Position feedback for sealed environments
A transport apparatus including a housing, a drive mounted to the housing, and at least one transport arm connected to the drive, where the drive includes at least one rotor having at least one salient pole of magnetic permeable material and disposed in an isolated environment, at least one stator having at least one salient pole with corresponding coil units and disposed outside the isolated environment where the at least one salient pole of the at least one stator and the at least one salient pole of the rotor form a closed magnetic flux circuit between the at least one rotor and the at least one stator, at least one seal partition configured to isolate the isolated environment, and at least one sensor including a magnetic sensor member connected to the housing, at least one sensor track connected to the at least one rotor where the at least one seal partition is disposed between and separates the magnetic sensor member and the at least one sensor track so that the at least one sensor track is disposed in the isolated environment and the magnetic sensor member is disposed outside the isolated environment.
1. A transport apparatus comprising:
a housing;
a drive mounted to the housing; and
at least one transport arm connected to the drive;
where the drive includes
at least one rotor having at least one salient pole of magnetic permeable material and disposed in an isolated environment;
at least one stator having at least one salient pole structure defining a salient pole with corresponding coil units coiled around the salient pole structure and disposed outside the isolated environment where the at least one salient pole of the at least one stator and the at least one salient pole of the rotor form a closed magnetic flux circuit between the at least one rotor and the at least one stator;
at least one seal partition configured to isolate the isolated environment; and
at least one sensor including
a magnetic sensor member connected to the housing;
at least one sensor track connected to the at least one rotor;
at least one ferromagnetic flux loop having a sensor air gap where the magnetic sensor member interfaces with the at least one ferromagnetic flux loop; and
where the at least one seal partition is disposed between and separates the magnetic sensor member and the at least one sensor track so that the at least one sensor track is disposed in the isolated environment and the magnetic sensor member is disposed outside the isolated environment.
2. The transport apparatus of claim 1 , wherein at least a portion of the at least one seal partition is integral to the magnetic sensor member.
3. The transport apparatus of claim 1 , wherein the magnetic sensor member is configured to detect changes in a reluctance of the sensor air gap.
4. The transport apparatus of claim 1 , wherein the at least one ferromagnetic flux loop comprises first and second ferromagnetic flux loops having a sensor bridge member between the first and second ferromagnetic flux loops where the sensor air gap is located in the sensor bridge member, one of the first and second ferromagnetic flux loops having a track air gap in which at least a portion of the at least one sensor track is disposed.
5. The transport apparatus of claim 1 , wherein each of the at least one ferromagnetic flux loop includes a track interface portion disposed in the isolated environment and a sensor member interface portion disposed outside the isolated environment, the track interface portion and the sensor member interface portion being separated by the at least one seal partition.
6. The transport apparatus of claim 1 , wherein the at least one ferromagnetic flux loop includes flux concentrator elements disposed in the sensor air gap.
7. The transport apparatus of claim 1 , wherein the at least one ferromagnetic flux loop includes a track air gap in which at least a portion of the at least one sensor track is disposed.
8. The transport apparatus of claim 1 , wherein the at least one sensor track includes a first track having a first pitch and at least a second track having a respective pitch that is different than at least the first pitch, and the at least one sensor includes a first sensor corresponding to the first track and at least a second sensor corresponding to a respective one of the at least second track.
9. The transport apparatus of claim 1 , wherein the at least one sensor interfaces substantially directly with the at least one sensor track through the at least one seal partition.
10. A transport apparatus comprising:
a housing;
a drive mounted to the housing; and
at least one transport arm connected to the drive;
where the drive includes
at least one rotor having at least one salient pole of magnetic permeable material and disposed in an isolated environment;
at least one stator having at least one salient pole structure defining a salient pole with corresponding coil units coiled around the salient pole structure and disposed outside the isolated environment where the at least one salient pole of the at least one stator and the at least one salient pole of the rotor form a closed magnetic flux circuit between the at least one rotor and the at least one stator;
at least one seal partition configured to isolate the isolated environment; and
at least one sensor including
a magnetic sensor member connected to the housing;
at least one sensor track connected to the at least one rotor;
where the at least one seal partition is disposed between and separates the magnetic sensor member and the at least one sensor track so that the at least one sensor track is disposed in the isolated environment and the magnetic sensor member is disposed outside the isolated environment; and
wherein the magnetic sensor member comprises a differential sensor having sensor elements arranged to substantially match a pitch of the at least one sensor track such that differential sine and cosine output signals are obtained from the magnetic sensor member.
11. The transport apparatus of claim 10 , wherein the sensor elements form a Wheatstone bridge.
12. The transport apparatus of claim 10 , wherein the sensor elements are disposed on a common printed circuit board of the magnetic sensor member.
13. A transport apparatus comprising:
a housing;
a drive mounted to the housing;
at least one transport arm connected to the drive,
where the drive includes
at least one rotor having at least one salient pole of magnetic permeable material and disposed in an isolated environment;
at least one stator having at least one salient pole with corresponding coil units and disposed outside the isolated environment where the at least one salient pole of the at least one stator and the at least one salient pole of the rotor form a closed magnetic flux circuit between the at least one rotor and the at least one stator;
at least one seal partition configured to isolate the isolated environment; and
at least one sensor including
a magnetic sensor member connected to the housing;
at least one sensor track connected to the at least one rotor where the at least one seal partition is disposed between and separates the magnetic sensor member and the at least one sensor track so that the at least one sensor track is disposed in the isolated environment and the magnetic sensor member is disposed outside the isolated environment; and
a sensor controller configured to generate sensor signal commands to the at least one sensor based on sensor signals received from the at least one sensor, where the sensor signal commands effect a change in at least a predetermined characteristic of the sensor signals.
14. The transport apparatus of claim 13 , wherein at least a portion of the at least one seal partition is integral to the magnetic sensor member.
15. The transport apparatus of claim 13 , wherein the at least one sensor comprises at least one ferromagnetic flux loop having a sensor air gap where the magnetic sensor member interfaces with the ferromagnetic flux loop.
16. The transport apparatus of claim 15 , wherein each of the at least one ferromagnetic flux loop includes a track interface portion disposed in the isolated environment and a sensor member interface portion disposed outside the isolated environment, the track interface portion and the sensor member interface portion being separated by the at least one seal partition.
17. The transport apparatus of claim 13 , wherein the at least one sensor interfaces substantially directly with the at least one sensor track through the at least one seal partition.
18. A transport apparatus comprising:
a housing;
a drive mounted to the housing;
at least one transport arm connected to the drive,
where the drive includes
at least one rotor having at least one salient pole of magnetic permeable material and disposed in an isolated environment,
at least one stator having at least one salient pole with corresponding coil units and disposed outside the isolated environment where the at least one salient pole of the at least one stator the at least one salient pole of the rotor form a closed magnetic flux circuit between the at least one rotor and the at least one stator, and at least one seal partition configured to isolate the isolated environment; and
at least one sensor, the at least one sensor including a magnetic sensor member connected to the housing, at least one sensor track connected to the at least one rotor where the at least one seal partition is disposed between and separates the magnetic sensor member and the at least one sensor track so that the at least one sensor track is disposed in the isolated environment and the magnetic sensor member is disposed outside the isolated environment; and
a sensor controller configured for real-time sensor signal tuning in response to variations in at least one of an ambient condition of the at least one sensor or state condition of the at least one sensor.
19. The transport apparatus of claim 18 , wherein the ambient condition of the at least one sensor is a temperature of the at least one sensor.
20. The transport apparatus of claim 18 , wherein the state condition of the at least one sensor is at least one of a rotation direction of the at least one sensor track or sensor hysteresis.
21. The transport apparatus of claim 18 , wherein at least a portion of the at least one seal partition is integral to the magnetic sensor member.
22. The transport apparatus of claim 18 , wherein the at least one sensor comprises at least one ferromagnetic flux loop having a sensor air gap where the magnetic sensor member interfaces with the at least one ferromagnetic flux loop.
23. The transport apparatus of claim 22 , wherein the magnetic member is configured to detect changes in a reluctance of the sensor air gap.
24. The transport apparatus of claim 22 , wherein the at least one ferromagnetic flux loop comprises first and second ferromagnetic flux loops having a sensor bridge member between the first and second ferromagnetic flux loops where the sensor air gap is located in the sensor bridge member, one of the first and second ferromagnetic flux loops having a track air gap in which at least a portion of the at least one sensor track is disposed.
25. The transport apparatus of claim 22 , wherein each of the at least one ferromagnetic flux loop includes a track interface portion disposed in the isolated environment and a sensor member interface portion disposed outside the isolated environment, the track interface portion and the sensor member interface portion being separated by the at least one seal partition.
26. The transport apparatus of claim 18 , wherein the at least one sensor track includes a first track having a first pitch and at least a second track having a respective pitch that is different than at least the first pitch, and the at least one sensor includes a first sensor corresponding to the first track and at least a second sensor corresponding to a respective one of the at least second track.
27. The transport apparatus of claim 18 , wherein the magnetic sensor member comprises a differential sensor having sensor elements arranged to substantially match a pitch of the at least one sensor track such that differential sine and cosine output signals are obtained from the magnetic sensor member.
28. The transport apparatus of claim 27 , wherein the sensor elements form a Wheatstone bridge.
29. The transport apparatus of claim 27 , wherein the sensor elements are disposed on a common printed circuit board of the magnetic sensor member.
30. The transport apparatus of claim 18 , wherein the at least one sensor interfaces substantially directly with the at least one sensor track through the at least one seal partition.
31. A transport apparatus comprising:
a frame;
a drive section connected to the frame having at least one drive shaft;
a transport arm movably mounted to the drive section and driven by the at least one drive shaft; and
a position feedback apparatus including
at least one track mounted to a respective one of the at least one drive shaft, each of the at least one track having at least one scale disposed thereon; and
at least one read head corresponding to a respective track, the at least one read head including
at least one sensor mounted to a common support member, the at least one sensor being configured to sense a respective scale on the respective track; and
at least one energizing coil integrally formed with the support member.
32. The transport apparatus of claim 31 , wherein the at least one energizing coil is configured to generate an energizing pulse through a respective sensor to substantially eliminate sensor hysteresis.
33. The transport apparatus of claim 32 , further comprising a controller connected to the at least one read head, the controller being configured to sample track data from the at least one sensor so that sampling occurs a predetermined time after the energizing pulse through the respective sensor is generated.
34. The transport apparatus of claim 32 , wherein the energizing pulse saturates the sensor.
35. The transport apparatus of claim 31 , wherein the at least one read head and the respective track are separated from one another by an isolation wall such that the respective track is disposed in a first environment and the at least one read head is disposed in a second environment different than the first environment.
36. The transport apparatus of claim 35 , wherein the first environment is a vacuum environment and the second environment is an atmospheric environment.
37. The transport apparatus of claim 31 , wherein the at least one sensor includes a substantially featureless track interface.
38. The transport apparatus of claim 31 , wherein the at least one scale includes a first scale having a first pitch and at least a second scale having a respective pitch that is different from at least the first pitch and the at least one sensor includes a first sensor corresponding to the first scale and at least a second sensor corresponding to a respective one of the at least second scale.
39. The transport apparatus of claim 38 , wherein the first sensor and the at least second sensor are immovably fixed to the support member.
40. The transport apparatus of claim 31 , wherein the at least one sensor comprises a giant magneto resistive sensor.