TW201833015A - Moving-magnet transfer platform - Google Patents
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Description
本案關於一種動磁式移載平台,尤指一種動子部係包含磁石組,定子部係包含用來驅動動子部移動之線圈組件,且無須利用驅動器來控制線圈組件之線圈是否運作之動磁式移載平台。The present invention relates to a moving magnetic transfer platform, in particular, a moving part includes a magnet group, and the stator part includes a coil assembly for driving the movement of the moving part, and does not need to use a driver to control whether the coil of the coil assembly operates. Magnetic transfer platform.
隨著科技的進步,在各種應用領域中,通常需要移載平台,例如由線性馬達所構成之移載平台等,來進行物品的自動搬運及傳送。為了對移載平台的移動位置進行控制,傳統移載平台的驅動方式係利用馬達與滾珠螺桿的相互搭配來達成,然而有鑑於各種應用領域的快速發展及激烈競爭,各應用領域對於移載平台的性能要求越來越高,例如要求移載平台具有高速度、低噪音以及高定位精度等優點,故現今很多應用場合已改為使用動磁式移載平台,以取代傳統由馬達與滾珠螺桿來進行驅動之機械式移載平台。With the advancement of technology, in various application fields, a transfer platform, such as a transfer platform composed of a linear motor, is usually required to carry out automatic conveyance and transfer of articles. In order to control the moving position of the transfer platform, the driving method of the traditional transfer platform is achieved by the mutual cooperation of the motor and the ball screw. However, in view of the rapid development and fierce competition in various application fields, the application fields are for the transfer platform. The performance requirements are getting higher and higher. For example, the transfer platform has the advantages of high speed, low noise and high positioning accuracy. Therefore, many applications have changed to use the moving magnetic transfer platform to replace the traditional motor and ball screw. A mechanical transfer platform for driving.
目前習知動磁式移載平台之結構主要分為動子部、定子部以及驅動器。其中動子部可相對定子部而移動,且主要由包含複數個線圈之線圈組件所構成。定子部為固定不動,且主要由磁石組所構成。驅動器除了輸出驅動電能外,更需依據線圈組件之每一線圈與磁石組之相對位置而對應控制每一線圈是否通電運作,使已通電運作之線圈可產生第一磁場,並與磁石組產生之第二磁場相互作用,進而驅動動子部移動。At present, the structure of the conventional moving magnetic transfer platform is mainly divided into a moving part, a stator part and a driver. The mover portion is movable relative to the stator portion and is mainly composed of a coil assembly including a plurality of coils. The stator portion is stationary and is mainly composed of a magnet group. In addition to outputting driving power, the driver needs to control whether each coil is energized according to the relative position of each coil and the magnet group of the coil assembly, so that the coil that has been energized can generate a first magnetic field and is generated by the magnet group. The second magnetic field interacts to drive the mover portion to move.
由於習知動磁式移載平台之線圈組件之複數個線圈在通電運作時將對應產生熱能,故習知動磁式移載平台在運作期間實處於高溫狀態,而為消除該高溫狀態,以保護動磁式移載平台同時增加運作效率,動磁式移載平台便需增加散熱設計,然因習知動磁式移載平台之線圈組件係構成動子部,又動子部在動磁式移載平台運作期間係不斷移動,即複數個線圈係持續移動而改變位置,故習知動磁式移載平台之散熱的設計實較為複雜且散熱效果亦不佳。Since the plurality of coils of the coil assembly of the conventional moving magnetic transfer platform will generate heat energy during the energization operation, the conventional moving magnetic transfer platform is in a high temperature state during operation, and to eliminate the high temperature state, Protecting the moving magnetic transfer platform and increasing the operating efficiency, the moving magnetic transfer platform needs to increase the heat dissipation design. However, the coil assembly of the conventional moving magnetic transfer platform constitutes the moving part, and the moving part is in the moving magnetic type. During the operation of the transfer platform, the system continuously moves, that is, the plurality of coil systems continuously move and change positions. Therefore, the design of the heat dissipation of the conventional moving magnetic transfer platform is complicated and the heat dissipation effect is also poor.
另外,由於習知動磁式移載平台之動子部係由線圈組件所構成,而線圈組件之複數個線圈需利用電源線才能接收到運作所需之電能,又因動子部於動磁式移載平台運作期間係不斷移動,故為達到電源線的牽引和保護的作用,習知動磁式移載平台需另外加裝電源線拖鍊,然加裝之電源線拖鍊不但增加動磁式移載平台之生產成本,亦造成動磁式移載平台內部空間之壓縮,更甚者,與複數個線圈連接之電源線將因動子部係不斷移動而容易產生磨損之情況。In addition, since the movable part of the conventional moving magnetic transfer platform is composed of a coil component, a plurality of coils of the coil component need to use a power cord to receive the electric energy required for operation, and the moving part is magnetically moved. During the operation of the transfer platform, the system is constantly moving. Therefore, in order to achieve the traction and protection of the power line, the conventional moving magnetic transfer platform needs to be additionally equipped with a power cable towline, and the installed power cable towline not only increases the movement. The production cost of the magnetic transfer platform also causes the compression of the internal space of the moving magnetic transfer platform. Moreover, the power supply line connected to the plurality of coils is prone to wear due to the moving parts of the moving parts.
此外,由於習知動磁式移載平台係由磁石組構成定子部,由線圈組件構成動子部,而為使動子部可於定子部上進行範圍性的位置移動,磁石組之面積勢必需要較大,如此一來,定子部需使用大量之永久磁石來組成磁石組,然因永久磁石之材料成本較高,將造成習知動磁式移載平台生產成本上升。In addition, since the conventional moving magnetic transfer platform is composed of a magnet group, the coil portion constitutes a mover portion, and in order to allow the mover portion to perform a range positional movement on the stator portion, the area of the magnet group is bound to be inevitable. Need to be larger, in this way, the stator part needs to use a large number of permanent magnets to form the magnet group, but because of the high material cost of the permanent magnet, the production cost of the conventional moving magnetic transfer platform will increase.
更甚者,由於習知動磁式移載平台之驅動器除了輸出驅動電能外,更需對應控制每一線圈是否通電運作,故驅動器之設計將因需對應控制每一線圈是否通電運作而較為複雜。且由於驅動器係直接控制每一線圈是否通電運作,因此當線圈在進行運作與否的切換而產生電流波動時,電流波動將影響驅動器,導致驅動器工作狀態不穩定。What's more, because the driver of the conventional moving magnetic transfer platform needs to control the energization of each coil in addition to the output driving power, the design of the driver will be complicated because it needs to control whether each coil is energized or not. . Moreover, since the driver directly controls whether each coil is energized, when the coil is subjected to current or non-switching to cause current fluctuation, current fluctuation will affect the driver, resulting in unstable operation of the driver.
因此,如何發展一種克服上述缺點的動磁式移載平台,實為目前迫切之需求。Therefore, how to develop a moving magnetic transfer platform that overcomes the above shortcomings is an urgent need.
本案之主要目的在於提供一種動磁式移載平台,俾解決習知動磁式移載平台具有散熱設計不易、散熱效率不佳,因需加裝電源線托鍊及需使用大量磁石而導致成本上升、驅動器之設計較為複雜及驅動器工作狀態不穩定等缺失。The main purpose of this case is to provide a moving magnetic transfer platform, which solves the problem that the conventional moving magnetic transfer platform has a heat dissipation design and the heat dissipation efficiency is not good, and the cost is required due to the need to install a power line carrier and a large amount of magnets. The rise, the design of the drive is complicated, and the operating state of the drive is unstable.
為達上述目的,本案之一較廣義實施樣態為提供一種動磁式移載平台,係包含:動子部,包含第一滑台及設置於第一滑台上之第一磁石組件;驅動器,用以輸出驅動電能;以及定子部,鄰設於動子部,且包含:線圈組件,係包含並排設置之複數個線圈;複數個第一開關元件,係分別連接於驅動器及對應之線圈之間;電流感測器,用以偵測驅動電能中之驅動電流,並對應輸出電流偵測訊號;電氣角檢測器,用以依據電流偵測訊號而偵測驅動電流之電氣角,並對應輸出電氣角訊號;磁場感測組件,係包含複數個磁場感測元件,其中第一磁石組件移動至對應之線圈的所在位置所產生之磁場變化係由對應的至少一磁場感測元件感測;以及訊號處理器,用以依據電氣角訊號及複數個磁場感測元件之感測結果而對應控制每一第一開關元件之運作,使任一第一開關元件於第一磁石組件移動至對應之線圈時被控制為導通,而對應之線圈係經由導通之第一開關元件接收驅動電能,進而驅動第一磁石組件帶動第一滑台移動。In order to achieve the above object, a broader embodiment of the present invention provides a moving magnetic transfer platform comprising: a mover portion including a first slide table and a first magnet assembly disposed on the first slide table; And the stator portion is adjacent to the mover portion, and includes: a coil component including a plurality of coils arranged side by side; and a plurality of first switch components respectively connected to the driver and the corresponding coil a current sensor for detecting a driving current in the driving power and corresponding to the output current detecting signal; an electrical angle detector for detecting an electrical angle of the driving current according to the current detecting signal, and corresponding output The electrical field sensing component includes a plurality of magnetic field sensing components, wherein a magnetic field change generated by the first magnet component moving to a position of the corresponding coil is sensed by the corresponding at least one magnetic field sensing component; The signal processor is configured to control the operation of each of the first switching elements according to the electrical angle signal and the sensing result of the plurality of magnetic field sensing components, so that any first opening Magnet assembly movable in a first element is controlled to be turned on to correspond to the coil, the coil corresponding to the drive system receives power via the first switching element is turned on, which in turn drives the first magnet assembly drives the first slider moves.
體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化,其皆不脫離本案的範圍,且其中的說明及圖示在本質上當作說明之用,而非架構於限制本案。Some exemplary embodiments embodying the features and advantages of the present invention are described in detail in the following description. It should be understood that the present invention is capable of various modifications in various embodiments and is not intended to limit the scope of the invention.
請參閱第1圖、第2圖及第3圖,其中第1圖為本案第一較佳實施例之動磁式移載平台之電路方塊示意圖,第2圖為第1圖所示之線圈的結構及線圈與第一開關元件之間的連接方式的示意圖,第3圖為第1圖所示之動磁式移載平台之部分元件的剖面結構示意圖。如第1、2、3圖所示,本案之動磁式移載平台1可為但不限於線性馬達,且包含動子部11、驅動器13以及定子部14。動子部11設置於定子部14之上方,且可相對於定子部14進行移動,並包含至少一滑台及至少一磁石組件,例如第1圖所示之第一滑台111及第一磁石組件112。第一滑台111可於定子部14之上方進行往復移動(移動方向係如第1圖之雙箭頭所示之方向)。第一磁石組件112係設置於第一滑台111之下側,其係可利用與定子部14之間的磁場相互作用而帶動第一滑台111移動,同時提供關於第一滑台111之位置所在的訊息。驅動器13係接收一直流匯流排(未圖示)之直流電能,並轉換該直流電能,以對應輸出驅動電能。Please refer to FIG. 1 , FIG. 2 and FIG. 3 , wherein FIG. 1 is a circuit block diagram of a moving magnetic transfer platform according to a first preferred embodiment of the present invention, and FIG. 2 is a coil diagram of FIG. 1 . FIG. 3 is a schematic cross-sectional view showing a part of components of the moving magnetic transfer platform shown in FIG. 1 . As shown in the first, second, and third figures, the moving magnetic transfer platform 1 of the present invention may be, but not limited to, a linear motor, and includes a mover portion 11, a driver 13, and a stator portion 14. The mover portion 11 is disposed above the stator portion 14 and movable relative to the stator portion 14 and includes at least one slide table and at least one magnet assembly, such as the first slide table 111 and the first magnet shown in FIG. Component 112. The first slide table 111 is reciprocally movable above the stator portion 14 (the moving direction is the direction indicated by the double arrow in Fig. 1). The first magnet assembly 112 is disposed on the lower side of the first slide table 111, and can move the first slide table 111 by utilizing a magnetic field interaction with the stator portion 14 while providing a position regarding the first slide table 111. The message. The driver 13 receives the DC power of the bus bar (not shown) and converts the DC power to output the driving power.
於上述實施例中,第一磁石組件112更包含由永久磁石所構成之動力磁石113及訊號磁石114。動力磁石113利用與定子部14之間的磁場相互作用而帶動第一滑台111移動,而訊號磁石114則是用來提供關於第一滑台111之位置所在的訊息。In the above embodiment, the first magnet assembly 112 further includes a power magnet 113 and a signal magnet 114 composed of permanent magnets. The power magnet 113 utilizes a magnetic field interaction with the stator portion 14 to drive the first slide table 111 to move, and the signal magnet 114 is used to provide a message regarding the position of the first slide table 111.
定子部14係固定鄰設於動子部11,且包含線圈組件140、複數個第一開關元件142、電流感測器143、電氣角檢測器144、至少一磁場感測組件以及訊號處理器146。線圈組件140係利用與第一磁石組件112之動力磁石113之間的磁場相互作用而驅動動力磁石113帶動第一滑台111在定子部14上進行往復移動,且線圈組件140包含並排設置之複數個線圈141,複數個線圈141可為但不限為由漆包線或印刷電路板(PCB)構成,且複數個線圈141並排的方向與動子部11進行往復移動的方向為平行。每一第一開關元件142係連接於驅動器13及對應之線圈141之間,用以進行導通或截止之切換運作,其中當第一開關元件142導通時,可接收驅動器13提供之驅動電能,並將驅動電能傳送至對應之線圈141,使對應之線圈141運作而產生磁場,進而與動力磁石113所產生之磁場相互運作,以驅動第一滑台111移動。The stator portion 14 is fixedly adjacent to the mover portion 11 and includes a coil assembly 140, a plurality of first switching elements 142, a current sensor 143, an electrical angle detector 144, at least one magnetic field sensing component, and a signal processor 146. . The coil assembly 140 drives the power magnet 113 to drive the first slide table 111 to reciprocate on the stator portion 14 by utilizing a magnetic field interaction with the power magnet 113 of the first magnet assembly 112, and the coil assembly 140 includes a plurality of side-by-side arrangements The coils 141 and the plurality of coils 141 may be, but are not limited to, an enamel wire or a printed circuit board (PCB), and the direction in which the plurality of coils 141 are arranged side by side is parallel to the direction in which the mover portion 11 reciprocates. Each of the first switching elements 142 is connected between the driver 13 and the corresponding coil 141 for performing a switching operation of turning on or off. When the first switching element 142 is turned on, the driving power provided by the driver 13 can be received, and The driving power is transmitted to the corresponding coil 141, and the corresponding coil 141 operates to generate a magnetic field, thereby interacting with the magnetic field generated by the power magnet 113 to drive the first sliding table 111 to move.
電流感測器143係與驅動器13連接,用以偵測驅動器13所輸出之驅動電能中之驅動電流,並對應輸出電流偵測訊號。電氣角檢測器144係與電流感測器143連接,用以依據電流偵測訊號而偵測驅動器13所輸出之驅動電流之電氣角,並對應輸出電氣角訊號。磁場感測組件,例如第1圖所示之單一的磁場感測組件,係由複數個磁場感測元件145所構成,每一磁場感測元件145可為但不限為由數位式磁場感測元件所構成,且第一磁石組件112之訊號磁石114移動至對應之線圈141的所在位置,所產生之磁場變化係由對應的至少一磁場感測元件145感測,而每一磁場感測元件145更輸出感測結果。The current sensor 143 is connected to the driver 13 for detecting the driving current in the driving power output by the driver 13 and corresponding to the output current detecting signal. The electrical angle detector 144 is connected to the current sensor 143 for detecting the electrical angle of the driving current output by the driver 13 according to the current detecting signal, and correspondingly outputting the electrical angle signal. The magnetic field sensing component, such as the single magnetic field sensing component shown in FIG. 1, is comprised of a plurality of magnetic field sensing components 145, each of which may be, but is not limited to, a digital magnetic field sensing The component is formed, and the signal magnet 114 of the first magnet component 112 is moved to the position of the corresponding coil 141, and the generated magnetic field change is sensed by the corresponding at least one magnetic field sensing component 145, and each magnetic field sensing component 145 more output sensing results.
訊號處理器146係與複數個磁場感測元件145、電氣角檢測器144及複數個第一開關元件142連接,用以依據電氣角檢測器144輸出之電氣角訊號以及複數個磁場感測元件145輸出之感測結果來輸出對應的控制訊號,以控制每一第一開關元件142分別進行導通或截止之切換運作,使任一第一開關元件142於訊號磁石114移動至對應之線圈141時被控制為導通,故對應之線圈141便可經由導通之第一開關元件142接收驅動電能,進而驅動動力磁石113帶動第一滑台111移動,更進一步說明,當訊號處理器146依據對應之至少一磁場感測元件145之感測結果而得知訊號磁石114移動至對應之線圈141,且依據電氣角訊號而得知驅動電流之電氣角達到預設值,例如0度或180度時,訊號處理器146便控制與訊號磁石114之位置相對應之線圈141連接之第一開關元件142導通,使與導通之第一開關元件142連接之線圈141接收驅動器13輸出之驅動電能而運作並產生磁場,進而與動力磁石113所產生之磁場相互運作,以驅動第一磁石組件112帶動第一滑台111移動。於上述實施例中,電流感測器143及電氣角檢測器144的設置目的乃是為了尋找對應於第一開關元件142較佳的切換時機的電氣角,藉此降低在第一開關元件142進行切換時所造成的電流波動。The signal processor 146 is coupled to the plurality of magnetic field sensing elements 145, the electrical angle detector 144, and the plurality of first switching elements 142 for outputting electrical angle signals and a plurality of magnetic field sensing elements 145 according to the electrical angle detector 144. The sensing result is output to output a corresponding control signal to control the switching operation of each of the first switching elements 142 to be turned on or off, so that any of the first switching elements 142 is moved to the corresponding coil 141 when the signal magnet 114 is moved. The control is turned on, so that the corresponding coil 141 can receive the driving power through the first switching element 142 that is turned on, thereby driving the power magnet 113 to drive the first sliding table 111 to move, and further, when the signal processor 146 is in accordance with at least one corresponding The sensing result of the magnetic field sensing component 145 is that the signal magnet 114 is moved to the corresponding coil 141, and the electrical angle of the driving current reaches a preset value according to the electrical angle signal, for example, 0 degree or 180 degree, the signal processing The controller 146 controls the first switching element 142 connected to the coil 141 corresponding to the position of the signal magnet 114 to be turned on to be connected to the turned-on first switching element 142. The coil 141 receives the driving power output from the driver 13 and operates to generate a magnetic field, thereby interacting with the magnetic field generated by the power magnet 113 to drive the first magnet assembly 112 to move the first sliding table 111. In the above embodiment, the current sensor 143 and the electrical angle detector 144 are set to find an electrical angle corresponding to a preferred switching timing of the first switching element 142, thereby reducing the operation at the first switching element 142. Current fluctuations caused by switching.
由上可知,本案之動磁式移載平台1係以第一磁石組件112為動子部11,線圈組件140為定子部14,因此相較於習知動磁式移載平台係以線圈組件為動子部,磁石組為定子部,由於本案之動磁式移載平台1之線圈組件140係固定無法移動,因此在散熱設計上係較為簡單,且散熱效果更佳。As can be seen from the above, the moving magnetic transfer platform 1 of the present invention has the first magnet assembly 112 as the mover portion 11, and the coil assembly 140 is the stator portion 14, so that the coil assembly is compared with the conventional moving magnetic transfer platform. For the mover part, the magnet group is the stator part. Since the coil component 140 of the moving magnetic transfer platform 1 of the present invention is fixed and cannot be moved, the heat dissipation design is simple and the heat dissipation effect is better.
另外,由於本案之動磁式移載平台1係以線圈組件140來構成固定不移動之定子部14,故無需加裝電源線托鍊來對與複數個線圈141連接之電源線(未圖示)進行牽引及保護,故相較於習知動磁式移載平台需加裝電源線托鍊,本案之動磁式移載平台1不但可減少生產成本,亦可增加動磁式移載平台1內部的可使用空間,更甚者,與複數個線圈141連接之電源線將因定子部14為固定不移動而不易產生磨損之情況。In addition, since the movable magnetic transfer platform 1 of the present embodiment forms the stator portion 14 that is fixed and does not move by the coil unit 140, it is not necessary to add a power cord carrier to connect the power line connected to the plurality of coils 141 (not shown). ) To carry out traction and protection, it is necessary to install a power cord carrier chain compared to the conventional moving magnetic transfer platform. The dynamic magnetic transfer platform 1 of this case can not only reduce the production cost, but also increase the moving magnetic transfer platform. 1 The internal usable space, and moreover, the power supply line connected to the plurality of coils 141 will not be easily worn due to the stator portion 14 being fixed and not moving.
此外,因本案之動磁式移載平台1係由第一磁石組件112構成動子部11,由線圈組件140構成定子部14,故藉由較多的線圈141來構成線圈組件140及較少的永久磁石來構成第一磁石組件112,即可使動子部11於定子部14上進行範圍性的位置移動,而由於線圈之材料成本遠低於永久磁石之材料成本,故本案之動磁式移載平台1便可減少生產成本。Further, since the movable magnetic transfer platform 1 of the present embodiment includes the movable portion 11 by the first magnet assembly 112 and the stator portion 14 by the coil unit 140, the coil unit 140 is formed by a large number of coils 141 and less. The permanent magnet constitutes the first magnet assembly 112, so that the mover portion 11 can be moved in a range position on the stator portion 14, and since the material cost of the coil is much lower than the material cost of the permanent magnet, the magnetic field of the present case The transfer platform 1 can reduce production costs.
更甚者,本案之動磁式移載平台1之線圈組件140之每一線圈141是否運作乃是由對應之第一開關元件142依據訊號磁石114之所在位置而進行被動地導通或截止切換,並非由驅動器13來主動對應控制每一線圈141是否通電運作,故本案之驅動器13之設計實較為簡單,且由於本案之動磁式移載平台1可藉由電流感測器143及電氣角檢測器144尋找第一開關元件142較佳的切換時機,以降低電流波動,如此一來,本案之動磁式移載平台1之工作狀態便可較為穩定。Moreover, whether each coil 141 of the coil assembly 140 of the moving magnetic transfer platform 1 of the present invention operates is passively turned on or off by the corresponding first switching element 142 according to the position of the signal magnet 114. The driver 13 of the present invention is not simple in design, and the design of the driver 13 of the present invention is relatively simple, and since the moving magnetic transfer platform 1 of the present invention can be detected by the current sensor 143 and the electrical angle The 144 looks for a better switching timing of the first switching element 142 to reduce current fluctuations. As a result, the working state of the moving magnetic transfer platform 1 of the present invention can be relatively stable.
請再參閱第1圖,於一些實施例中,本案之動磁式移載平台1更包含第一位置編碼器12,第一位置編碼器12可為但不限為由光學、磁性、電容或其它具有位置檢知功能之感測元件所構成,並與驅動器13連接,且與動子部11相鄰設置,第一位置編碼器12係用以依據動子部11之所在位置而對應提供第一位置編碼訊號至驅動器13。此外,第一位置編碼器12與定子部14可互相獨立而分開設置。另外,動力磁石113與訊號磁石114可間隔設置,且間隔的距離實際上係取決可使動力磁石113及訊號磁石114所產生之磁場不會相互影響之距離。再者,複數個磁場感測元件145之間亦可間隔設置,且任意相鄰的兩個磁場感測元件145之間係相差120度電氣角。更甚者,驅動器13係與定子部14獨立且分開設置。Referring to FIG. 1 again, in some embodiments, the moving magnetic transfer platform 1 of the present invention further includes a first position encoder 12, which may be, but is not limited to, optical, magnetic, capacitive or Other sensing elements having a position detecting function are connected to the driver 13 and disposed adjacent to the mover portion 11. The first position encoder 12 is configured to provide a corresponding position according to the position of the mover portion 11. A position coded signal is sent to the driver 13. Further, the first position encoder 12 and the stator portion 14 may be provided separately from each other. In addition, the power magnet 113 and the signal magnet 114 may be spaced apart, and the distance between the partitions is actually determined by the distance between the magnetic fields generated by the power magnet 113 and the signal magnet 114 that do not affect each other. Moreover, the plurality of magnetic field sensing elements 145 may also be spaced apart from each other, and any two adjacent magnetic field sensing elements 145 are separated by an electrical angle of 120 degrees. Furthermore, the driver 13 is separately and separately provided from the stator portion 14.
請再參閱第2圖,於一些實施例中,驅動器13所提供之驅動電能實際上為包含U相、V相及W相之三相電能,因此線圈141之個數便對應為3的倍數,使每三個線圈141構成三相線圈組(例如第2圖所標示,U1、V1及W1構成三相線圈組,U2、V2、W2構成三相線圈組,U3、V3及W3構成三相線圈組,且U1、V1、W1、U2、V2、W2、U3、V3及W3分別由對應之線圈141所構成)。此外,每一線圈141具有第一端A及第二端B,其中每一線圈141之第一端A係分別連接對應之第一開關元件142,每一線圈141之第二端B與其它所有線圈141之第二端B連接。Referring to FIG. 2 again, in some embodiments, the driving power provided by the driver 13 is actually a three-phase electric energy including a U phase, a V phase, and a W phase, so the number of the coils 141 is a multiple of 3, Each of the three coils 141 constitutes a three-phase coil group (for example, as indicated in FIG. 2, U1, V1, and W1 constitute a three-phase coil group, U2, V2, and W2 constitute a three-phase coil group, and U3, V3, and W3 constitute a three-phase coil group. Groups, and U1, V1, W1, U2, V2, W2, U3, V3, and W3 are respectively formed by corresponding coils 141). In addition, each coil 141 has a first end A and a second end B, wherein the first end A of each coil 141 is respectively connected with a corresponding first switching element 142, and the second end B of each coil 141 is all other The second end B of the coil 141 is connected.
當然,第1圖所示之動磁式移載平台1並不侷限於僅有單一的滑台及磁石組件,於一些實施例中,例如第4圖所示,動磁式移載平台4更可包含另一滑台及另一磁石組件,以下簡稱第二滑台41及第二磁石組件42,且包含複數個第二開關元件43及另一磁場感測組件。第二滑台41係與第一滑台111串接,並於定子部14之上方進行往復移動。第二磁石組件42係設置於第二滑台41之下側,其係可利用與定子部14之間的磁場相互作用而帶動第二滑台41移動,同時可提供關於第二滑台41之位置所在的訊息,且第二磁石組件42的結構與第一磁石組件112相似,即包含動力磁石421及訊號磁石422,其中動力磁石421利用與定子部14之間的磁場相互作用而帶動第二滑台41移動,而訊號磁石422則是用來提供關於第二滑台41之位置所在的訊息。另一磁場感測組件係由複數個磁場感測元件44所構成,每一磁場感測元件44可為但不限為由數位式磁場感測元件所構成,且第二磁石組件42之訊號磁石422移動至對應之線圈141的所在位置所產生之磁場變化係由對應的至少一磁場感測元件44感測,而每一磁場感測元件44更輸出感測結果。每一第二開關元件43係連接於驅動器13及對應之線圈141之間,用以進行導通或截止之切換運作,當第二開關元件43導通時,可接收驅動器13提供之驅動電能,並將驅動電能傳送至對應之線圈141,使對應之線圈141運作而產生磁場,進而與第二磁石組件之動力磁石421所產生之磁場相互運作,以驅動第二滑台41移動。Of course, the moving magnetic transfer platform 1 shown in FIG. 1 is not limited to only a single sliding table and a magnet assembly. In some embodiments, for example, as shown in FIG. 4, the moving magnetic transfer platform 4 is further Another slide table and another magnet assembly may be included, hereinafter referred to as the second slide table 41 and the second magnet assembly 42, and include a plurality of second switching elements 43 and another magnetic field sensing assembly. The second slide table 41 is connected in series with the first slide table 111 and reciprocates above the stator portion 14. The second magnet assembly 42 is disposed on the lower side of the second slide table 41, and can move the second slide table 41 by utilizing the magnetic field interaction with the stator portion 14, and can provide the second slide table 41. The position of the second magnet assembly 42 is similar to that of the first magnet assembly 112, that is, the power magnet 421 and the signal magnet 422 are included, wherein the power magnet 421 is driven by the magnetic field interaction with the stator portion 14 to drive the second The slide table 41 is moved, and the signal magnet 422 is used to provide a message regarding the position of the second slide table 41. The other magnetic field sensing component is composed of a plurality of magnetic field sensing components 44. Each of the magnetic field sensing components 44 can be, but is not limited to, a digital magnetic field sensing component, and the signal magnet of the second magnet component 42 The change in the magnetic field generated by the position of the 422 moving to the corresponding coil 141 is sensed by the corresponding at least one magnetic field sensing element 44, and each of the magnetic field sensing elements 44 further outputs the sensing result. Each of the second switching elements 43 is connected between the driver 13 and the corresponding coil 141 for switching operation of turning on or off. When the second switching element 43 is turned on, the driving power provided by the driver 13 can be received, and The driving power is transmitted to the corresponding coil 141, and the corresponding coil 141 operates to generate a magnetic field, thereby interacting with the magnetic field generated by the power magnet 421 of the second magnet assembly to drive the second sliding table 41 to move.
此外,當訊號處理器146依據對應之磁場感測元件44之感測結果,得知第二磁石組件42內之訊號磁石422移動至對應之線圈141時,訊號處理器146便控制與第二磁石組件42內之訊號磁石422之位置相對應之線圈141連接之第二開關元件43導通,使與導通之第二開關元件43連接之線圈141接收驅動器13輸出之驅動電能而運作並產生磁場,進而與第二磁石組件42內之動力磁石421所產生之磁場相互運作,以驅動第二磁石組件42帶動第二滑台41移動。In addition, when the signal processor 146 learns that the signal magnet 422 in the second magnet assembly 42 moves to the corresponding coil 141 according to the sensing result of the corresponding magnetic field sensing component 44, the signal processor 146 controls the second magnet. The second switching element 43 connected to the coil 141 corresponding to the position of the signal magnet 422 in the component 42 is turned on, so that the coil 141 connected to the second switching element 43 that is turned on receives the driving power outputted by the driver 13 to generate a magnetic field. The magnetic field generated by the motive stone 421 in the second magnet assembly 42 operates to drive the second magnet assembly 42 to move the second slide table 41.
當然,於其它實施例中,動磁式移載平台亦更可包含三組以上的滑台及三組以上的磁石組件,舉例而言,當動磁式移載平台包含三組以上的滑台及三組以上的磁石組件時,動磁式移載平台係包含三組磁場感測組件,此外,動磁式移載平台亦包含複數個第一開關元件、複數個第二開關元件以及複數個第三開關元件。而當動磁式移載平台包含超過三組的滑台及超過三組的磁石組件時,則以此類推,故不再贅述。Of course, in other embodiments, the moving magnetic transfer platform may further comprise three or more sets of slides and three or more sets of magnet assemblies. For example, when the moving magnetic transfer platform includes three or more sets of slides. And when there are more than three sets of magnet assemblies, the moving magnetic transfer platform includes three sets of magnetic field sensing components. In addition, the moving magnetic transfer platform also includes a plurality of first switching elements, a plurality of second switching elements, and a plurality of The third switching element. When the moving magnetic transfer platform includes more than three sets of sliding tables and more than three sets of magnet components, the same is true, and therefore will not be described again.
請參閱第5圖,其係為第4圖所示之線圈的結構及線圈與第一開關元件及第二開關元件之間的連接方式的第一例示圖。如第5圖所示,每一線圈141之第一端A係分別連接相對應之第一開關元件142及第二開關元件43,故每一線圈141之第一端A所連接之第一開關元件142及第二開關元件43為並聯連接,而每一線圈141之第二端B係與其它所有線圈141之第二端B連接。而於第5圖中,由於每一線圈141之第二端B係與其它所有線圈141之第二端B連接,故複數個線圈141之間實為共中性點接法,如此一來,可簡化線圈141、第一開關元件142及第二開關元件43之間的連接方式,使整體的電路結構較為簡單。Please refer to FIG. 5, which is a first illustration of the structure of the coil shown in FIG. 4 and the manner of connection between the coil and the first switching element and the second switching element. As shown in FIG. 5, the first end A of each coil 141 is connected to the corresponding first switching element 142 and the second switching element 43, respectively, so that the first switch connected to the first end A of each coil 141 is connected. The element 142 and the second switching element 43 are connected in parallel, and the second end B of each coil 141 is connected to the second end B of all other coils 141. In FIG. 5, since the second end B of each coil 141 is connected to the second end B of all the other coils 141, a plurality of coils 141 are actually connected in a neutral manner, and thus, The connection between the coil 141, the first switching element 142, and the second switching element 43 can be simplified, so that the overall circuit structure is relatively simple.
另外,於一些實施例中,當如第4、5圖所示動磁式移載平台包含複數組滑台及複數組磁石組件時,動磁式移載平台可對應包含複數個驅動器13,此時線圈與第一開關元件及第二開關元件間的連接關係將會不同於第5圖而有所改變。請參閱第6圖,其係為第4圖所示之線圈的結構及線圈與第一開關元件及第二開關元件之間的連接方式的第二例示圖。如第6圖所示,當複數個驅動器13接收同一直流匯流排的電能時,每一線圈141之第一端A係分別連接相對應之第一開關元件142及第二開關元件43,故每一線圈141之第一端A所連接之第一開關元件142及第二開關元件43為並聯連接,每一線圈141之第二端B係分別連接相對應之第一開關元件142及第二開關元件43,故每一線圈141之第二端B所連接之第一開關元件142及第二開關元件43亦為並聯連接,且與每一線圈141之第一端A連接之第一開關元件142及第二開關元件43係分別異於與第二端B連接之第一開關元件142及第二開關元件43,此外,與每一線圈141之第二端B所連接之第一開關元件142係與其它每一線圈141之第二端B所連接之第一開關元件142連接,與每一線圈141之第二端B所連接之第二開關元件43係與其它每一線圈141之第二端B所連接之第二開關元件43連接。另外,由第6圖所示可知,複數個線圈141之間採用的為非共中性點接法,故可減少因第一開關元件142及第二開關元件43在進行切換或是線圈141在運作時所造成的干擾雜訊。In addition, in some embodiments, when the moving magnetic transfer platform includes the complex array slide table and the complex array magnet assembly as shown in FIGS. 4 and 5, the moving magnetic transfer platform may correspondingly include a plurality of drivers 13 . The connection relationship between the coil and the first switching element and the second switching element will be different from that of FIG. Please refer to FIG. 6 , which is a second illustration of the structure of the coil shown in FIG. 4 and the manner of connection between the coil and the first switching element and the second switching element. As shown in FIG. 6, when a plurality of drivers 13 receive power of the same DC bus, the first end A of each coil 141 is connected to the corresponding first switching element 142 and second switching element 43, respectively. The first switching element 142 and the second switching element 43 connected to the first end A of the coil 141 are connected in parallel, and the second end B of each coil 141 is respectively connected to the corresponding first switching element 142 and the second switch. The first switching element 142 and the second switching element 43 connected to the second end B of each coil 141 are also connected in parallel, and the first switching element 142 is connected to the first end A of each coil 141. And the second switching element 43 is different from the first switching element 142 and the second switching element 43 connected to the second end B, and the first switching element 142 connected to the second end B of each coil 141 is further The first switching element 142 connected to the second end B of each of the other coils 141 is connected, and the second switching element 43 connected to the second end B of each coil 141 is connected to the second end of each of the other coils 141. The second switching element 43 to which B is connected is connected. In addition, as shown in FIG. 6, it is known that the non-co-neutral point connection method is adopted between the plurality of coils 141, so that the switching between the first switching element 142 and the second switching element 43 or the coil 141 can be reduced. Interference noise caused by operation.
請參閱第7圖,其係為本案第三較佳實施例之動磁式移載平台之電路方塊示意圖。如第7圖所示,本實施例之動磁式移載平台7係包含動子部71,驅動器73及定子部74,其中動子部71及驅動器73的結構與作動皆分別相似於第1圖所示之動子部11及驅動器13,且定子部74的內部的元件結構及元件作動亦部分相似於第1圖所示之定子部14,故於此僅以相同的標號代表結構及功能相似而不再贅述。惟於本實施例中,複數個磁場感測元件145係由類比式磁場感測元件構成。此外,本實施例之動磁式移載平台7之定子部74更包含類比/數位轉換器72及第一位置編碼器75。類比/數位轉換器72係連接於複數個磁場感測元145以及訊號處理器146之間,用以將每一磁場感測元件145所輸出為類比形式之感測結果轉換為數位形式,並提供給訊號處理器146。第一位置編碼器75係整合於定子部74內,且連接於複數個磁場感測元件145以及驅動器73之間,用以依據複數個磁場感測元件145感測結果而得知動子部71之所在位置,並依據動子部71之所在位置而對應提供之第一位置編碼訊號至驅動器73,其中驅動器73係與定子部74獨立且分開設置。Please refer to FIG. 7 , which is a circuit block diagram of a moving magnetic transfer platform according to a third preferred embodiment of the present invention. As shown in FIG. 7, the moving magnetic transfer platform 7 of the present embodiment includes a mover portion 71, a driver 73 and a stator portion 74, wherein the structure and action of the mover portion 71 and the driver 73 are similar to the first one. The mover portion 11 and the driver 13 shown in the figure, and the internal component structure and component actuation of the stator portion 74 are also partially similar to the stator portion 14 shown in Fig. 1, and therefore only the same reference numerals are used to represent the structure and function. Similar and will not be described again. However, in the present embodiment, the plurality of magnetic field sensing elements 145 are composed of analog magnetic field sensing elements. In addition, the stator portion 74 of the moving magnetic transfer platform 7 of the present embodiment further includes an analog/digital converter 72 and a first position encoder 75. The analog/digital converter 72 is connected between the plurality of magnetic field sensing elements 145 and the signal processor 146 for converting the sensing result outputted by each magnetic field sensing element 145 into an analog form into a digital form and providing Signal processor 146. The first position encoder 75 is integrated in the stator portion 74 and connected between the plurality of magnetic field sensing elements 145 and the driver 73 for learning the moving part 71 according to the sensing results of the plurality of magnetic field sensing elements 145. The position is located, and the first position coded signal is correspondingly provided to the driver 73 according to the position of the mover portion 71, wherein the driver 73 is independently and separately disposed from the stator portion 74.
當然,於一些實施例中,第7圖所示之驅動器73亦可改為整合於定子部74內,即如第8圖所示。又於一些實施例中,為了可精確地偵測動子部71之所在位置,第7圖所示之動磁式移載平台7可更包含一第二位置編碼器,即如第9圖所示之第二位置編碼器91,第二位置編碼器91係連接驅動器73,並係與定子部74獨立而分開設置,且與動子部71相鄰設置,第二位置編碼器91用以依據動子部71之所在位置而提供第二位置編碼訊號至驅動器73,故驅動器73可藉由第一位置編碼器75輸出之第一位置編碼訊號與第二位置編碼器91輸出之第二位置編碼訊號而更精確地獲得動子部71之實際位置。Of course, in some embodiments, the driver 73 shown in FIG. 7 can also be integrated into the stator portion 74, as shown in FIG. In some embodiments, in order to accurately detect the position of the mover portion 71, the moving magnetic transfer platform 7 shown in FIG. 7 may further include a second position encoder, that is, as shown in FIG. The second position encoder 91 is shown, and the second position encoder 91 is connected to the driver 73, and is separately provided separately from the stator portion 74, and is disposed adjacent to the mover portion 71. The second position encoder 91 is used for The second position coded signal is supplied to the driver 73 at the position of the mover unit 71, so the driver 73 can output the second position code by the first position encoder 75 and the second position code output by the second position encoder 91. The actual position of the mover portion 71 is obtained more accurately with the signal.
另外,由第9圖可知,驅動器73與定子部74為獨立而分開設置,然而並不以此為限,於一些實施例中,例如第10圖所示,驅動器73亦可改為整合於定子部74內。In addition, as shown in FIG. 9, the driver 73 and the stator portion 74 are separately provided separately, but not limited thereto. In some embodiments, for example, as shown in FIG. 10, the driver 73 may be integrated into the stator. Inside the department 74.
綜上所述,本案係揭露一種動磁式移載平台,係以第一磁石組件為動子部,線圈組件為定子部,因此相較於習知動磁式移載平台係以線圈組件為動子部,磁石組為定子部,本案之動磁式移載平台在散熱設計上較為簡單,且散熱效果更佳。另外,由於本案之動磁式移載平台係以線圈組件來構成固定不移動之定子部,故無需加裝電源線托鍊來對電源線進行牽引及保護,不但可減少生產成本,亦可增加動磁式移載平台內部的可使用空間,且電源線不易產生磨損之情況。此外,因本案之動磁式移載平台係由第一磁石組件構成動子部,由線圈組件構成定子部,故藉由較多的線圈來構成線圈組件及較少的磁石來構成第一磁石組件,即可使動子部於定子部上進行範圍性的位置移動,故本案之動磁式移載平台便可減少生產成本。更甚者,本案之動磁式移載平台之線圈組件之每一線圈是否運作乃是由對應之第一開關元件依據訊號磁石之所在位置而進行被動地導通或截止切換,並非由驅動器來主動對應控制每一線圈是否通電運作,故本案之驅動器之設計實較為簡單。且本案動磁式移載平台可藉由電流感測器及電氣角檢測器尋找第一開關元件較佳的切換時機,以降低電流波動,如此一來,本案之動磁式移載平台之工作狀態便可較為穩定。In summary, the present disclosure discloses a moving magnetic transfer platform, in which the first magnet assembly is a mover portion and the coil assembly is a stator portion, so that the coil assembly is the same as the conventional moving magnetic transfer platform. The moving part and the magnet group are the stator parts. The moving magnetic transfer platform of this case is simple in heat dissipation design and has better heat dissipation effect. In addition, since the moving magnetic transfer platform of the present case uses a coil assembly to form a fixed and non-moving stator portion, it is not necessary to install a power line carrier to pull and protect the power line, which not only reduces production cost but also increases The available space inside the moving magnetic transfer platform, and the power cord is not prone to wear. In addition, since the movable magnetic transfer platform of the present embodiment is composed of a first magnet assembly and a stator portion, and the coil assembly constitutes a stator portion, the coil assembly and the less magnets are formed by a plurality of coils to constitute the first magnet. The component can move the movable part on the stator part in a range position, so the moving magnetic transfer platform of the present invention can reduce the production cost. What is more, whether each coil of the coil component of the moving magnetic transfer platform of the present invention operates is that the corresponding first switching component is passively turned on or off according to the position of the signal magnet, and is not actively driven by the driver. Corresponding to control whether each coil is energized, the design of the driver of this case is relatively simple. Moreover, the moving magnetic transfer platform of the present invention can find the better switching timing of the first switching element by the current sensor and the electrical angle detector to reduce the current fluctuation, and thus the work of the moving magnetic transfer platform of the present case The status can be more stable.
本案得由熟知此技術之人士施匠思而為諸般修飾,然皆不脫如附申請專利範圍所欲保護者。This case has been modified by people who are familiar with the technology, but it is not intended to be protected by the scope of the patent application.
1、4、7‧‧‧動磁式移載平台1,4,7‧‧‧Magnetic transfer platform
11、71‧‧‧動子部11, 71‧‧‧Moving Department
111‧‧‧第一滑台111‧‧‧First slide
112‧‧‧第一磁石組件112‧‧‧First magnet assembly
113、421‧‧‧動力磁石113, 421‧‧‧Power magnet
114、422‧‧‧訊號磁石114, 422‧‧‧ Signal magnet
12、75‧‧‧第一位置編碼器12, 75‧‧‧ first position encoder
13、73‧‧‧驅動器13, 73‧‧‧ drive
14、74‧‧‧定子部14, 74‧‧ ‧ stator
140‧‧‧線圈組件140‧‧‧ coil assembly
141‧‧‧線圈141‧‧‧ coil
142‧‧‧第一開關元件142‧‧‧First switching element
143‧‧‧電流感測器143‧‧‧ Current Sensor
144‧‧‧電氣角檢測器144‧‧‧Electrical angle detector
145、44‧‧‧磁場感測元件145, 44‧‧‧ Magnetic field sensing components
146‧‧‧訊號處理器146‧‧‧Signal Processor
41‧‧‧第二滑台41‧‧‧Second slide
42‧‧‧第二磁石組件42‧‧‧Second magnet assembly
43‧‧‧第二開關元件43‧‧‧Second switching element
72‧‧‧類比/數位轉換器72‧‧‧ Analog/Digital Converter
91‧‧‧第二位置編碼器91‧‧‧Second position encoder
A‧‧‧第一端A‧‧‧ first end
B‧‧‧第二端B‧‧‧ second end
第1圖為本案第一較佳實施例之動磁式移載平台之電路方塊示意圖。 第2圖為第1圖所示之線圈的結構及線圈與第一開關元件之間的連接方式的示意圖。 第3圖為第1圖所示之動磁式移載平台之部分元件的剖面結構示意圖。 第4圖為本案第二較佳實施例之動磁式移載平台之電路方塊示意圖。 第5圖為當第4圖所示之線圈的結構及線圈與第一開關元件及第二開關元件之間的連接方式的第一例示圖。 第6圖為當第4圖所示之線圈的結構及線圈與第一開關元件及第二開關元件之間的連接方式的第二例示圖。 第7圖為本案第三較佳實施例之動磁式移載平台之電路方塊示意圖。 第8圖為本案第四較佳實施例之動磁式移載平台之電路方塊示意圖。 第9圖為本案第五較佳實施例之動磁式移載平台之電路方塊示意圖。 第10圖為本案第六較佳實施例之動磁式移載平台之電路方塊示意圖。1 is a circuit block diagram of a moving magnetic transfer platform according to a first preferred embodiment of the present invention. Fig. 2 is a view showing the structure of the coil shown in Fig. 1 and the manner of connection between the coil and the first switching element. Fig. 3 is a schematic cross-sectional view showing the components of the moving magnetic transfer platform shown in Fig. 1. Figure 4 is a block diagram showing the circuit of the moving magnetic transfer platform of the second preferred embodiment of the present invention. Fig. 5 is a first illustration showing the structure of the coil shown in Fig. 4 and the manner of connection between the coil and the first switching element and the second switching element. Fig. 6 is a second illustration of the structure of the coil shown in Fig. 4 and the manner of connection between the coil and the first switching element and the second switching element. Figure 7 is a block diagram showing the circuit of the moving magnetic transfer platform of the third preferred embodiment of the present invention. Figure 8 is a block diagram showing the circuit of the moving magnetic transfer platform of the fourth preferred embodiment of the present invention. Figure 9 is a block diagram showing the circuit of the moving magnetic transfer platform of the fifth preferred embodiment of the present invention. Figure 10 is a block diagram showing the circuit of the moving magnetic transfer platform of the sixth preferred embodiment of the present invention.
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