WO2024001647A1 - 电机及自动导引运输车 - Google Patents

电机及自动导引运输车 Download PDF

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Publication number
WO2024001647A1
WO2024001647A1 PCT/CN2023/097248 CN2023097248W WO2024001647A1 WO 2024001647 A1 WO2024001647 A1 WO 2024001647A1 CN 2023097248 W CN2023097248 W CN 2023097248W WO 2024001647 A1 WO2024001647 A1 WO 2024001647A1
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WO
WIPO (PCT)
Prior art keywords
motor
magnetic
encoding
signal
hall
Prior art date
Application number
PCT/CN2023/097248
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English (en)
French (fr)
Inventor
胡朝强
高华
Original Assignee
杭州海康机器人股份有限公司
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Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Publication of WO2024001647A1 publication Critical patent/WO2024001647A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • Embodiments of the present application relate to the field of motor control technology, and in particular, to a motor and an automatic guided transport vehicle.
  • a rotary encoder also called a shaft encoder, is an electromechanical device that converts a rotational position or amount of rotation into an analog or digital signal. It is generally installed on one end of a rotating shaft in a rotating object.
  • Rotary encoders are usually used in situations where precise rotation position and speed of a rotary shaft are required. For example, in applications involving motor positioning, rotary encoders can be used to detect the rotation angle and rotation position of the motor shaft.
  • Common rotary encoders include photoelectric encoders and magnetic encoders.
  • photoelectric encoders and magnetic encoders are used simultaneously. Dual encoder" design.
  • a motor including:
  • the motor stator and printed circuit board fixedly installed in the motor cavity
  • a first magnetic encoding chip and a second magnetic encoding chip provided on both sides of the printed circuit board;
  • the first magnetic encoding chip and the second magnetic encoding chip cooperate with the magnetic disk to form a magnetic encoder.
  • a magnetic encoder can be used to achieve non-contact position measurement, which reduces the risk of encoder failure (or even damage) due to mechanical shaft vibration during the operation of the servo motor, and has Helps improve the stability and reliability of motor operation.
  • a "dual magnetic encoder” design is adopted, and the first magnetic encoding chip and the second magnetic encoding chip are respectively arranged on both sides of the printed circuit board.
  • the printed circuit board is located in the motor cavity and is installed on the motor through fasteners. Shell; such a design can not only meet the design requirements of dual encoders, but also ensure the installation accuracy through the same printed circuit, reducing the requirements for installation accuracy; at the same time, it facilitates the debugging of dual magnetic encoders.
  • the first magnetic encoding chip and the second magnetic encoding chip are arranged on the front and back sides of the printed circuit board in the motor cavity, which is beneficial to reducing the overall volume and reducing the influence of the external environment. ;have Helps improve the stability and reliability of motor operation.
  • the motor includes a motor shaft connected to the motor rotor, and the motor shaft includes:
  • the disk is arranged on the end surface of the installation end.
  • the printed circuit board is disposed on the opposite side of the magnetic disk, and both the first magnetic encoding chip and the second magnetic encoding chip are in positions opposite to the magnetic disk.
  • the motor shaft is a shaft-shaped structure with the first axis as the central axis;
  • the first magnetic encoding chip is closer to the magnetic disk relative to the second magnetic encoding chip
  • the magnetic disk is a circular disk with the first axis as the central axis
  • the magnetic disk is a radially magnetized permanent magnet structure, including a single magnetic disk with the first axis as the axis of symmetry. or multiple pole pairs.
  • the first magnetic encoding chip and the magnetic disk have a gap of 0.5 mm to 3 mm;
  • the thickness of the printed circuit board is 0.8mm to 1mm.
  • the disk has a diameter of 8 mm to 20 mm and a thickness of 2.5 mm.
  • the first magnetic encoding chip and the second magnetic encoding chip cooperate with the magnetic disk to form an incremental magnetic encoder
  • the first magnetic encoding chip has:
  • the second magnetic encoding chip has:
  • a second Hall output terminal used to output the second Hall signal.
  • the first encoded signal and the second encoded signal are ABZ encoded signals, and the first encoding output terminal and the first encoding output terminal both include A, B, and Z signal outputs. aisle;
  • the first Hall signal and the second Hall signal are UVW Hall signals, and both the first Hall output terminal and the second Hall output terminal include U, V, and W signal output channels.
  • the first encoding output terminal and the first Hall output terminal are the same output terminal; the first encoding signal and the first Hall signal are output in time sharing;
  • the second encoding output terminal and the second Hall output terminal are the same output terminal, and the second encoding signal and the second Hall signal are output in time sharing.
  • the motor is a servo motor, and the servo motor further includes a servo driver;
  • the first encoding output terminal, the first Hall output terminal, the second encoding output terminal and the second Hall output terminal are all electrically connected to the servo driver;
  • the servo driver controls the servo motor based on output signals of the first magnetic encoding chip and the second magnetic encoding chip.
  • the servo driver controls the servo motor based on the first encoding signal and the second Hall signal, and is configured to operate between the first encoding signal and the second Hall signal. An error is reported after at least one of the signals is abnormal; or
  • the servo driver controls the servo motor based on the second encoding signal and the first Hall signal, and is configured to report an error after at least one of the second encoding signal and the first Hall signal is abnormal. .
  • the printed circuit board includes:
  • a power conversion module configured to output an operating voltage to the first magnetic encoding chip and the second magnetic encoding chip
  • a temperature sensor is provided between the first magnetic encoding chip and the power conversion module, and/or between the second magnetic encoding chip and the power conversion module;
  • the temperature sensor is configured to cut off power supply when the temperature detected by the temperature sensor is higher than a preset value.
  • the first magnetic encoding chip has a first programming port
  • the second magnetic encoding chip has a second programming port
  • a common burning port is provided on the printed circuit board, and the common burning port is connected to both the first burning port and the second burning port.
  • an automatic guided transport vehicle including:
  • the motor drives the actuator to move.
  • the above automatic guided transport vehicle has the same structure and beneficial technical effects as the motor provided in some of the above embodiments, and will not be described again here.
  • Figure 1 is a schematic structural diagram of a motor provided by an embodiment of the present application.
  • Figure 2 is an exploded view of the installation end structure of a motor provided by an embodiment of the present application
  • Figure 3 is a schematic structural diagram of a motor at the installation end provided by an embodiment of the present application.
  • Figure 4 is an architectural diagram of a printed circuit board and first and second magnetic encoding chips in a motor provided by an embodiment of the present application;
  • Figure 5 is a schematic structural diagram of a servo motor provided by an embodiment of the present application.
  • Figure 6 is an architectural diagram of a printed circuit board and a servo driver in a servo motor provided by an embodiment of the present application;
  • Figure 7 is a schematic structural diagram of an automatic guided transport vehicle provided by an embodiment of the present application.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, the characteristics of “first” and “second” are defined One or more of these features may be included explicitly or implicitly.
  • plural means two or more.
  • At least one of A, B and C has the same meaning as “at least one of A, B or C” and includes the following combinations of A, B and C: A only, B only, C only, A and B The combination of A and C, the combination of B and C, and the combination of A, B and C.
  • a and/or B includes the following three combinations: A only, B only, and a combination of A and B.
  • the term “if” is optionally interpreted to mean “when” or “in response to” or “in response to determining” or “in response to detecting,” depending on the context.
  • the phrase “if it is determined" or “if [stated condition or event] is detected” is optionally interpreted to mean “when it is determined" or “in response to the determination" or “on detection of [stated condition or event]” or “in response to detection of [stated condition or event]”.
  • parallel includes absolute parallel and approximately parallel, where the acceptable deviation range of approximately parallel can be, for example, a deviation within 5°;
  • perpendicular includes absolutely perpendicular and nearly parallel.
  • Approximately perpendicular where the acceptable deviation range of approximately perpendicularity can also be a deviation within 5°, for example.
  • Equal includes absolute equality and approximate equality, wherein the difference between the two that may be equal within the acceptable deviation range of approximately equal is less than or equal to 5% of either one, for example.
  • the motor includes a motor housing 2 , a motor stator 5 , a motor rotor 3 and a motor shaft 1 .
  • the motor housing 2 is a housing structure with a motor cavity 4, which provides an installation space and an installation structure for other components of the motor.
  • the motor stator 5 is located in the motor cavity 4 and is fixedly installed with the motor housing 2 .
  • the motor rotor 3 is rotatably installed in the motor cavity 4 and connected to the motor shaft 1 .
  • the motor stator 5 includes a stator winding composed of multiple coils or coil groups, and the stator winding can generate a corresponding stator magnetic field after being energized.
  • the motor rotor 3 uses permanent magnets to generate a rotor magnetic field. After energization, the stator magnetic field generated by the stator winding interacts with the rotor magnetic field generated by the motor rotor 3, thereby achieving the purpose of driving the motor rotor 3 to rotate around the axis.
  • the motor stator 5 uses permanent magnets, which can generate a stator magnetic field; the motor rotor 3 includes a rotor winding composed of multiple coils or coil groups. When the rotor winding is energized, it can generate a corresponding rotor magnetic field.
  • the motor stator The stator magnetic field generated by 5 interacts with the rotor magnetic field generated by the rotor winding after energization, thereby achieving the purpose of driving the motor rotor 3 to rotate around the axis.
  • the motor shaft 1 is an axial structure with the first axis L1 as the central axis.
  • the axis of the motor rotor 3 rotating under the action of the rotor magnetic field and the stator magnetic field is collinear with the first axis L1.
  • the motor shaft 1 includes an output end 101 extending out of the motor cavity 4 and a mounting end 102 opposite to the output end 101 .
  • the mounting end 102 is located in the motor cavity 4 .
  • the motor housing 2 includes a housing body 202 and a front end cover 201 and a rear end cover 203 disposed at both ends of the housing body 202 along the first axis L1.
  • the front end cover 201 is disposed on the housing body 202 close to the motor.
  • the rear end cover 203 is provided at the end of the housing body 202 close to the installation end 102 of the motor shaft 1.
  • the housing body 202 , the front end cover 201 and the rear end cover 203 jointly limit the motor cavity 4 .
  • Figure 2 is an exploded view of the installation end of a motor provided by an embodiment of the present application.
  • the motor provided by some embodiments of the present disclosure also includes a magnetic disk 10, a first magnetic encoding chip 9, a second magnetic encoding chip 7, a printed circuit board (Printed Circuit Board, abbreviation PCB) 8 and an encoder bracket. 6.
  • the magnetic disk 10 is a magnetized permanent magnet structure.
  • the permanent magnet structure includes a single or multiple pairs of magnetic poles, and each pair of magnetic poles includes magnetic poles of different polarities arranged symmetrically with respect to the axis of symmetry.
  • the number of pole pairs of the disk 10 is not limited in the motor provided by the embodiment of the present disclosure.
  • the axis of symmetry of the magnetic pole pair in the disk 10 is defined as the second axis.
  • the disk 10 is a disk structure with the second axis as the central axis.
  • the disk structure adopts radial magnetization to set the magnetic poles.
  • the magnetic disk 10 is disposed on the end face of the installation end 102 of the motor shaft 1. After installation and fixation, the second axis coincides with the first axis L1. That is to say, in the magnetic disk 10 in the installed state, the magnetic poles of different polarities in each magnetic pole pair are symmetrical. Disposed on both sides of the central axis of the motor shaft 1.
  • a mounting piece is provided between the motor shaft 1 and the magnetic disk 10 .
  • the magnetic disk 10 is fixed to the mounting piece in an embedded manner.
  • the mounting piece is fixedly sleeved on the mounting end 102 of the motor shaft 1 , so that the magnetic disk is realized through the mounting piece. 10 Connection to motor shaft 1.
  • the mounting piece can be made of metal, such as copper or aluminum, or of non-metallic material, such as plastic.
  • the mounting member is a sleeve structure that is sleeved on the outer ring of the disk 10 , and the other end of the sleeve structure is fixedly sleeved on the mounting end 102 of the motor shaft 1 .
  • the disk 10 arranged on the motor shaft 1 rotates synchronously with the motor shaft 1 , that is, with the motor rotor 3 . Since the rotation axis of the motor shaft 1 is the first axis L1, the rotation axis of the motor rotor 3 is also the first axis L1, and after installation and fixation, the second axis coincides with the first axis L1, so the disk 10 rotates synchronously with the motor shaft 1 During the process, the magnetic pole pair on the magnetic disk 10 also rotates around the axis of symmetry (the second axis).
  • a printed circuit board 8 is provided at a position opposite to the disk 10 away from the motor shaft 1 , and the printed circuit board 8 is installed in the motor cavity 4 in an attitude perpendicular to the first axis L1 .
  • the printed circuit board 8 is provided with a first magnetic encoding chip 9 and a second magnetic encoding chip 7 .
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 both include Hall sensors and conversion circuits, and the Hall sensors are used to induce magnetic fields.
  • the magnetic disk 10 rotates with the motor shaft 1
  • the magnetic pole pairs on the magnetic disk 10 also rotate around the axis of symmetry.
  • the magnetic field generated by the magnetic disk 10 also changes accordingly.
  • the changing magnetic field causes the first magnetic encoding chip 9 and The Hall sensor in the second magnetic encoding chip 7 can generate different analog signals, such as sine waveform and/or cosine waveform signals; the analog signal is related to the rotational displacement of the disk 10 .
  • the conversion circuits in the first magnetic encoding chip 9 and the second magnetic encoding chip 7 convert the analog signal output by the Hall sensor into a digital quantity, thereby converting the rotational displacement into a periodic electrical signal, and then converting this electrical signal into a count Pulse, the number of pulses is used to express the size of the rotational displacement.
  • the magnetic disk 10 and the first magnetic encoding chip 9 form an incremental magnetic encoder, which is defined as a first magnetic encoder in this article; the magnetic disk 10 and the second magnetic encoding chip 7 form an incremental magnetic encoder. encoder, which is defined in this article as the second magnetic encoder.
  • the first magnetic encoder and the second magnetic encoder share a disk 10 .
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 can be the same chip, or different chips can be used. In the embodiment of the present disclosure, the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are the same chip as an example for description.
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are respectively arranged on both sides of the printed circuit board 8.
  • the printed circuit board 8 is installed on the encoder bracket 6 through threaded fasteners.
  • the encoder bracket 6 is fixedly installed on the motor housing. 2, and located in the motor cavity 4.
  • the encoder bracket 6 and the housing body 202 are fixedly connected through threaded fasteners, buckles, welding, connecting glue, etc., and the rear end cover 203 in the motor housing 2 is connected to the housing body 202
  • the magnetic disk 10, the first magnetic encoding chip 9, the second magnetic encoding chip 7, the printed circuit board 8 and the encoder bracket 6 are surrounded in the motor cavity 4.
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are in a position opposite to the magnetic disk 10 .
  • Figure 3 is a schematic structural diagram of a motor at the installation end provided by an embodiment of the present application. Please combine Figures 2 and 3. Since the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are disposed on opposite sides of the printed circuit board 8 , the printed circuit board 8 has a certain thickness, so the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are at different distances from the magnetic disk 10. The magnetic disk 10 is at the location of the first magnetic encoding chip 9 and the second magnetic encoding chip 7. The intensity of the magnetic field produced is also different.
  • the size of the magnetic disk 10, the thickness of the magnetic disk 10, and the first magnetic encoding chip 9 and the second magnetic encoding chip 7 need to be limited.
  • the first magnetic encoding chip 9 is close to the magnetic disk 10 relative to the second magnetic encoding chip 7, and there is a gap (GAP) between the first magnetic encoding chip 9 and the magnetic disk 10 along the direction of the first axis L1.
  • the length S of the gap is 0.5mm to 3mm;
  • the distance between the second magnetic encoding chip 7 and the magnetic disk 10 is the gap between the first magnetic encoding chip 9 and the magnetic disk 10 plus the thickness of the printed circuit board 8 and the first magnetic encoding
  • the thickness of the chip, the thickness of the printed circuit board 8 is 0.8mm to 1mm.
  • the magnetic disk 10 is a disk-shaped structure with a diameter of 8 mm to 20 mm and a thickness of 2.5 mm.
  • the diameter of the magnetic disk 10 is 10 mm and the thickness is 2.5 mm.
  • the design of "dual magnetic encoder” is adopted.
  • non-contact rotational displacement measurement can be achieved, which is conducive to reducing encoder failure and failure caused by factors such as the motor environment and operating status. Even the risk of damage, thus helping to improve the stability and reliability of motor operation.
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 in the "dual magnetic encoder” are respectively arranged on both sides of the printed circuit board 8.
  • the printed circuit board 8 is located in the motor cavity 4 and is fastened by The components are installed on the motor housing 2; such a design, while meeting the "dual encoder" design requirements of the motor, can ensure the installation accuracy through the same printed circuit board 8 and reduce the requirements for installation accuracy; at the same time, it is beneficial to the dual magnetic encoder debugging; and by arranging the first magnetic encoding chip 9 and the second magnetic encoding chip 7 on the front and back sides of the printed circuit board 8 in the motor cavity 4, the space can be fully utilized, which is beneficial to reducing the overall volume of the motor, and , the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are both located in the motor cavity 4, which is beneficial to reducing the influence of the external environment, thereby improving the stability and reliability of the motor operation.
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 backup each other and work together, which helps to improve the safety, stability and reliability of motor operation. .
  • the magnetic disk 10 and the first magnetic encoding chip 9 form an incremental magnetic encoder
  • the magnetic disk 10 and the second magnetic encoding chip 7 form an incremental magnetic encoder
  • the incremental magnetic encoder can output incremental encoding signals, and the incremental encoding signals can be ABZ encoding signals.
  • the incremental magnetic encoder includes three signal output channels: A, B and Z, which are used for A phase, B-phase and Z-phase signal output.
  • Phase A, phase B, and phase Z are three sets of pulse signals.
  • Phase A and phase B are usually pulse outputs delayed by 1/4 period of each other (that is, 90° different from each other). Incremental magnetic encoders can be distinguished according to the delay relationship.
  • the forward rotation and reverse rotation of the incremental magnetic encoder can be judged by judging whether the A phase is in front or the B phase in front; and by taking the rising and falling edges of A phase and B phase, it can be carried out 2 or 4 times the frequency to increase the number of encoder output pulses per cycle, increase measurement accuracy, and reduce control errors; while the Z phase is a single-turn pulse, that is, one pulse is sent out per circle to represent the zero reference position.
  • the motor does not require a commutator and brushes, but it is necessary to detect the magnetic pole position of the motor rotor 3 in order to be able to control the stator winding to generate a stator magnetic field that matches the rotor magnetic field. Make the motor rotor 3 rotate normally; therefore, the incremental magnetic encoder needs to output a Hall signal that can determine the position of the magnetic pole in the motor rotor 3.
  • the incremental magnetic encoder can output a Hall signal related to the position of the magnetic pole in the motor rotor 3.
  • the Hall signal can be used to determine the position of the magnetic pole in the motor rotor 3, thereby Conducive to motor drive control.
  • the Hall signal can be a UVW Hall signal
  • the incremental magnetic encoder includes three signal output channels: U, V and W.
  • the incremental magnetic encoder can output the encoding signal ABZ and the Hall signal UVW through separate channels, or it can output the encoding signal ABZ and the Hall signal UVW through the same output channel in a time-sharing manner.
  • Figure 4 is an architectural diagram of a printed circuit board in a motor and the first and second magnetic encoding chips on it provided by an embodiment of the present application.
  • the first magnetic encoding chip 9 has A first encoding output terminal 901 for outputting a first encoding signal, and a first Hall output terminal 902 for outputting a first Hall signal.
  • the first encoding signal is an ABZ encoding signal
  • the first encoding output terminal 901 includes A, B, and Z signal output channels
  • the first Hall signal is a UVW Hall signal
  • the first Hall output terminal 902 includes U, V, and W signals. output channel.
  • the first encoding output terminal 901 and the first Hall output terminal 902 may be the same output terminal, and the first encoding signal and the first Hall signal are output in time sharing.
  • the second magnetic encoding chip 7 has a second encoding output terminal 701 for outputting a second encoding signal, and a second Hall output terminal 702 for outputting a second Hall signal.
  • the second encoding signal is an ABZ encoding signal, and the second encoding output terminal 701 includes A, B, and Z signal output channels; the second Hall signal is a UVW Hall signal, and the second Hall output terminal 702 includes U, V, and W signals. output channel.
  • the second encoding output terminal 701 and the second Hall output terminal 702 may be the same output terminal, and the second encoding signal and the second Hall signal are output in time sharing.
  • the printed circuit board 8 also includes a power conversion module 12.
  • the power conversion module 12 is used to convert the input voltage into the operating voltage of the components on the printed circuit board 8, and output it to the corresponding components; for example, it is converted into the operating voltage of the first magnetic encoding chip 9 and the second magnetic encoding chip 7 and output to the first magnetic encoding chip 9 and the second magnetic encoding chip 7 .
  • the printed circuit board 8 is provided with a temperature sensor 11.
  • the temperature sensor 11 is provided between the power conversion module 12 and the second encoding chip to prevent the printed circuit board 8 from having an excessively high operating voltage for the second encoding chip.
  • the temperature sensor 11 can monitor the temperature of the motor, and when the detected temperature is higher than a preset value, it cuts off the power supply between the power conversion module 12 and the second encoding chip, thereby controlling the magnetic encoder to report an error and causing the motor to stop working. . It can be seen from this that by setting the temperature sensor 11, the motor can be ensured to operate at a suitable temperature to avoid high temperature damage.
  • the temperature sensor 11 can be disposed between the power conversion module 12 and the first encoding chip, or between the power conversion module 12 and the first encoding chip, and between the power conversion module 12 and the second encoding chip.
  • the encoding chips are all set up, and their working principles are the same as those mentioned above, so they will not be described again here.
  • the first magnetic encoding chip 9 is provided with a first programming port 903, and the second magnetic encoding chip 7 is provided with a second programming port 703; the printed circuit board 8 is provided with a common programming port 13, and the common programming port 13 is provided on the printed circuit board 8.
  • the burning port 13 is connected to both the first burning port 903 and the second burning port 703 . This facilitates programming of the first magnetic encoding chip 9 and the second magnetic encoding chip 7 through a single programming port, and facilitates programming and adjustment.
  • the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are respectively disposed on both sides of the printed circuit board 8, their rotational directions are different and different steering parameters need to be burned. ; It is also necessary to set the resolution and the number of pole pairs according to the properties of the motor. Therefore, during burning, the first magnetic encoding chip 9 and the second magnetic encoding chip 7 are automatically identified through the check bits of the first magnetic encoding chip 9 and the second magnetic encoding chip 7; and then based on the first magnetic encoding chip 9 and the second magnetic encoding chip 7 The front and back positions of the second magnetic encoding chip 7 are used to burn information.
  • the motor provided by the embodiment of the present disclosure can be a synchronous motor, a servo motor, or any other motor that needs to detect the rotation of the motor shaft 1 .
  • the servo motor also includes a servo driver.
  • the servo driver converts the received electrical signal into an angular velocity output or an angular displacement output on the motor shaft 1.
  • Figure 5 is a schematic structural diagram of a servo motor provided by an embodiment of the present application.
  • Figure 6 is an architectural diagram of a printed circuit board and a servo driver in a servo motor provided by an embodiment of the present application.
  • the printed circuit board 8 is connected to the servo driver 14 through the signal transmission cable 15.
  • the signal transmission cable 15 realizes the communication between the servo driver 14 and the first encoding output terminal 901 and the first Hall in the first magnetic encoding chip 9.
  • the output terminal 902 and the second encoding output terminal 701 and the second Hall output terminal 702 in the second magnetic encoding chip 7 are electrically connected.
  • the servo driver 14 controls the servo motor based on the first encoding signal and the second Hall signal, and is configured to report an error after at least one of the first encoding signal and the second Hall signal is abnormal. In other embodiments, the servo driver 14 controls the servo motor based on the second encoding signal and the first Hall signal, and is configured to report an error after at least one of the second encoding signal and the first Hall signal is abnormal.
  • both the first magnetic encoding chip 9 and the second magnetic encoding chip 7 have the output function of encoding signals and Hall signals, but when the servo motor is working, the servo driver uses one of the first magnetic encoding chips 9 signal, another signal from the second encoding chip is used for servo control, thereby achieving dual-loop safety settings.
  • the servo driver 14 can also realize the mutual verification function based on the signals output by the first magnetic encoding chip 9 and the second magnetic encoding chip 7. Only when the first magnetic encoding chip 9 and the second magnetic encoding chip 7 simultaneously output the correct The signal can enter the servo driver 14. If the servo driver 14 cannot receive the correct signal, it will report an abnormality and shut down to ensure the safe operation of the servo motor.
  • the first magnetic encoding chip 9 outputs an ABZ encoding signal to the servo driver 14
  • the second magnetic encoding chip 7 outputs a UVW Hall signal to the servo driver 14 .
  • the first magnetic encoding chip 9 outputs a UVW Hall signal to the servo driver 14
  • the second magnetic encoding chip 7 outputs an ABZ encoding signal to the servo driver 14 .
  • the embodiment of the present application also provides an automatic guided transport vehicle (Automated Guided Vehicle, AGV for short).
  • AGV Automatic Guided Vehicle
  • the automatic guided transport vehicle includes a vehicle body 16, an actuator installed on the vehicle body 16, and The motor that drives the actuator is designed using the solution in the above embodiment.
  • the actuator can be the walking structure of the automatic guided transport vehicle, or the action mechanism, etc.
  • the motor drives the traveling wheel 17 to rotate to realize the automatic guidance of the transport vehicle.
  • the actuator may also be a manipulator installed on the vehicle body 16, and the motor drives the manipulator to move.
  • the automatic guided transport vehicle uses the motor in the above-mentioned embodiments.
  • the above-mentioned automatic guided transport vehicle has the same beneficial technical effects as the motors provided in some of the above-mentioned embodiments, and will not be described again here.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种电机及自动导引运输车，电机包括具有电机腔的电机壳，固定安装于电机腔的电机定子与印刷线路板，转动安装于电机腔的电机转子，与电机转子同步转动的磁盘以及设置于印刷线路板两侧的第一磁编码芯片和第二磁编码芯片；其中，第一磁编码芯片和第二磁编码芯片均与磁盘配合形成磁编码器。上述电机可以用于自动导引运输车的驱动。

Description

电机及自动导引运输车 技术领域
本申请实施例涉及电机控制技术领域，尤其涉及一种电机及自动导引运输车。
背景技术
旋转式编码器也称为轴编码器，是将旋转位置或旋转量转换成模拟或数字信号的机电设备，一般装设在旋转物体中旋转轴的一端端面。旋转式编码器通常应用在需要精确旋转轴旋转位置及速度的场合，如在涉及电机定位的应用中，可以采用旋转编码器进行电机轴旋转角度、旋转位置的检测。
常见的旋转式编码器包括光电编码器和磁编码器，在具有旋转编码器的电机中，为了保证电机工作过程中的安全性和可靠性，会采用光电编码器和磁编码器同时使用的“双编码器”设计。
然而“双编码器”设计会使电机出现体积较大、对安装精度要求较高的局限性。
发明内容
第一方面，提供了一种电机，包括：
具有电机腔的电机壳，
固定安装于所述电机腔的电机定子与印刷线路板，
转动安装于所述电机腔的电机转子，
与所述电机转子同步转动的磁盘，以及
设置于所述印刷线路板两侧的第一磁编码芯片和第二磁编码芯片；
其中，所述第一磁编码芯片和所述第二磁编码芯片均与所述磁盘配合形成磁编码器。
在本公开实施例提供的电机中，采用磁编码器能够做到无接触式的位置测量，如此便降低了伺服电机运行过程中因机械轴振动而造成编码器失效(甚至损坏)的风险，有助于提升电机运行的稳定性和可靠性。
另外，采用“双磁编码器”设计，且第一磁编码芯片和第二磁编码芯片分别设置于印刷线路板的两侧，印刷线路板位于电机腔内，且通过紧固件安装于电机壳；如此设计，在满足双编码器设计需求的同时，能够通过同一印刷线路保证安装精度，降低对安装精度的要求；同时方便双磁编码器的调试。
再者，通过将第一磁编码芯片和第二磁编码芯片设置于电机腔中的印刷线路板的正反两侧，能够充分利用空间，有利于缩小整体体积，而且，降低受外界环境的影响；有 助于提升电机运行的稳定性和可靠性。
在一些可能的实施例中，所述电机包括与所述电机转子相连的电机轴，所述电机轴包括：
伸出所述电机腔的输出端，以及
与所述输出端相对且位于所述电机腔的安装端；
其中，所述磁盘设置于所述安装端的端面。
在一些可能的实施例中，所述印刷线路板设置于所述磁盘的对侧，且所述第一磁编码芯片和所述第二磁编码芯片均处于与所述磁盘相对的位置。
在一些可能的实施例中，所述电机轴为以第一轴线为中轴线的轴状结构；
所述第一磁编码芯片相对于所述第二磁编码芯片靠近所述磁盘；
沿所述第一轴线所在方向，所述第一磁编码芯片与所述磁盘之间具有间隙。
在一些可能的实施例中，所述磁盘为以所述第一轴线为中轴线的圆盘，所述磁盘为径向充磁的永磁结构，包括以所述第一轴线为对称轴的单个或多个磁极对。
在一些可能的实施例中，沿所述第一轴线所在方向，所述第一磁编码芯片与所述磁盘具有0.5mm至3mm的间隙；
所述印刷线路板的厚度为0.8mm至1mm。
在一些可能的实施例中，所述磁盘的直径为8mm至20mm，厚度为2.5mm。
在一些可能的实施例中，所述第一磁编码芯片和所述第二磁编码芯片均与所述磁盘配合形成增量式磁编码器；
所述第一磁编码芯片具有：
用于输出第一编码信号的第一编码输出端，以及
用于输出第一霍尔信号的第一霍尔输出端；
所述第二磁编码芯片具有：
用于输出第二编码信号的第二编码输出端，以及
用于输出第二霍尔信号的第二霍尔输出端。
在一些可能的实施例中，所述第一编码信号和所述第二编码信号为ABZ编码信号，所述第一编码输出端与所述第一编码输出端均包括A、B、Z信号输出通道；
所述第一霍尔信号和所述第二霍尔信号为UVW霍尔信号，所述第一霍尔输出端与所述第二霍尔输出端均包括U、V、W信号输出通道。
在一些可能的实施例中，所述第一编码输出端与所述第一霍尔输出端为同一输出端；所述第一编码信号与所述第一霍尔信号分时输出；
和/或
所述第二编码输出端与所述第二霍尔输出端为同一输出端，所述第二编码信号与所述第二霍尔信号分时输出。
在一些可能的实施例中，所述电机为伺服电机，所述伺服电机还包括伺服驱动器；
所述第一编码输出端、所述第一霍尔输出端、所述第二编码输出端和所述第二霍尔输出端均与所述伺服驱动器电连接；
所述伺服驱动器基于所述第一磁编码芯片和所述第二磁编码芯片的输出信号控制所述伺服电机。
在一些可能的实施例中，所述伺服驱动器基于所述第一编码信号和所述第二霍尔信号控制所述伺服电机，并被配置为在所述第一编码信号和所述第二霍尔信号中至少一方异常后报错；或
所述伺服驱动器基于所述第二编码信号和所述第一霍尔信号控制所述伺服电机，并被配置为在所述第二编码信号和所述第一霍尔信号中至少一方异常后报错。
在一些可能的实施例中，所述印刷线路板包括：
电源转换模块，被配置为向所述第一磁编码芯片和所述第二磁编码芯片输出工作电压；以及
温度传感器，设置于所述第一磁编码芯片与所述电源转换模块之间，和/或，所述第二磁编码芯片与所述电源转换模块之间；
其中，所述温度传感器被配置为在所述温度传感器检测的温度高于预设值时断开供电。
在一些可能的实施例中，所述第一磁编码芯片具有第一烧录口，所述第二磁编码芯片具有第二烧录口；
所述印刷线路板上设置有共用烧录口，所述共用烧录口与所述第一烧录口和所述第二烧录口均相连。
第二方面，提供了一种自动导引运输车，包括：
车体，
安装于所述车体的执行机构，以及
如第一方面实施例任一项所述的电机；
其中，所述电机驱动所述执行机构动作。
上述自动导引运输车具有与上述一些实施例中提供的电机相同的结构和有益技术效果，在此不再赘述。
附图说明
图1为本申请实施例提供的一种电机的结构示意图；
图2为本申请实施例提供的一种电机的安装端结构的爆炸图；
图3为本申请实施例提供的一种电机在安装端的结构示意图；
图4为本申请实施例提供的一种电机中印刷线路板及第一和第二磁编码芯片的架构图；
图5为本申请实施例提供的一种伺服电机的结构示意图；
图6为本申请实施例提供的一种伺服电机中印刷线路板与伺服驱动器的架构图；
图7为本申请实施例提供的一种自动导引运输车的结构示意图。
附图标记说明：
1-电机轴、101-输出端、102-安装端、2-电机壳、201-前端盖、202-壳体本体、203-
后端盖、3-电机转子、4-电机腔、5-电机定子、6-编码器支架、7-第二磁编码芯片、701-第二编码输出端、702-第二霍尔输出端、703-第二烧录口、8-印刷线路板、9-第一磁编码芯片、901-第二编码输出端、902-第一霍尔输出端、903-第一烧录口、10-磁盘、11-温度传感器、12-电源转换模块、13-共用烧录口、14-伺服驱动器、15-信号传输线缆、16-车体、17-行走轮、L1-第一轴线。
具体实施方式
下面将结合附图，对本公开一些实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开所提供的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本公开保护的范围。
除非上下文另有要求，否则，在整个说明书和权利要求书中，术语“包括”被解释为开放、包含的意思，即为“包含，但不限于”。在说明书的描述中，术语“一个实施例”、“一些实施例”、“示例性实施例”、“示例”或“一些示例”等旨在表明与该实施例或示例相关的特定特征、结构、材料或特性包括在本公开的至少一个实施例或示例中。上述术语的示意性表示不一定是指同一实施例或示例。此外，所述的特定特征、结构、材料或特点可以以任何适当方式包括在任何一个或多个实施例或示例中。
以下，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征 可以明示或者隐含地包括一个或者更多个该特征。在本公开实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在描述一些实施例时，可能使用了“耦接”和“连接”及其衍伸的表达。例如，描述一些实施例时可能使用了术语“连接”以表明两个或两个以上部件彼此间有直接物理接触或电接触。又如，描述一些实施例时可能使用了术语“耦接”以表明两个或两个以上部件有直接物理接触或电接触。然而，术语“耦接”或“通信耦合(communicatively coupled)”也可能指两个或两个以上部件彼此间并无直接接触，但仍彼此协作或相互作用。这里所公开的实施例并不必然限制于本文内容。
“A、B和C中的至少一个”与“A、B或C中的至少一个”具有相同含义，均包括以下A、B和C的组合：仅A，仅B，仅C，A和B的组合，A和C的组合，B和C的组合，及A、B和C的组合。
“A和/或B”，包括以下三种组合：仅A，仅B，及A和B的组合。
如本文中所使用，根据上下文，术语“如果”任选地被解释为意思是“当……时”或“在……时”或“响应于确定”或“响应于检测到”。类似地，根据上下文，短语“如果确定……”或“如果检测到[所陈述的条件或事件]”任选地被解释为是指“在确定……时”或“响应于确定……”或“在检测到[所陈述的条件或事件]时”或“响应于检测到[所陈述的条件或事件]”。
本文中“适用于”或“被配置为”的使用意味着开放和包容性的语言，其不排除适用于或被配置为执行额外任务或步骤的设备。
另外，“基于”的使用意味着开放和包容性，因为“基于”一个或多个所述条件或值的过程、步骤、计算或其他动作在实践中可以基于额外条件或超出所述的值。
如本文所使用的那样，“约”、“大致”或“近似”包括所阐述的值以及处于特定值的可接受偏差范围内的平均值，其中所述可接受偏差范围如由本领域普通技术人员考虑到正在讨论的测量以及与特定量的测量相关的误差(即，测量系统的局限性)所确定。
如本文所使用的那样，“平行”、“垂直”、“相等”包括所阐述的情况以及与所阐述的情况相近似的情况，该相近似的情况的范围处于可接受偏差范围内，其中所述可接受偏差范围如由本领域普通技术人员考虑到正在讨论的测量以及与特定量的测量相关的误差(即，测量系统的局限性)所确定。例如，“平行”包括绝对平行和近似平行，其中近似平行的可接受偏差范围例如可以是5°以内偏差；“垂直”包括绝对垂直和近 似垂直，其中近似垂直的可接受偏差范围例如也可以是5°以内偏差。“相等”包括绝对相等和近似相等，其中近似相等的可接受偏差范围内例如可以是相等的两者之间的差值小于或等于其中任一者的5％。
本公开的一些实施例提供了一种电机，如图1所示，该电机包括电机壳2、电机定子5、电机转子3和电机轴1。其中，电机壳2为具有电机腔4的壳体结构，为电机的其他零部件提供安装空间和安装结构。
电机定子5位于电机腔4中，且与电机壳2固定安装。电机转子3可转动安装于电机腔4中，并与电机轴1相连。在一些实施例中，电机定子5包括由多个线圈或线圈组构成的定子绕组，定子绕组通电后能够产生相应的定子磁场。电机转子3采用永磁体，能够产生转子磁场。通电后定子绕组产生的定子磁场与电机转子3产生的转子磁场相互作用，从而实现驱动电机转子3绕轴线转动的目的。
在一些其他可能的实施方式中，电机定子5采用永磁体，能够产生定子磁场；电机转子3包括由多个线圈或线圈组构成的转子绕组，转子绕组通电后能够产生相应的转子磁场，电机定子5产生的定子磁场与通电后转子绕组产生的转子磁场相互作用，从而实现驱动电机转子3绕轴线转动的目的。
电机轴1为以第一轴线L1为中轴线的轴状结构，电机转子3在转子磁场和定子磁场作用下转动的轴线与第一轴线L1共线。电机轴1包括伸出电机腔4的输出端101，以及与输出端101相对的安装端102，安装端102位于电机腔4内。
在一些实施例中，电机壳2包括壳体本体202，以及沿第一轴线L1设置于壳体本体202两端的前端盖201与后端盖203，前端盖201设置于壳体本体202靠近电机轴1输出端101的端部，后端盖203设置于壳体本体202靠近电机轴1安装端102的端部。壳体本体202、前端盖201与后端盖203共同限制出电机腔4。
图2为本申请实施例提供的一种电机在安装端的爆炸图。如图2所示，本公开的一些实施例提供的电机还包括磁盘10、第一磁编码芯片9、第二磁编码芯片7、印刷线路板(Printed Circuit Board，缩写PCB)8和编码器支架6。
其中，磁盘10为已经磁化的永磁结构，该永磁结构包括单个或者多个磁极对，每个磁极对均包括相对于对称轴线对称设置的不同极性的磁极。在本公开实施例提供的电机中不限制磁盘10的极对数。
在本文中，定义磁盘10中磁极对的对称轴线为第二轴线，在一些实施例中，磁盘 10为以第二轴线为中轴线的圆盘结构，该圆盘结构采用径向充磁的方式设置磁极。磁盘10设置于电机轴1安装端102的端面，安装固定后第二轴线与第一轴线L1重合，也就是说，在处于安装状态的磁盘10中，每个磁极对中不同极性的磁极对称设置于电机轴1的中轴线的两侧。
在一些实施例中，电机轴1与磁盘10之间还设置有安装件，磁盘10以嵌入的方式固定于安装件，安装件固定套设于电机轴1安装端102，从而通过安装件实现磁盘10与电机轴1的连接。安装件可以为金属材质，例如铜或铝等，还可以为非金属材质，例如塑料。
对应磁盘10为圆盘结构的实施方式，安装件为套设于磁盘10外圈的套筒结构，该套筒结构的另一端固定套设于电机轴1安装端102。
设置于电机轴1的磁盘10随电机轴1同步转动，也即随电机转子3同步转动。由于电机轴1的转动轴线为第一轴线L1，电机转子3的转动轴线也为第一轴线L1，且安装固定后第二轴线与第一轴线L1重合，因此磁盘10随电机轴1同步转动的过程中，磁盘10上的磁极对也绕对称轴线(第二轴线)转动。
在本公开的一些实施例的电机中，在相对于磁盘10远离电机轴1的对侧位置设置有印刷线路板8，印刷线路板8以与第一轴线L1垂直的姿态安装于电机腔4中。印刷线路板8上设置有第一磁编码芯片9和第二磁编码芯片7。
第一磁编码芯片9和第二磁编码芯片7均包括霍尔传感器和转换电路，霍尔传感器用于感应磁场。在磁盘10随着电机轴1转动时，磁盘10上的磁极对也绕对称轴转动，磁极对转动过程中使磁盘10产生的磁场也随之变化，变化的磁场使第一磁编码芯片9和第二磁编码芯片7中的霍尔传感器能够产生不同的模拟信号，例如产生正弦波形和/或余弦波形信号；模拟信号与磁盘10的旋转位移相关。
第一磁编码芯片9和第二磁编码芯片7中的转换电路将霍尔传感器输出的模拟信号转为数字量，从而将旋转位移转换成周期性的电信号，再把这个电信号转变成计数脉冲，用脉冲的个数表示旋转位移的大小。
通过上述内容可以看出，磁盘10与第一磁编码芯片9组成增量式磁编码器，本文中将其定义为第一磁编码器；磁盘10与第二磁编码芯片7组成增量式磁编码器，本文中将其定义为第二磁编码器。第一磁编码器和第二磁编码器共用一个磁盘10。
第一磁编码芯片9和第二磁编码芯片7可以为相同的芯片，也可以采用不同的芯片。 在本公开实施例中，以第一磁编码芯片9和第二磁编码芯片7为相同芯片为例进行描述说明。
第一磁编码芯片9和第二磁编码芯片7分别设置于印刷线路板8的两侧，印刷线路板8通过螺纹紧固件安装于编码器支架6，编码器支架6固定设置于电机壳2，且位于电机腔4内。在一些实施例中，编码器支架6与壳体本体202通过螺纹紧固件、卡扣、焊接、连接胶粘接等方式固定连接，电机壳2中后端盖203与壳体本体202连接后，将磁盘10、第一磁编码芯片9、第二磁编码芯片7、印刷线路板8和编码器支架6包围在电机腔4中。
安装后印刷线路板8使第一磁编码芯片9和第二磁编码芯片7处于与磁盘10相对的位置。
图3为本申请实施例提供的一种电机在安装端的结构示意图，请结合图2和图3，由于第一磁编码芯片9和第二磁编码芯片7设置在印刷线路板8的相对两侧，印刷线路板8又具有一定的厚度，因此第一磁编码芯片9和第二磁编码芯片7距离磁盘10的距离不同，磁盘10在第一磁编码芯片9和第二磁编码芯片7所在位置产生的磁场强度也不相同。
为了保证第一磁编码芯片9和第二磁编码芯片7在工作时同时满足处于正常工作的磁场强度范围内，需限制磁盘10的大小、磁盘10的厚度、以及第一磁编码芯片9和第二磁编码芯片7与磁盘10的位置关系。
在本公开的一些实施例中，第一磁编码芯片9相对于第二磁编码芯片7靠近磁盘10，沿第一轴线L1所在方向，第一磁编码芯片9与磁盘10之间具有间隙(GAP)，该间隙的长度S为0.5mm至3mm；第二磁编码芯片7与磁盘10的距离则为第一磁编码芯片9与磁盘10的间隙加上印刷线路板8的厚度与第一磁编码芯片的厚度，印刷线路板8的厚度为0.8mm至1mm。
在本公开的一些实施例中，磁盘10为直径为8mm至20mm，厚度为2.5mm的圆盘状结构。
在一具体示例中，磁盘10的直径为10mm，厚度为2.5mm。
在本公开实施例提供的电机中，采用“双磁编码器”的设计，一方面能够做到无接触式的旋转位移测量，有利于降低由于电机环境、运行状态等因素导致的编码器失效、甚至损坏的风险，从而有助于提升电机运行的稳定性和可靠性。
另一方面，“双磁编码器”中的第一磁编码芯片9和第二磁编码芯片7分别设置于印刷线路板8的两侧，印刷线路板8位于电机腔4内，且通过紧固件安装于电机壳2；如此设计，在满足电机“双编码器”设计需求的同时，能够通过同一块印刷线路板8保证安装精度，降低对安装精度的要求；同时有利于双磁编码器的调试；并通过将第一磁编码芯片9和第二磁编码芯片7设置于电机腔4中的印刷线路板8的正反两侧，能够充分利用空间，有利于缩小电机的整体体积，而且，第一磁编码芯片9和第二磁编码芯片7均位于电机腔4中，有利于降低受外界环境的影响，从而提升电机运行的稳定性和可靠性。
再一方面，在“双磁编码器”的设计中，第一磁编码芯片9和第二磁编码芯片7互为备份，共同工作，有助于提升电机运行的安全性、稳定性和可靠性。
基于上文描述可知，磁盘10与第一磁编码芯片9组成增量式磁编码器，磁盘10与第二磁编码芯片7组成增量式磁编码器。
其中，增量式磁编码器能够输出增量编码信号，增量编码信号可以为ABZ编码信号，增量式磁编码器包括三路信号输出通道：A、B和Z，分别用于A相、B相、Z相的信号输出。A相、B相、Z相为三组脉冲信号，其中A相、B相通常为相互延迟1/4周期(即互差90°)的脉冲输出，根据延迟关系可以区别增量式磁编码器的正转与反转，即通过判断A相在前还是B相在前，来判别增量式磁编码器的正转与反转；而且通过取A相、B相的上升和下降沿可以进行2或4倍频，以提高每周期编码器输出脉冲的数量，增加测量精度，减小控制误差；而Z相为单圈脉冲，即每圈发出一个脉冲，用于代表零位参考位。
在电机中电机转子3采用永磁体的实施方式中，电机不需要换向器和电刷，但是需要通过检测电机转子3的磁极位置，以能够控制定子绕组产生与转子磁场相匹配的定子磁场，使电机转子3正常旋转；因此增量式磁编码器需要输出能够判断电机转子3中磁极所处位置的霍尔信号。
与之对应地，在本公开实施例中，增量式磁编码器可以输出与电机转子3中磁极所在位置相关的霍尔信号，通过霍尔信号可以判断电机转子3的磁极所处位置，从而有利于电机的驱动控制。
示例性地，霍尔信号可以为UVW霍尔信号，增量式磁编码器包括三路信号输出通道：U、V与W。
由于增量式磁编码器与电机转子3中磁极呈现一个固定的机械角度，因此通过UVW霍尔信号判断电机转子3的磁极所处位置，还需获得该固定的机械角度，机械角度获得后烧录至增量式磁编码器，方便在电机工作过程对电机的驱动，此过程即“调零”。
增量式磁编码器可以通过单独的通道输出编码信号ABZ和霍尔信号UVW，也可以通过同一输出通道分时输出编码信号ABZ和霍尔信号UVW。
图4为本申请实施例提供的一种电机中印刷线路板及其上第一和第二磁编码芯片的架构图，如图4所示，在一些实施例中，第一磁编码芯片9具有用于输出第一编码信号的第一编码输出端901，以及用于输出第一霍尔信号的第一霍尔输出端902。第一编码信号为ABZ编码信号，第一编码输出端901包括A、B、Z信号输出通道；第一霍尔信号为UVW霍尔信号，第一霍尔输出端902包括U、V、W信号输出通道。第一编码输出端901与第一霍尔输出端902可以为同一输出端，第一编码信号与第一霍尔信号分时输出。
第二磁编码芯片7具有用于输出第二编码信号的第二编码输出端701，以及用于输出第二霍尔信号的第二霍尔输出端702。第二编码信号为ABZ编码信号，第二编码输出端701包括A、B、Z信号输出通道；第二霍尔信号为UVW霍尔信号，第二霍尔输出端702包括U、V、W信号输出通道。第二编码输出端701与第二霍尔输出端702可以为同一输出端，第二编码信号与第二霍尔信号分时输出。
请继续参考图4，在一些实施例中，印刷线路板8还包括电源转换模块12，电源转换模块12用于将输入的电压转化为印刷线路板8上元器件的工作电压，并输出至相应的元器件；例如，转换为第一磁编码芯片9和第二磁编码芯片7的工作电压，并输出至第一磁编码芯片9和第二磁编码芯片7。
在一些实施例中，印刷线路板8设置有温度传感器11，温度传感器11设置在电源转换模块12与第二编码芯片之间，用于防止印刷线路板8对第二编码芯片工作电压过高。温度传感器11能够对电机的温度进行监测，并在检测到的温度高于预设值时，切断电源转换模块12与第二编码芯片之间的供电，从而控制磁编码器报错，使电机停止工作。由此可以看出，通过设置温度传感器11可以保证电机在合适的温度下工作，以避免高温损害。
在另外可能的实施方式中，温度传感器11可以设置在电源转换模块12与第一编码芯片之间，也可以在电源转换模块12与第一编码芯片之间以及电源转换模块12与第二 编码芯片之间均设置，其工作原理与上述工作原理相同，此处不再赘述。
在一些实施例中，第一磁编码芯片9设置有第一烧录口903，第二磁编码芯片7设置有第二烧录口703；印刷线路板8上设置有共用烧录口13，共用烧录口13与第一烧录口903和第二烧录口703均相连。如此便于通过单一烧录口对第一磁编码芯片9与第二磁编码芯片7进行烧录，方便烧录及调整等工作。
需要说明的是，在上述实施方式中的电机，由于第一磁编码芯片9和第二磁编码芯片7分别设置在印刷线路板8的两侧，因此其转向不同，需要烧录不同的转向参数；还需要根据电机的属性，设定分辨率和极对数。因此在烧录时，通过第一磁编码芯片9和第二磁编码芯片7的校验位，自动识别第一磁编码芯片9和第二磁编码芯片7；然后根据第一磁编码芯片9和第二磁编码芯片7的正反位置，烧录信息。
本公开实施例提供的电机可以为同步电机、伺服电机等任一需要检测电机轴1转动情况的电机。以伺服电机为例，伺服电机还包括伺服驱动器，伺服驱动器将收到的电信号转换成电机轴1上的角速度输出或者角位移输出。
图5为本申请实施例提供的一种伺服电机的结构示意图，图6为本申请实施例提供的一种伺服电机中印刷线路板与伺服驱动器的架构图；如图5和6所示，在伺服电机中，印刷线路板8通过信号传输线缆15与伺服驱动器14相连，通过信号传输线缆15实现伺服驱动器14与第一磁编码芯片9中的第一编码输出端901、第一霍尔输出端902以及第二磁编码芯片7中的第二编码输出端701与第二霍尔输出端702电连接。
在一些实施例中，伺服驱动器14基于第一编码信号和第二霍尔信号控制伺服电机，并被配置为在第一编码信号和第二霍尔信号中至少一方异常后报错。在另一些实施例中，伺服驱动器14基于第二编码信号和第一霍尔信号控制伺服电机，并被配置为在第二编码信号和第一霍尔信号中至少一方异常后报错。
也就是说，第一磁编码芯片9和第二磁编码芯片7均具有编码信号和霍尔信号的输出功能，但是在伺服电机工作时，伺服驱动机采用第一磁编码芯片9中的一种信号，采用第二编码芯片的另一种信号进行伺服控制，从而实现双回路的安全设置。
而且，伺服驱动器14还可以根据第一磁编码芯片9和第二磁编码芯片7输出的信号实现相互校验的功能，只有当第一磁编码芯片9和第二磁编码芯片7同时输出正确的信号才能进入伺服驱动器14，伺服驱动器14如果接收不到正确的信号，则报异常，并可以采取停机的方式保证伺服电机的安全运行。
示例性地，第一磁编码芯片9输出ABZ编码信号至伺服驱动器14，第二磁编码芯片7输出UVW霍尔信号至伺服驱动器14。
示例性地，第一磁编码芯片9输出UVW霍尔信号至伺服驱动器14，第二磁编码芯片7输出ABZ编码信号至伺服驱动器14。
本申请实施例同时提供了一种自动导引运输车(Automated Guided Vehicle，缩写AGV)，如图7所示，该自动导引运输车包括车体16、安装于车体16的执行机构，以及驱动执行机构动作的电机，该电机采用上述实施例中的方案设计。
执行机构可以为自动导引运输车的行走结构，还可以动作机构等。示例性地，在本实施例中，电机驱动行走轮17转动，以实现自动引导运输车的行走。
示例性地，执行机构还可以为安装于车体16上的机械手，电机驱动机械手动作。
该自动导引运输车采用上述实施例中的电机，上述自动导引运输车具有与上述一些实施例中提供的电机相同的有益技术效果，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (15)

  1. 一种电机，包括：
    具有电机腔的电机壳；
    固定安装于所述电机腔的电机定子与印刷线路板；
    转动安装于所述电机腔的电机转子；
    与所述电机转子同步转动的磁盘；以及
    设置于所述印刷线路板两侧的第一磁编码芯片和第二磁编码芯片；
    其中，所述第一磁编码芯片和所述第二磁编码芯片均与所述磁盘配合形成磁编码器。
  2. 根据权利要求1所述的电机，其中，所述电机包括与所述电机转子相连的电机轴，所述电机轴包括：
    伸出所述电机腔的输出端，以及
    与所述输出端相对且位于所述电机腔的安装端；
    其中，所述磁盘设置于所述安装端的端面。
  3. 根据权利要求2所述的电机，其中，所述印刷线路板设置于所述磁盘远离所述电机轴的对侧，且所述第一磁编码芯片和所述第二磁编码芯片均处于与所述磁盘相对的位置。
  4. 根据权利要求3所述的电机，其中，所述电机轴为以第一轴线为中轴线的轴状结构；
    所述第一磁编码芯片相对于所述第二磁编码芯片靠近所述磁盘；
    沿所述第一轴线所在方向，所述第一磁编码芯片与所述磁盘之间具有间隙。
  5. 根据权利要求4所述的电机，其中，所述磁盘为以所述第一轴线为中轴线的圆盘，所述磁盘为径向充磁的永磁结构，包括以所述第一轴线为对称轴的单个或多个磁极对。
  6. 根据权利要求4或5所述的电机，其中，沿所述第一轴线所在方向，所述第一磁编码芯片与所述磁盘具有0.5mm至3mm的间隙；
    所述印刷线路板的厚度为0.8mm至1mm。
  7. 根据权利要求5或6所述的电机，其中，所述磁盘的直径为8mm至20mm，厚度为2.5mm。
  8. 根据权利要求1-7中任一项所述的电机，其中，所述第一磁编码芯片和所述第二磁编码芯片均与所述磁盘配合形成增量式磁编码器；
    所述第一磁编码芯片具有：
    用于输出第一编码信号的第一编码输出端，以及
    用于输出第一霍尔信号的第一霍尔输出端；
    所述第二磁编码芯片具有：
    用于输出第二编码信号的第二编码输出端，以及
    用于输出第二霍尔信号的第二霍尔输出端。
  9. 根据权利要求8所述的电机，其中，所述第一编码信号和所述第二编码信号为ABZ编码信号，所述第一编码输出端与所述第二编码输出端均包括A、B、Z信号输出通道；
    所述第一霍尔信号和所述第二霍尔信号为UVW霍尔信号，所述第一霍尔输出端与所述第二霍尔输出端均包括U、V、W信号输出通道。
  10. 根据权利要求8或9所述的电机，其中，所述第一编码输出端与所述第一霍尔输出端为同一输出端；所述第一编码信号与所述第一霍尔信号分时输出；
    和/或
    所述第二编码输出端与所述第二霍尔输出端为同一输出端，所述第二编码信号与所述第二霍尔信号分时输出。
  11. 根据权利要求8-10中任一项所述的电机，其中，所述电机为伺服电机，所述伺服电机还包括伺服驱动器；
    所述第一编码输出端、所述第一霍尔输出端、所述第二编码输出端和所述第二霍尔输出端均与所述伺服驱动器电连接；
    所述伺服驱动器基于所述第一磁编码芯片和所述第二磁编码芯片的输出信号控制所述伺服电机。
  12. 根据权利要求11所述的电机，其中，所述伺服驱动器基于所述第一编码信号和所述第二霍尔信号控制所述伺服电机，并被配置为在所述第一编码信号和所述第二霍尔信号中至少一方异常后报错；或
    所述伺服驱动器基于所述第二编码信号和所述第一霍尔信号控制所述伺服电机，并被配置为在所述第二编码信号和所述第一霍尔信号中至少一方异常后报错。
  13. 根据权利要求1-12中任一项所述的电机，其中，所述印刷线路板包括：
    电源转换模块，被配置为向所述第一磁编码芯片和所述第二磁编码芯片输出工作电压；以及
    温度传感器，设置于所述第一磁编码芯片与所述电源转换模块之间，和/或，所述第二磁编码芯片与所述电源转换模块之间；
    其中，所述温度传感器被配置为在所述温度传感器检测的温度高于预设值时断开供 电。
  14. 根据权利要求1-13中任一项所述的电机，其中，所述第一磁编码芯片具有第一烧录口，所述第二磁编码芯片具有第二烧录口；
    所述印刷线路板上设置有共用烧录口，所述共用烧录口与所述第一烧录口和所述第二烧录口均相连。
  15. 一种自动导引运输车，包括：
    车体，
    安装于所述车体的执行机构，以及
    如权利要求1-14中任一项所述的电机；
    其中，所述电机驱动所述执行机构动作。
PCT/CN2023/097248 2022-06-29 2023-05-30 电机及自动导引运输车 WO2024001647A1 (zh)

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