameter adjustment switch electrically connected to the operation decision circuit, the pulse width modulation circuit 'AC/DC conversion circuit, the feedback circuit and electrically connected to the transmission unit, A parameter adjustment circuit for an external transmission port. 4. A single zone control device for a brushless DC motor delivery system according to claim 3, wherein the drive unit has a third electrically connected to the brushless DC motor a phase driving circuit, an upper bridge driving circuit electrically connected to the three-phase driving circuit and the pulse width modulation circuit of the micro processing unit, and an electrical connection between the three-phase driving circuit and the pulse width modulation The lower-bridge drive circuit of the road. 5. The single-zone control device for the brushless motor delivery system according to the scope of claim 4, wherein the drive unit is a three-phase inverter, and the micro-processing unit is The digital signal processor, the operation decision circuit is a proportional·integral-derivative controller, and the pulse width modulation circuit is a six-channel pulse width modulator, and the feedback circuit is a Hall sensor, the detection The measuring device is an electric eye, and the parameter adjusting switch is a dip switch. 6.: A brushless DC motor conveying system for transporting most goods, and including * transmission means, including a track, and most of which are disposed in The track 3 early zone conveying unit 'each-single zone turning unit has a rotating wheel, '-a brushless gyroscope motor arranged in the rotating shaft to drive the rotating shaft to rotate; a single-zone control device, each The single-zone control device is used to control the corresponding brushless DC motor, and each __ single-zone control device includes: a driving unit for outputting a three-phase signal to drive the brushless 17 201215553 DC motor operation; Electrically connected to the driving unit to control the opening and closing and rotating speed of the brushless DC motor; 'a detector for detecting the cargo and capable of returning a signal to the micro processing unit; and a transmission unit a parameter adjustment switch electrically connected to the micro processing unit, and an external transmission port electrically connected to the micro processing unit; and a central control device including an external transmission bee electrically connected to the single area control device And a busbar, and a total controller electrically connected to the flow row to control the single zone control device and thereby adjust the conveyor device. 7. The brushless DC motor delivery system according to the scope of the patent application, wherein the micro processing unit of each single zone control device has an operation decision circuit, an electrical connection between the operation decision circuit and the drive unit wheel The input end, the wave width modulation circuit, _ electrically connected to the operation decision circuit and the AC/DC conversion circuit for driving the early output end, the electric connection to the AC/DC conversion circuit and the corresponding brushless DC motor to obtain the feedback signal The circuit: and the electric connection to the operation decision circuit, the pulse width modulation circuit, the AC/DC conversion circuit, the feedback circuit, and the parameter adjustment switch connected to the transmission unit, and the parameter adjustment of the external transmission port Circuit. In the brushless DC motor conveying system of the seventh aspect of the invention, the driving unit of each single-zone control device has an electrical connection _: a three-phase driving circuit of a sub-brushless DC motor, An upper 18 201215553 * bridge driving circuit electrically connected to the pulse circuit and the pulse width modulation circuit of the micro processing unit, and an electrical connection between the three-phase driving circuit and the pulse-width modulation circuit The lower bridge drive circuit. 9. The brushless DC motor rotation system according to claim 8, wherein the driving unit is a three-phase inverter, the micro processing unit is a digital signal processor, and the operation decision circuit is The proportional-integral derivative controller is characterized in that the pulse width modulation circuit is a six-channel pulse width modulation, and the feedback circuit is a Hall sensor. The detector is composed of an electric eye flow controller as a controller area.