WO2017124574A1 - 一种基于电磁驱动和传感模块的可组装自动化运输系统 - Google Patents

一种基于电磁驱动和传感模块的可组装自动化运输系统 Download PDF

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Publication number
WO2017124574A1
WO2017124574A1 PCT/CN2016/072101 CN2016072101W WO2017124574A1 WO 2017124574 A1 WO2017124574 A1 WO 2017124574A1 CN 2016072101 W CN2016072101 W CN 2016072101W WO 2017124574 A1 WO2017124574 A1 WO 2017124574A1
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Prior art keywords
module
coil
assembleable
current amplifier
electromagnetic
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PCT/CN2016/072101
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English (en)
French (fr)
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白坤
李国民
许若愚
王瑜辉
张超
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东莞思谷数字技术有限公司
华中科技大学
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Publication of WO2017124574A1 publication Critical patent/WO2017124574A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/043—Magnetic

Definitions

  • the invention relates to the field of material transportation, in particular to an assembleable automated transportation system based on an electromagnetic driving and sensing module.
  • the conveyor consists of a servo drive, a rail system and a transmission.
  • the track system consists of a guide rail and a transport vehicle, and the transport platform has only a degree of freedom of movement in the direction of the guide rail under the restriction of the slider.
  • the transmission can be a chain, a sheave or a belt. The transport platform moves along the guide rails under the traction of the transmission to achieve material transport at different stations.
  • the present invention provides an assembleable automated transportation system based on an electromagnetic driving and sensing module, which uses electromagnetic force as a driving force and an electromagnetic sensor as a position detecting module.
  • the process of transporting materials is more convenient and flexible, and it also has the advantages of simple structure and low noise during transportation.
  • an assembleable automated transportation system based on an electromagnetic drive and sensing module comprising:
  • One or more mobile platforms for material transportation the bottom of the mobile platform is provided with permanent magnets;
  • a guide rail for defining a movement track of the moving platform, the moving platform being disposed on the rail and movable on the rail
  • An electromagnetic module comprising a plurality of electromagnets distributed on the rail;
  • a position detecting module configured to acquire position information of the mobile platform on a track, and convert the position information into a corresponding electrical signal and feed back to the control module;
  • control module configured to receive an electrical signal with the position information sent by the position detecting module, and output a signal for controlling a current required for a coil of each electromagnet to make the
  • the electromagnetic force generated between the magnet and the electromagnetic module acts as a driving force for the moving platform to move on the rail, thereby controlling the movement of the moving platform on the rail.
  • control module comprises a controller and a current amplifier
  • the controller has a voltage signal output end for controlling the current of the coil of each electromagnet, and a coil for selecting each electromagnet to be energized.
  • the coil energizes the selection signal output;
  • Each of the coils of the electromagnets is connected in series with a switch module, and the control ends of the switch modules are connected to the coil energization selection signal output end, and the input ends of the switch modules are connected in parallel with the output end of the current amplifier, the current An input end of the amplifier is connected to the voltage signal output end;
  • the current of the coil of each electromagnet is provided by the current amplifier, and the controller sends a corresponding coil energization selection signal through the coil energization selection signal output end, so that the corresponding switch module is turned on, so that the current amplifier is The required coil is powered, and the same current amplifier supplies only one coil at a time.
  • the switch module is composed of two field effect transistors, and the gates of the two field effect transistors are connected to each other as a control end of the switch module, and the drains of the two field effect transistors are connected to each other, wherein the source of the one effect transistor is An input of the switch module is connected to an output of the current amplifier, and a source of the other effect transistor is connected as an output of the switch module to an input of the coil.
  • the permanent magnet is a permanent magnet
  • the permanent magnet is embedded in the bottom of the moving platform
  • the permanent magnet is embedded in a square groove disposed at the bottom of the mobile platform by an interference fit.
  • the position detecting module is an electromagnetic sensor, and the electromagnetic sensor is disposed in a coil of the electromagnet;
  • the rail comprises a linear guide module and/or a curved rail module, For the assembly of the linear guide module and the curved guide module, any movement track required by the mobile platform can be obtained; the electromagnets in the electromagnetic module are distributed in an array on the linear guide module and/or the curved guide module.
  • the assembleable automated transportation system provided by the invention adopts an electromagnetic module for electromagnetic driving, and does not require an external power device to drive the movement of the mobile platform, and therefore does not require any intermediate transmission device, and has a more structure than the existing transportation system. Simple, the noise is also smaller; Moreover, the energization state of the coils of the electromagnets in the electromagnetic module can be independently controlled, so that the various moving platforms on the guide rail can also be independently controlled, thereby making the material conveying process more flexible and convenient.
  • FIG. 1 is a schematic structural view of an assembleable automated transportation system based on an electromagnetic driving and sensing module according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of another assembleable automated transportation system based on an electromagnetic driving and sensing module according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of one circuit of a controller and each coil in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of another circuit of a controller and each coil according to an embodiment of the present invention.
  • the numbers in the figure are: 1- permanent magnet, 2-mobile platform, 3-electromagnet, 4-linear guide module, 5-curve rail module.
  • the assemblable automated transportation system based on the electromagnetic drive and sensing module includes: one or more mobile platforms 2 for material transportation for defining the movement trajectory of the mobile platform 2
  • the guide rails are electromagnetic modules composed of a plurality of electromagnets 3 distributed on the guide rails, and permanent magnets 1 disposed at the bottom of the mobile platform 2.
  • the number of the mobile platforms 2 can be determined according to actual needs, that is, the transportation system can assemble the corresponding number of mobile platforms 2 according to actual needs.
  • Each of the mobile platforms 2 is disposed on the guide rail and movable on the guide rails.
  • Each of the mobile platforms 2 is provided with a control module for controlling movement of the mobile platform 2 on the guide rails.
  • the guide rails are further provided with the mobile platform for acquiring the mobile platform.
  • a position detecting module for position information on a track, the position detecting module converting the acquired position information into a corresponding electrical signal and feeding back the control module; the control module receiving an electrical signal having the position information, and After calculating the magnitude of the energization current required for the coils in the electromagnets 3 of the electromagnetic module, a signal for controlling the energization current required for the coils of the electromagnets 3 is output to generate electromagnetic waves between the permanent magnets 1 and the electromagnetic modules.
  • the force acts as a driving force for the moving platform 2 to move on the guide rail, thereby controlling the movement of the moving platform 2 on the guide rail.
  • the permanent magnet 1 is preferably a permanent magnet, and the permanent magnet is embedded in a square groove provided at the bottom of the mobile platform 2 by an interference fit.
  • the guide rail in this embodiment includes a linear guide module 4 and/or a curved guide module 5. By combining or assembling the linear guide module 4 and the curved guide module 5, any movement (or movement required) of the mobile platform 2 can be obtained. ) The trajectory to meet the different requirements of the material transportation process.
  • the electromagnets 3 in the electromagnetic module are distributed on the linear guide module 4 or the curved rail module 5 according to a certain regularity. The number and distance of the electromagnets 3 can be set according to actual needs. In this embodiment, the electromagnets 3 are arranged in an array on the linear guide module or the curved rail module, as shown in FIGS. 1-2.
  • the position detecting module is an electromagnetic sensor, and the electromagnetic sensor is disposed in a coil of the electromagnet, and the position of each moving platform can be measured by an electromagnetic sensor, that is, the position of the moving platform is It is detected based on electromagnetic sensing. Since the mover of the mobile platform is a permanent magnet, the position detecting module is an electromagnetic sensor disposed in the electromagnet, so there is no need to install any position detecting component on the mobile platform, and thus the mobile platform does not need to connect any signal line or power line.
  • the position detecting module may also be other sensors having a position detecting function, as long as the position information of each mobile platform on the track can be detected and fed back to the control module.
  • the control module includes a controller and a current amplifier connected to the controller, and an energizing current of a coil of each electromagnet is provided by the current amplifier, as shown in FIG.
  • the control module after calculating the magnitude of the current required by the coils in the electromagnets of the electromagnetic module, the control module outputs a signal for controlling the current required by the coils of the electromagnets as a voltage signal, and the voltage signal passes through a first
  • the current amplifier processes, and then passes through the current amplifier to output the current required by the coil of the electromagnet, so that each electromagnet has a corresponding
  • the magnetic force causes a corresponding electromagnetic force to be generated with the permanent magnet disposed at the bottom of the mobile platform, thereby controlling the movement of the mobile platform on the guide rail.
  • a scheme in which a plurality of electromagnets are connected in parallel with an output end of the current amplifier is used, and the digital signal generated by the controller selects an electromagnetic field on the guide rail that is closer to the moving platform and can generate an effective electromagnetic force.
  • the iron coil is energized, but only one coil is energized at the same time.
  • the controller can determine the coil of the electromagnet that is closer to the mobile platform and needs to generate electromagnetic force by receiving the position information fed back by each electromagnetic sensor.
  • the control module described in this embodiment includes a controller and a current amplifier, the controller having a voltage signal output terminal for controlling the magnitude of the current of the coil of each electromagnet, and a a coil energization selection signal output end for selecting a coil of each electromagnet; a coil module is connected in series to each coil of each electromagnet, and a control end of each switch module is connected with the coil energization selection signal output end, each switch module The input end is connected in parallel with the output end of the current amplifier, the input end of the current amplifier is connected to the voltage signal output end; the energizing current of the coil of each electromagnet is provided by the current amplifier, and the controller passes The coil energization selection signal output terminal sends a corresponding coil energization selection signal to turn on the corresponding switch module, so that the current amplifier supplies power to the required coil, but the same current amplifier supplies only one coil at a time.
  • the number of switch modules connected in parallel at the output of the current amplifier can be set according to actual needs, that is, the number of connections of the current amplifier and the coil of the electromagnet can be set as needed; meanwhile, the number of current amplifiers and controllers is also Can be set according to actual needs.
  • FIG. 3 and FIG. 4 it provides a specific circuit connection mode of the coil: one end of the coil is directly connected to the current amplifier or connected to the current amplifier through the switch module, and the other end of the coil is grounded; In the middle, the specific connection mode of the coil can be selected according to the actual situation. For example, if the current amplifier adopts a PWM type current amplifier, both ends of the coil are connected with the current amplifier. Of course, the coil can also be connected in other ways. As long as it is a connection method for realizing the current supply current required for the coil.
  • the controller will output two signals after a series of operations: a voltage signal for controlling the magnitude of the energization current of the coils of the electromagnets, and a coil energization selection signal for selecting the energization of the coils of the respective electromagnets.
  • the voltage signal for controlling the current of the coil is output from the voltage signal output terminal to the current amplifier, and the current amplifier amplifies the voltage signal to output a corresponding current signal (the current magnitude of the current amplifier output is linear with the voltage signal of the input current amplifier).
  • the switch module And outputting the switch module to the corresponding coil; and the coil energization selection signal for selecting the coil of each electromagnet is outputted from the coil energization selection signal output end to the control end of the switch module, the coil energization selection signal
  • the corresponding switch module is turned on, so that the current signal outputted by the current amplifier is output to the target coil (ie, the coil of the electromagnet that needs to be energized at this time).
  • the coil energization selection signal and the switch module are used to ensure that the current signal outputted by the current amplifier output is only output to the target coil at the same time, that is, at the same time, only the switch module connected to the target coil is turned on. Other switch modules connected to non-target coils are in the off state.
  • the switch module in this embodiment is composed of two field effect transistors, and the gates of the two field effect transistors are connected to each other as a control end of the switch module, and the drains of the two field effect transistors are connected to each other, wherein the source of the one effect transistor The pole is connected as an input of the switch module to the output of the current amplifier, and the source of the other effect transistor is connected as an output of the switch module to the input of the coil, as shown in FIG. In FIG. 4, the reverse connection of the two FETs ensures that the switch module is bidirectionally non-conducting.
  • the switch module in this embodiment if the target coil is to be energized, the coil energization selection signal output end of the controller only needs to output a corresponding signal to make the switch module connected to the target coil.
  • the FET is turned on, and the FETs in the remaining switch modules are all turned off.
  • other circuit modules having similar functions can also be used to implement the functions of the above switch modules.
  • the assemblyable automated transportation system in this embodiment adopts a closed-loop control mode, and the electromagnetic force of the mobile platform and the coil and movement of the electromagnet are adopted.
  • the relative position between the platforms has a certain relationship.
  • the electromagnetic force provided by each electromagnet is proportional to the current therein. After calculation, a model can be established to establish the relationship between the electromagnetic force provided by all the electromagnets and the position of the permanent magnets when the unit current is passed.
  • model one the optimal solution of the current of each electromagnet coil when the mobile platform is subjected to the unit force can also be calculated, so that the current of all the electromagnet coils and the moving platform are generated when the unit size is combined.
  • Model 2 A model of the relationship between the locations (referred to as Model 2 in the present invention) is also achievable.
  • the model can be established by the Ampere formula, ie
  • R' is the point on the permanent magnet
  • R is the point on the electromagnet
  • ⁇ 0 is the vacuum permeability
  • ⁇ is the pi
  • ⁇ is the Laplacian
  • M is the polarization of the magnet
  • n is the magnet The normal direction of the surface
  • V is the volume of the magnet
  • S is the surface area of the magnet.
  • the model one is a function related to the position of the mobile platform.
  • the model of each coil can be obtained, and the force received by the mobile platform at any position can be expressed by the following formula:
  • K [K 1 ... K n ] is a row vector of 1 ⁇ n;
  • K 1 ... K n is a corresponding value u 1 ... u n of each electromagnet model when the mobile platform is in an arbitrary position, which is the magnitude of the current flowing in each electromagnet.
  • u can be calculated by:
  • the model 2 of the electromagnet can be obtained by fitting the magnitude relationship of u corresponding to an electromagnet when the mobile platform is at different positions. It can be seen that the second model is also a function related to the position of the mobile platform, and the model 2 corresponding to each electromagnet can also be obtained.
  • the optimal solution for calculating the coil current is required to perform the inverse operation, it will occupy a large amount of memory of the controller in the control module.
  • Establishing the above two models can greatly optimize the system program and improve the real-time performance of the system.
  • the above two models (Model 1 and Model 2) can be pre-stored in the controller, and only the position information of the mobile platform needs to be input.
  • the force provided by each coil through the unit current can be calculated through the model one, and the model 2 can be used. Calculated to produce a unit of force, the current that each coil should pass into, thus avoiding the operation of solving the inverse matrix in real time.
  • the actual position of the mobile platform can be measured by the electromagnetic sensor, and the position error, that is, the deviation between the given mobile platform position (or the target position to which the mobile platform is to be moved) and the actual position of the mobile platform at the moment,
  • the controller can implement the PID operation
  • the theoretical value of the driving force required for the mobile platform can be obtained.
  • the controller can obtain each of the above model 2
  • the required current in the coil of the electromagnet the controller outputs a corresponding voltage signal through the current amplifier to input the required energizing current into the coil of each electromagnet, thereby realizing the control of the movement of the moving platform on the rail.
  • the assembleable automated transportation system provided by the embodiment of the invention adopts an electromagnetic module for electromagnetic driving, and does not require an external power device to drive the mobile platform to move, and thus does not require any intermediate transmission device, compared to the existing transportation system.
  • the structure is simpler and the noise is smaller; moreover, the energization state of the coils of the electromagnets in the electromagnetic module can be independently controlled, so that the rails are
  • the various mobile platforms can also be independently controlled, and the transportation system can be assembled by various independently controllable mobile platforms as needed. Therefore, in the process of material transportation, independent transportation control can be performed for different workpieces, compared with existing ones.
  • the transportation system is more flexible and convenient for the material conveying process; in addition, since the mover of the mobile platform is a permanent magnet, the position detection module is an electromagnetic sensor disposed in the electromagnet, so there is no need to install any position detection on the mobile platform.
  • the component, and thus the mobile platform does not need to be connected to any signal line or power line, and thus is very convenient during transportation of the material, and only the linear guide module 4 and the curved rail module 5 are combined or assembled to obtain the movement.
  • the required movement path of the platform can meet the different requirements of the material transportation process.

Abstract

一种基于电磁驱动和传感模块的可组装自动化运输系统，运输系统包括：一个或多个移动平台（2），移动平台（2）的底部设置有永磁体（1）；导轨（4、5），用于限定移动平台（2）的移动轨迹，移动平台（2）设置于导轨（4、5）上且可在导轨（4、5）上移动；分布于导轨（4、5）上的多个电磁铁（3）；用于获取移动平台（2）在轨道上的位置信息的位置检测模块；以及用于控制移动平台（2）在导轨（4、5）上的移动的控制模块。该运输系统具有运输方便，结构简单，噪音小的优点。

Description

一种基于电磁驱动和传感模块的可组装自动化运输系统 技术领域
本发明涉及物料运输领域，具体涉及一种基于电磁驱动和传感模块的可组装自动化运输系统。
背景技术
在电子行业中，经常需要对物料进行精密运输以实现自动化生产，这种运输机由伺服驱动部分、轨道系统、传动装置组成。轨道系统由导轨和运输车构成，运输平台在滑块的限制下只有沿导轨方向的移动自由度。传动装置可以是链条、槽轮或皮带。在传动装置的牵引下运输平台沿导轨移动以实现物料在不同工位上的输送。
上述运输系统虽然满足了精度要求，但是也有明显的缺陷，它们均需要诸如电机、气压或液压装置等外部动力装置进行驱动，运输平台之间或运输平台与传动装置之间需要通过结构上的固连来实现相互驱动。在这种驱动方式之下，运输系统不能实现对流水线的不同任务进行独立输送并且在运行时容易出现卡顿现象。由于使用了减速器以及轮系或者链条，传统运输机在运行时噪声较大且结构复杂不易于安装维护。
发明内容
为了克服现有技术中的不足，本发明提供一种基于电磁驱动和传感模块的可组装自动化运输系统，该可组装自动化运输系统采用电磁力作为驱动力，并以电磁传感器作为位置检测模块，其运输物料的过程更加方便灵活，而且其还具有结构简单，运输过程中的噪音小等优点。
本发明是通过以下技术方案实现的：一种基于电磁驱动和传感模块的可组装自动化运输系统，所述可组装自动化运输系统包括：
一个或多个移动平台，用于进行物料运输，所述移动平台的底部设置有永磁体；
导轨，用于限定移动平台的移动轨迹，所述移动平台设置于所述导轨上且可在所述导轨上移动，
电磁模块，包括分布于所述导轨上的多个电磁铁；
位置检测模块，用于获取所述移动平台在轨道上的位置信息，并将该位置信息转换为相应的电信号反馈至控制模块；
控制模块，设置于所述移动平台上，用于接收所述位置检测模块发出的具有所述位置信息的电信号，并输出控制各电磁铁的线圈所需通电电流的信号，以使所述永磁体与电磁模块之间产生的电磁力作为所述移动平台在所述导轨上移动的驱动力，从而控制所述移动平台在导轨上的移动。
优选地，所述控制模块包括有一控制器与一电流放大器，所述控制器具有一用于控制各电磁铁的线圈的通电电流大小的电压信号输出端，以及一用于选择各电磁铁的线圈通电的线圈通电选择信号输出端；
各电磁铁的线圈均串联连接有一开关模块，各开关模块的控制端均与所述线圈通电选择信号输出端连接，各开关模块的输入端与所述电流放大器的输出端并联连接，所述电流放大器的输入端与所述电压信号输出端连接；
各电磁铁的线圈的通电电流由所述电流放大器提供，所述控制器通过线圈通电选择信号输出端发出相应的线圈通电选择信号，使对应的开关模块导通，从而使得所述电流放大器为所需的线圈供电，同一电流放大器同一时间内只为一个线圈供电。
较佳地，所述开关模块由两场效应管组成，两场效应管的栅极相互连接作为开关模块的控制端，两场效应管的漏极相互连接，其中一场效应管的源极作为开关模块的输入端与所述电流放大器的输出端连接，另一场效应管的源极作为开关模块的输出端与所述线圈的输入端连接。
较佳地，所述永磁体为永磁铁，该永磁铁嵌入在所述移动平台的底部，且所述永磁铁通过过盈配合嵌入在移动平台底部设置的方槽内。
优选地，所述位置检测模块为电磁传感器，该电磁传感器设置于所述电磁铁的线圈中；所述导轨包括直线导轨模块和/或曲线导轨模块，通过 对直线导轨模块与曲线导轨模块的组装，可以得到所述移动平台所需的任意移动轨迹；所述电磁模块中的电磁铁在所述直线导轨模块和/或曲线导轨模块上呈阵列分布。
本发明提供的可组装自动化运输系统采用电磁模块来进行电磁驱动，不需要外置的动力装置来驱动移动平台移动，因此也无需任何的中间传动装置，相对于现有的运输系统，其结构更加简单，噪声也更小；而且，电磁模块中各电磁铁的线圈的通电状态可以独立控制，使得导轨上的各个移动平台也可以独立控制，从而使得物料的输送过程更加灵活方便。
附图说明
附图1为本发明实施例中所述基于电磁驱动和传感模块的可组装自动化运输系统的结构示意图；
附图2为本发明实施例中的另一基于电磁驱动和传感模块的可组装自动化运输系统的结构示意图；
附图3为本发明实施例中的控制器与各线圈的其中一电路结构示意图；
附图4为本发明实施例中的控制器与各线圈的另一电路结构示意图；
其中，图中的标号为：1-永磁体，2-移动平台，3-电磁铁，4-直线导轨模块，5-曲线导轨模块。
具体实施方式
为了便于本领域技术人员的理解，下面结合附图对本发明作进一步的描述。
如附图1-2所示，所述基于电磁驱动和传感模块的可组装自动化运输系统包括有：一个或多个用于进行物料运输的移动平台2，用于限定移动平台2的移动轨迹的导轨，分布于导轨上的由多个电磁铁3组成的电磁模块，以及设置于移动平台2底部的永磁体1。
其中，移动平台2的数量可以根据实际需要来确定，即运输系统可以根据实际需要来对相应数量的移动平台2进行组装。各移动平台2设置于所述导轨上且可在所述导轨上移动，各移动平台2上设置有用于控制移动平台2在导轨上移动的控制模块；导轨上还设置有用于获取所述移动平台 2在轨道上的位置信息的位置检测模块，该位置检测模块将获取的所述位置信息转换为相应的电信号反馈至所述控制模块中；控制模块接收具有所述位置信息的电信号，并在计算出电磁模块各电磁铁3中的线圈所需的通电电流大小后，输出控制各电磁铁3的线圈所需通电电流的信号，以使所述永磁体1与电磁模块之间产生的电磁力作为移动平台2在所述导轨上移动的驱动力，从而控制所述移动平台2在导轨上的移动。
在本实施例中，所述永磁体1优选为永磁铁，且该永磁铁通过过盈配合嵌入在移动平台2底部设置的方槽内。本实施例中的导轨包括直线导轨模块4和/或曲线导轨模块5，通过对直线导轨模块4与曲线导轨模块5的组合或组装，可以得到所述移动平台2所需的任意移动(或运动)轨迹，以满足物料运输过程中的不同要求。其中，所述电磁模块中的各电磁铁3，其按照一定的规律分布在直线导轨模块4或曲线导轨模块5上，各电磁铁3的数量和距离可根据实际需要设置。本实施例中，各电磁铁3在所述直线导轨模块上或曲线导轨模块上呈阵列分布，如附图1-2所示。
作为本发明的优选实施例，所述位置检测模块为电磁传感器，该电磁传感器设置于所述电磁铁的线圈中，每一移动平台的位置均可以由电磁传感器测得，即移动平台的位置是基于电磁传感来检测获得的。由于移动平台的动子为永磁铁，位置检测模块为设置于电磁铁中的电磁传感器，因此无需在移动平台上安装任何的位置检测元件，进而移动平台也不需要连接任何信号线或电源线。当然，所述位置检测模块也可以是其他具有位置检测功能的传感器，只要是可以检测到各移动平台在轨道上的位置信息，并将其反馈到所述控制模块即可。
在本实施例中，所述控制模块包括有控制器、以及与该控制器连接的电流放大器，各电磁铁的线圈的通电电流由所述电流放大器提供，如附图3所示。本发明实施例中，控制模块在计算出电磁模块各电磁铁中的线圈所需的通电电流大小后，输出控制各电磁铁的线圈所需通电电流的信号为电压信号，该电压信号先通过一电流放大器进行处理，然后经过该电流放大器处理后再输出电磁铁的线圈所需的通电电流，使得各电磁铁具有相应 的磁性，使其与移动平台底部设置的永磁体产生相应的电磁力，从而控制所述移动平台在导轨上的移动。
考虑到单个移动平台在导轨上运输物料过程中移动到不同的位置时，并不是所有的电磁铁都会对移动平台产生影响，距离移动平台较远的电磁铁对移动平台的影响可以忽略不计，因此并不需要所有电磁铁都配置一个电流放大器。作为本发明的优选实施例，本实施例中采用一个电流放大器的输出端并联多个电磁铁的方案，通过控制器产生的数字信号选择导轨上距离移动平台较近而能产生有效电磁力的电磁铁的线圈通电，但同一时间只为一个线圈通电。其中，控制器可以通过接收各电磁传感器反馈的位置信息判断来距离移动平台较近的且需要产生电磁力的电磁铁的线圈。
如附图4所示，本实施例中所述的控制模块包括有一控制器与一电流放大器，所述控制器具有一用于控制各电磁铁的线圈的通电电流大小的电压信号输出端，以及一用于选择各电磁铁的线圈通电的线圈通电选择信号输出端；各电磁铁的线圈均串联连接有一开关模块，各开关模块的控制端均与所述线圈通电选择信号输出端连接，各开关模块的输入端与所述电流放大器的输出端并联连接，所述电流放大器的输入端与所述电压信号输出端连接；各电磁铁的线圈的通电电流由所述电流放大器提供，所述控制器通过线圈通电选择信号输出端发出相应的线圈通电选择信号，使对应的开关模块导通，从而使得所述电流放大器为所需的线圈供电，但同一电流放大器同一时间内只为一个线圈供电。
在实际应用中，电流放大器的输出端并联连接的开关模块的数量可以根据实际需要设置，即电流放大器与电磁铁的线圈的连接数量可根据需要来设置；同时，电流放大器与控制器的数量也可根据实际需要来设置。
另外需要说明的是，在图3与图4中，其提供了线圈具体的电路连接方式：线圈的一端直接与电流放大器连接或通过开关模块与电流放大器连接，线圈的另一端接地；在实际应用中，可根据实际情况来选择线圈的具体连接方式，如假如电流放大器采用为PWM式的电流放大器，则线圈的两端均与电流放大器连接。当然，线圈还可以采用其他的连接方式， 只要是为实现电流放大器为线圈提供所需的通电电流的连接方式即可。
所述控制器在经过一系列运算后将会输出两个信号：用于控制各电磁铁的线圈的通电电流大小的电压信号，以及用于选择各电磁铁的线圈通电的线圈通电选择信号。控制线圈电流大小的电压信号自电压信号输出端输出至电流放大器，电流放大器将该电压信号进行放大等处理后输出相应的电流信号(电流放大器输出的电流大小和输入电流放大器的电压信号呈线性关系)，再经开关模块输出至相应的线圈中；而用于选择各电磁铁的线圈通电的线圈通电选择信号自所述线圈通电选择信号输出端输出到开关模块的控制端，该线圈通电选择信号使相应的开关模块导通，从而使得经电流放大器处理后输出的电流信号输出到目标线圈(即此时需要通电的电磁铁的线圈)中。所述线圈通电选择信号与开关模块用于确保在同一时间内，电流放大器输出端输出的电流信号只输出到目标线圈中，即在同一时间内，只有与目标线圈连接的开关模块是导通的，而其他与非目标线圈连接的开关模块是处于关断状态的。
优选地，本实施例中的开关模块由两场效应管组成，两场效应管的栅极相互连接作为开关模块的控制端，两场效应管的漏极相互连接，其中一场效应管的源极作为开关模块的输入端与所述电流放大器的输出端连接，另一场效应管的源极作为开关模块的输出端与所述线圈的输入端连接，如附图4所示。图4中，两个场效应管反向串联保证开关模块双向不导通，当与目标线圈连接的开关模块中的场效应管的栅极有信号(即线圈通电选择信号)输入时，两个场效应管同时导通；此时，电流放大器输出端的电流信号经过该开关模块输出到目标线圈中，而由于其他开关模块此时处于关断状态，因此与其他开关模块对应连接的非目标线圈此时均处于非通电状态。
利用本实施例中的开关模块，若要为目标线圈通电，控制器的线圈通电选择信号输出端只需输出相应的信号，使与目标线圈连接的开关模块中 的场效应管导通，而其余的开关模块中的场效应管均为关断状态即可。当然，也可以采用其他具有类似功能的电路模块来实现上述开关模块的功能。
下面对本实施例提供的可组装自动化运输系统的工作原理或工作过程作简要的说明：本实施例中的可组装自动化运输系统采用闭环控制方式，移动平台所受电磁力与电磁铁的线圈和移动平台间的相对位置有一定的关系，每个电磁铁提供的电磁力与其中的电流成正比，经过计算可以建立通过单位电流时所有电磁铁提供的电磁力与永磁铁位置之间关系的模型(本发明中将其称之为模型一)；移动平台受到单位力时各电磁铁线圈通电电流的最优解也可以被计算出来，因此产生单位大小合力时所有电磁铁线圈的通电电流与移动平台位置之间关系的模型(本发明中将其称之为模型二)也是可以建立的。
在上述模型一与模型二的建立过程中，模型一可用安培力公式建立，即
Figure PCTCN2016072101-appb-000001
其中
Figure PCTCN2016072101-appb-000002
其中R’为永磁铁上的点，R为电磁铁上的点，μ0为真空磁导率，π为圆周率，▽为拉普拉斯算子，M为磁铁极化强度，n为磁铁各表面的法线方向，V为磁铁的体积，S为磁铁的表面积。
当式中I为单位电流并取F移动平台运动方向的分量时就可以得到模型一：
K＝f(x)。
可知模型一是与移动平台位置相关的函数，当移动平台运动方向上有n个线圈时，每个线圈的模型一都可以求出，那么移动平台在任意位置受到的力可以用下式表达：
F＝Ku。
其中：
K＝[K1…Kn]为1×n的行向量；
u＝[u1…un]T为n×1的列向量。
K1…Kn为移动平台处于任意位置时每一个电磁铁模型一对应的值u1…un为每个电磁铁中通入的电流大小。为求得通入电流大小的最优解使所有电流大小的平方和最小，即使电磁铁消耗功率最小，u可以通过下式计算出来：
u＝[K]T([K][K]T)-1F。
取F为单位力，将移动平台处于不同位置时某电磁铁对应的u的大小关系进行拟合就可以得到该电磁铁的模型二。可知模型二同样是与移动平台位置相关的函数，每一个电磁铁对应的模型二也都是可以求得的。
由于计算线圈通电电流的最优解需要进行求逆运算，其会占用控制模块中的控制器的大量运存，建立上述两个模型可以大大优化系统程序提高系统实时性。可以将上述两个模型(模型一与模型二)预先保存于控制器中，只需要输入移动平台的位置信息通过模型一就可以计算每一个线圈通单位电流时提供的力，通过模型二就可以计算为产生单位合力每个线圈应该通入的电流大小从而避免了实时求解逆矩阵的操作。移动平台的实际位置可以通过所述的电磁传感器测得，将位置误差，即给定的移动平台位置(或者说移动平台所要移动到的目标位置)与移动平台此刻的实际位置之间的偏差，输入所述控制器(该控制器可实现PID运算)后可以得到移动平台所需驱动力的理论值，当位置已知且所需驱动力已知时，控制器便可以通过上述模型二得到每个电磁铁的线圈中所需的通电电流，控制器输出相应的电压信号通过电流放大器将所需的通电电流输入到各电磁铁的线圈中，从而实现对移动平台在导轨上的移动的控制。
本发明实施例提供的可组装自动化运输系统，其采用电磁模块来进行电磁驱动，不需要外置的动力装置来驱动移动平台移动，因此也无需任何的中间传动装置，相对于现有的运输系统，其结构更加简单，噪声也更小；而且，电磁模块中各电磁铁的线圈的通电状态可以独立控制，使得导轨上 的各个移动平台也可以独立控制，运输系统可根据需要由各个可独立控制的移动平台组装而成，因此在物料运输的过程中，可以针对各个不同的工件进行独立输送控制，相对于现有的运输系统，其对于物料的输送过程显得更加灵活方便；另外，由于移动平台的动子为永磁铁，位置检测模块为设置于电磁铁中的电磁传感器，因此无需在移动平台上安装任何的位置检测元件，进而移动平台也不需要连接任何信号线或电源线，因而在物料的运输过程中也显得非常方便，只需对直线导轨模块4与曲线导轨模块5进行组合或组装，以得到所述移动平台所需的移动轨迹，即可以满足物料运输过程中的不同要求。
上述实施例中提到的内容为本发明较佳的实施方式，并非是对本发明的限定，在不脱离本发明构思的前提下，任何显而易见的替换均在本发明的保护范围之内。

Claims (10)

  1. 一种基于电磁驱动和传感模块的可组装自动化运输系统，其特征在于，所述可组装自动化运输系统包括：
    一个或多个移动平台，用于进行物料运输，所述移动平台的底部设置有永磁体；
    导轨，用于限定移动平台的移动轨迹，所述移动平台设置于所述导轨上且可在所述导轨上移动，
    电磁模块，包括分布于所述导轨上的多个电磁铁；
    位置检测模块，用于获取所述移动平台在轨道上的位置信息，并将该位置信息转换为相应的电信号反馈至控制模块；
    控制模块，设置于所述移动平台上，用于接收所述位置检测模块发出的具有所述位置信息的电信号，并输出控制各电磁铁的线圈所需通电电流的信号，以使所述永磁体与电磁模块之间产生的电磁力作为所述移动平台在所述导轨上移动的驱动力，从而控制所述移动平台在导轨上的移动。
  2. 根据权利要求1所述的可组装自动化运输系统，其特征在于：所述控制模块包括有控制器、以及与该控制器连接的电流放大器，各电磁铁的线圈的通电电流由所述电流放大器提供。
  3. 根据权利要求1所述的可组装自动化运输系统，其特征在于：所述控制模块包括有一控制器与一电流放大器，所述控制器具有一用于控制各电磁铁的线圈的通电电流大小的电压信号输出端，以及一用于选择各电磁铁的线圈通电的线圈通电选择信号输出端；
    各电磁铁的线圈均串联连接有一开关模块；
    各开关模块的控制端均与所述线圈通电选择信号输出端连接，各开关模块的输入端与所述电流放大器的输出端并联连接，所述电流放大器的输入端与所述电压信号输出端连接。
  4. 根据权利要求3所述的可组装自动化运输系统，其特征在于：各电 磁铁的线圈的通电电流由所述电流放大器提供，所述控制器通过线圈通电选择信号输出端发出相应的线圈通电选择信号，使对应的开关模块导通，从而使得所述电流放大器为所需的线圈供电，同一电流放大器同一时间内只为一个线圈供电。
  5. 根据权利要求3所述的可组装自动化运输系统，其特征在于：所述开关模块由两场效应管组成，两场效应管的栅极相互连接作为开关模块的控制端，两场效应管的漏极相互连接，其中一场效应管的源极作为开关模块的输入端与所述电流放大器的输出端连接，另一场效应管的源极作为开关模块的输出端与所述线圈的输入端连接。
  6. 根据权利要求1～5中任意一项所述的可组装自动化运输系统，其特征在于：所述永磁体为永磁铁，该永磁铁嵌入在所述移动平台的底部。
  7. 根据权利要求6所述的可组装自动化运输系统，其特征在于：所述永磁铁通过过盈配合嵌入在移动平台底部设置的方槽内。
  8. 根据权利要求1～5中任意一项所述的可组装自动化运输系统，其特征在于：所述位置检测模块为电磁传感器，该电磁传感器设置于所述电磁铁的线圈中。
  9. 根据权利要求1～5中任意一项所述的可组装自动化运输系统，其特征在于：所述导轨包括直线导轨模块和/或曲线导轨模块，通过对直线导轨模块与曲线导轨模块的组装得到所述移动平台所需的任意移动轨迹。
  10. 根据权利要求9所述的可组装自动化运输系统，其特征在于：
    所述电磁模块中的电磁铁在所述直线导轨模块和/或曲线导轨模块上呈阵列分布。
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