CN116902578B

CN116902578B - Conveying method based on magnetic drive motor and magnetic drive conveying device

Info

Publication number: CN116902578B
Application number: CN202311144721.5A
Authority: CN
Inventors: 池峰; 李文华; 苗伟
Original assignee: Shanghai Golytec Automation Co ltd
Current assignee: Guoli Zhizao Shanghai Technology Co ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2023-12-12
Anticipated expiration: 2043-09-06
Also published as: CN116902578A

Abstract

The application provides a conveying method and a magnetic drive conveying device based on a magnetic drive motor, wherein the conveying method based on the magnetic drive motor comprises the following steps: placing the conveying piece on a conveying belt, and setting a detection position, a clamping position and a separation position which are sequentially arranged along the conveying direction of the conveying piece on the conveying belt; when the conveying piece moves to the detection position, binding the conveying piece with the rotor of the magnetic drive line; controlling the motion parameters of the rotor to enable the rotor to move to the clamping position, and clamping the conveying piece which also moves to the clamping position by using the rotor; controlling the motion parameters of the rotor so that the moving speed of the clamped conveying member is the same as the rotating speed of the star wheel mechanism when the clamped conveying member moves to the disengaging position; and separating the mover from the clamped conveying member at the disengaging position, so that the conveying member enters the star wheel mechanism. According to the technical scheme provided by the application, the conveying part can be accurately clamped, and the problems of bottle jump and bottle explosion easily caused by a bottle separating mode of the screw in the related art can be solved.

Description

Conveying method based on magnetic drive motor and magnetic drive conveying device

Technical Field

The application relates to the technical field of magnetic drive conveying devices, in particular to a conveying method based on a magnetic drive motor and a magnetic drive conveying device.

Background

The magnetic drive conveying device can be used for conveying the conveying piece to convey the conveying piece to each module of the production line, and the conveying piece is correspondingly operated. For example, in the field of filling, containers need to be transported to various modules by magnetic drive conveyor devices for cleaning, filling, labeling, inspection, and packaging operations.

In the related art, in the process of conveying the conveying members by the magnetic drive conveying device, it is necessary to equally divide the distances between the plurality of conveying members on the conveyor belt of the magnetic drive conveying device so as to smoothly perform various operations. Specifically, the plurality of conveying members are equally divided by means of screw-dividing.

However, in the related art, the screw rod bottle separating manner needs to extrude the conveying members to realize equal division, and when the distance between the conveying members and the pitch of the screw rod are greatly different, the screw rod may not accurately clamp the conveying members, and bottle jumping or bottle bursting is easily caused.

Disclosure of Invention

The invention provides a conveying method based on a magnetic drive motor and a magnetic drive conveying device, which are used for solving the problem that bottle jump and bottle explosion are easy to occur in a screw bottle separating mode in the related art.

According to an aspect of the present invention, there is provided a magnetic drive motor-based conveying method applied to a magnetic drive motor including a plurality of stators arranged in a conveying direction to form at least one conveying line body and at least one mover including an armature winding, the mover including a permanent magnet magnetically coupled to the armature winding, the stator for driving the mover to move in the conveying direction, the mover for holding a conveying member on a conveying belt, the magnetic drive motor-based conveying method comprising: placing the conveying piece on a conveying belt, and setting a detection position, a clamping position and a separation position which are sequentially arranged along the conveying direction of the conveying piece on the conveying belt; when the conveying piece moves to the detection position, binding the conveying piece with the rotor of the magnetic drive line; controlling the motion parameters of the rotor to enable the rotor to move to the clamping position, and clamping the conveying piece which also moves to the clamping position by using the rotor; controlling the motion parameters of the rotor so that the moving speed of the clamped conveying member is the same as the rotating speed of the star wheel mechanism when the clamped conveying member moves to the disengaging position; and separating the mover from the clamped conveying member at the disengaging position, so that the conveying member enters the star wheel mechanism.

Further, when the conveying member moves to the detection position, binding the conveying member with the mover of the magnetic drive line, including: when the conveying member is detected to move to the detection position, position marking is carried out on the conveying member, and a first conveying distance between the marking position and the clamping position is calculated; and acquiring the positions of the corresponding movers in the magnetic drive line, calculating a second conveying distance between the position of each mover and the clamping position, and binding the marked conveying piece with the movers according to the first conveying distance and the second conveying distance.

Further, binding the marked conveying member with the mover according to the first conveying distance and the second conveying distance, including: adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance, so that the conveying member and the mover simultaneously move to the clamping position, and the center point of the conveying member coincides with the center point of the clamp; in the clamping position, the transporting member is clamped by the mover.

Further, the moving speed of the mover is adjusted based on the first conveying distance and the second conveying distance so that the conveyor and the mover are simultaneously moved to the clamping position, including: calculating the conveying time required by conveying the conveying piece from the detection position to the clamping position according to the first conveying distance and the moving speed of the conveying belt; the moving speed of the mover is adjusted based on the transfer time so that the mover and the conveying member simultaneously move to the gripping position.

Further, the moving speed of the mover is adjusted based on the first conveying distance and the second conveying distance so that the conveyor and the mover are simultaneously moved to the clamping position, including: acquiring the moving speed of a conveyor belt and the moving speed of a bound rotor, and comparing the moving speed of the conveyor belt with the relative size of the moving speed of the bound rotor; if the moving speed of the conveyor belt is not equal to the moving speed of the bound rotor, dividing the first conveying distance into a catch-up distance and a synchronous distance; in the catch-up distance, the moving speed of the bound mover is adjusted so that the moving speed of the bound mover is equal to the moving speed of the conveyor belt when the conveying member enters the synchronous distance, and the first conveying distance of the conveying member from the clamping position is equal to the second conveying distance of the bound mover from the clamping position so that the conveying member and the bound mover arrive at the clamping position simultaneously.

Further, after the conveying member enters the synchronization distance, the method further comprises: binding the moving speed of the conveyor belt with the moving speed of the bound mover, and synchronously changing the moving speed of the bound mover when the moving speed of the conveyor belt is changed; and/or binding the first conveying distance with the second conveying distance, and synchronously changing the second conveying distance when the first conveying distance is changed.

Further, the magnetic driving line is an annular line, and is divided into a clamping section for clamping the conveying piece by the rotor and a backflow section for unbinding the conveying piece and reflowing the rotor.

Further, binding the marked conveying member with the mover according to the first conveying distance and the second conveying distance, including: judging whether a rotor exists in the reflux section; if no mover exists in the backflow section, binding the mover closest to the backflow section in the clamping section with the marked conveying piece; if the existence of the mover exists in the backflow section, determining the mover with the smallest absolute value of the difference value between the second conveying distance and the first conveying distance in the backflow section, and binding the conveying piece with the mover with the smallest absolute value.

Further, before the conveying member and the mover with the minimum absolute value are bound, the conveying method based on the magnetic drive motor further comprises the following steps: judging whether a mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is bound with the conveying piece or not; judging whether a previous mover of the mover having the smallest absolute value of the difference between the first conveying distance and the second conveying distance is already bound with the conveying member; if the former mover of the mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is already bound with the conveying piece, sequentially selecting the unbound mover with the Nth smallest absolute value of the difference value, wherein N is a positive integer greater than or equal to 2.

Further, when the movement of the conveying member to the detection position is detected, the position marking of the conveying member is performed, including: the conveying member is detected based on the photoelectric switch, and when the conveying member is detected to move to the detection position, the conveying member is subjected to position marking.

Further, when the transport member and the mover are simultaneously moved to the gripping position, the mover is tangential to the transport member.

Further, the motion parameters include a moving speed, and the motion parameters of the mover are controlled such that the moving speed of the conveying member is the same as the rotating speed of the star wheel mechanism when the clamped conveying member moves to the disengaged position, including: and adjusting the moving speed of the mover so that any cavity of the clamped conveying member and the star wheel mechanism moves to the disengaging position at the same time, and the moving speed of the clamped conveying member to the disengaging position is the same as the rotating speed of the star wheel mechanism.

Further, adjusting the moving speed of the mover so that any one of the clamped conveying member and the star wheel mechanism simultaneously moves to the disengaged position, and the moving speed of the clamped conveying member to the disengaged position is the same as the rotating speed of the star wheel mechanism, includes: dividing the distance from the clamping position to the separating position into a variable speed distance and a uniform speed distance; and in the variable speed distance, the moving speed of the mover is regulated, so that the moving speed of the clamped conveying piece is the same as the rotating speed of the star wheel mechanism when the clamped conveying piece enters the uniform speed distance, and the conveying piece can move to a separation position with any cavity of the star wheel mechanism when the moving speed of the conveying piece is kept unchanged and the conveying piece moves at the uniform speed distance.

Further, at a constant speed distance, the distance between two adjacent clamped conveying members is a preset distance.

Further, when the conveying members are placed on the conveyor belt, the distance between two adjacent conveying members is controlled to be larger than the preset distance.

Further, adjusting the moving speed of the mover so that any one of the clamped conveying member and the star wheel mechanism simultaneously moves to the disengaged position, and the moving speed of the clamped conveying member to the disengaged position is the same as the rotating speed of the star wheel mechanism, includes: acquiring the rotation speed of the cavity closest to the separation position, and calculating the first distance between the cavity and the separation position; acquiring the moving speed of the mover closest to the separation position, and calculating a second distance between the mover and the separation position; the motion parameters of the mover are controlled such that the second pitch is equal to the first pitch and the moving speed of the mover is equal to the rotating speed of the cavity.

Further, setting the magnetic drive line as a circulating line, and enabling a plurality of movers of the magnetic drive line to move around the annular structure; in the direction perpendicular to the conveying direction of the conveyor belt, the gripping position is a fixed position or a floating position, and the disengaging position is a fixed position.

According to another aspect of the present invention, there is provided a magnetic drive conveying apparatus capable of implementing the above-provided conveying method based on a magnetic drive motor, the magnetic drive conveying apparatus including: a conveyor belt having an inlet end and an outlet end; the magnetic driving line is positioned at one side of the conveyor belt and is provided with a movable element which is movably arranged, and the movable element is provided with a clamp which can clamp a conveying piece on the conveyor belt; a detecting member capable of detecting a position of the conveying member on the conveyor belt; the star wheel mechanism is positioned at the outlet end of the conveyor belt; the control piece can be connected with the conveyor belt, the magnetic drive line, the detection piece and the star wheel mechanism in a signal mode, and the control piece can control the motion parameters of the rotor.

Further, the detection piece comprises a photoelectric switch which is arranged on the conveyor belt, the photoelectric switch comprises a first encoder and a sensor, the first encoder is used for acquiring the position of the conveying piece on the conveyor belt, and the sensor is used for acquiring the motion parameter of the conveying piece on the conveyor belt; the control part comprises a PLC and a controller, and the controller is used for controlling the motion parameters of the rotor; the star wheel mechanism is provided with a second encoder which is used for acquiring the motion parameters of the star wheel mechanism; the photoelectric switch and the second encoder are respectively connected with a controller in a signal mode, and the controller is connected with the PLC in a signal mode.

By applying the technical scheme of the invention, the conveying member is placed on the conveyor belt, when the conveying member moves to the detection position, the conveying member is bound with the rotor of the magnetic drive line, and the motion parameters of the rotor are controlled, so that when the conveying member and the rotor move to the clamping position, the conveying member is clamped by the rotor at the clamping position, and then the motion parameters of the rotor are controlled, so that when the clamped conveying member moves to the disengaging position, the moving speed of the conveying member is the same as the rotating speed of the star wheel mechanism, and the rotor is separated from the clamped conveying member at the disengaging position, so that the conveying member enters the star wheel mechanism. By adopting the conveying method based on the magnetic drive motor, the moving parameters of the conveying piece are clamped and adjusted by the rotor of the magnetic drive line, so that the conveying piece clamped by the rotor can smoothly enter the star wheel mechanism without extruding the conveying piece, stable clamping of the rotor on the conveying piece in the conveying process is realized, and the problems of bottle jumping and bottle explosion caused by a bottle separating mode of a screw in the related art can be solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 shows a flow chart of a magnetic drive motor based delivery method provided in accordance with an embodiment of the present application;

fig. 2 shows a schematic structural diagram of a magnetic drive conveying device according to an embodiment of the present application;

fig. 3 shows a flowchart of one step of a magnetic drive motor-based conveying method according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

10. a conveying member;

20. a conveyor belt;

30. a magnetic drive wire; 31. a mover; 32. a clamp;

40. a star wheel mechanism; 41. a cavity;

50. an optoelectronic switch.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

As shown in fig. 1 and 2, an embodiment of the present invention provides a magnetic drive motor-based conveying method, which is applied to a magnetic drive motor, the magnetic drive motor includes a plurality of stators and at least one mover, the plurality of stators are arranged along a conveying direction to form at least one conveying line body, the stators include armature windings, the mover includes permanent magnets magnetically coupled with the armature windings, the stators are used for driving the mover to move along the conveying direction, and the mover is used for clamping conveying members on a conveying belt, the magnetic drive motor-based conveying method includes:

step S100, placing a conveying piece on a conveying belt, and setting detection positions, clamping positions and separation positions which are sequentially arranged along the conveying direction of the conveying piece on the conveying belt;

in the embodiment of the invention, the magnetic drive motor comprises an upper computer PLC, a conveyor belt, a photoelectric switch and a magnetic drive wire. The upper computer PLC is respectively communicated with the conveyor belt, the magnetic drive line and the photoelectric switch and is used for controlling the motion states of the conveyor belt and the magnetic drive line; the conveyor belt is used for conveying pieces and is provided with a third encoder, the third encoder is used for communicating with the upper computer PLC, the communication content comprises uploading the motion information of the conveyor belt to the PLC and receiving a control instruction sent by the PLC, and the running state of the conveyor belt is adjusted according to the control instruction; the magnetic drive line is used for controlling and driving the mover arranged on the magnetic drive line to move, the magnetic drive line is provided with a controller, a stator and a mover, wherein a sensor is arranged in the mover, a stator encoder is arranged in the stator, the stator encoder can acquire the position information and the speed information of the mover by acquiring the sensor information of the mover, the controller is used for controlling the running speed of the mover on the stator, the controller is also used for sending the position and the speed information of the mover to the PLC, receiving control instructions sent by the PLC and controlling the movement state of each mover according to the control instructions; the photoelectric switch is used for carrying out positioning mark on a conveying piece placed on the conveyor belt, and is provided with a first encoder which is used for sending the position information of the conveying piece detected by the photoelectric switch to the PLC.

Specifically, the conveyor belt is a conveying device for driving the conveying member, and in this embodiment, a detection position, a clamping position, and a release position are preset on the conveyor belt along a conveying direction of the conveyor belt.

The detection position is used for detecting the conveying piece, a detection device used for detecting and identifying the conveying piece is preset on the detection position, and when the conveying piece moves to the detection position along with the conveying belt, the detection device can detect the conveying piece and record the position of the conveying piece. The conveying member is clamped by the mover at the clamping position. In the disengaged position the mover disengages the gripped transport.

Step 200, binding the conveying piece with a rotor of the magnetic drive line when the conveying piece moves to the detection position;

specifically, a detection device for detecting and identifying the conveying member is preset at the detection position, when the conveying member moves to the detection position along with the conveyor belt, the detection device can detect the conveying member and record the position of the conveying member, the detection device sends the position of the conveying member to the PLC, and the PLC selects a rotor for the conveying member to bind in the magnetic drive line according to the position of the conveying member.

It can be understood that the PLC can acquire the position information of the movers in the magnetic driving line, and when the conveying member is detected to move to the detection position, the movers which are closest to the clamping position and are not bound with other conveying members are matched for the conveying member according to the position of the conveying member and the position information of each mover in the magnetic driving line.

In one embodiment, the detecting device may be a photoelectric switch, such as the photoelectric switch 50 shown in fig. 2, and the photoelectric switch is used to perform positioning detection on the conveying member, obtain the first center point coordinate of the conveying member, and upload the first center point coordinate of the conveying member to the PLC; a clamp for clamping the conveying piece is arranged on the mover, and the coordinates of a second center point of the clamp are input into the PLC; binding the conveying piece with the rotor of the magnetic drive line based on the first center point coordinate and the second center point coordinate.

Specifically, the first center point coordinate is the center point coordinate of the conveying member detected by the photoelectric switch, and can be used for representing the position information of the conveying member, the second center point coordinate is the center point coordinate of the clamp on the rotor, and can be used for representing the position information of the rotor, and the PLC binds the rotor closest to the matching of the conveying member according to the position information of the conveying member and the position information of the rotor, and the bound rotor is used for clamping the corresponding conveying member at the clamping position.

The photoelectric switch performs virtual punching on the conveying piece, namely, the photoelectric switch shoots the profile of the conveying piece from the overlook angle and/or the side view angle, the center point of the conveying piece is determined according to the algorithm of the photoelectric switch, meanwhile, the photoelectric switch detects the movement speed of the conveying piece and the absolute position coordinates of the center point on the basis of determining the center point, and the information is transmitted to the PLC.

The photoelectric switch and the clamping position are preferably arranged on the same conveyor belt, so that the operation amount is reduced, the operation logic is optimized, and the movement precision is increased, or the photoelectric switch and the clamping position can be arranged on different conveyor belts.

Step S300, controlling the motion parameters of the rotor to enable the rotor to move to the clamping position, and clamping the conveying piece which also moves to the clamping position by using the rotor;

specifically, after the conveying member and the mover are bound, the conveying member which is also moved to the clamping position is controlled to be clamped at the clamping position by controlling the motion parameters of the mover according to the bound conveying member and mover. Wherein, the motion parameter can be the moving speed of the mover.

In this embodiment, the moving speed of the mover moving on the magnetic driving line is adjustable, the moving speed of the conveyor belt is fixed, and after the conveyor member and the mover are bound, the PLC adjusts the moving speed of the mover according to the moving speed of the conveyor belt, and controls the mover to move to the clamping position before or simultaneously with the conveyor member, so that the mover clamps the conveyor member moving to the clamping position at the clamping position. When the rotor moves to the clamping position before the conveying piece, the rotor can be controlled to stop waiting for the conveying piece to move to the clamping position at the clamping position, and the rotor is controlled to clamp the conveying piece when the conveying piece moves to the clamping position; when the rotor and the conveying piece move to the clamping position at the same time, the rotor is controlled to directly clamp the conveying piece.

In one embodiment, the moving speed of the mover may be adjusted based on the first center point coordinate of the transporting member and the second center point coordinate of the clamp in the mover, so that the transporting member and the mover move to the clamping position at the same time, and the center point of the transporting member coincides with the center point of the clamp; in the clamping position, the transporting member is clamped by the mover.

Alternatively, the conveying time required by the conveying member to be conveyed to the clamping position by the photoelectric switch can be calculated according to the distance between the first center point coordinate and the clamping position and the speed of the conveying belt; the moving speed of the mover is adjusted based on the transfer time so that the mover and the conveying member simultaneously move to the gripping position.

Further, after calculating the transfer time of the transfer member to the holding position, the moving speed of the mover is adjusted according to the transfer time so that the mover and the transfer member simultaneously move to the holding position.

It can be understood that the moving speed of the control rotor is the same at the clamping position and the moving speed of the conveying piece, so that the clamping stability of the rotor to the conveying piece can be ensured.

In one embodiment, the mover is tangential to the transport when the transport and mover are simultaneously moved to the gripping position.

It should be noted that, the mover in this embodiment circularly moves on the annular magnetic driving line, and the clamping position is selected at a position where the annular magnetic driving line is tangential to the conveyor belt, so that the mover and the conveying member clamp the conveying member in a tangential positional relationship, and clamping can be facilitated.

Step S400, controlling the motion parameters of the rotor so that the moving speed of the clamped conveying piece is the same as the rotating speed of the star wheel mechanism when the conveying piece moves to the disengaging position;

specifically, after the mover clamps the conveying member at the clamping position, the mover moves to the disengaging position, and after the mover moves to the disengaging position, the mover disengages the conveying member and the conveying member enters the star wheel mechanism. In this embodiment, in the process that the mover clamps the conveying member to move to the disengaging position, the moving speed of the mover is adjusted, so that the rotating speeds of the conveying member and the star wheel mechanism are the same when the conveying member moves to the disengaging position, and the conveying member can stably enter the star wheel mechanism.

And S500, separating the rotor from the clamped conveying member at the disengaging position, so that the conveying member enters the cavity of the star wheel mechanism.

By means of the conveying method based on the magnetic drive motor, after the conveying piece is placed on the conveying belt, the detecting position, the clamping position and the separating position are sequentially arranged on the conveying belt, when the conveying piece moves to the detecting position, the conveying piece is bound with the rotor of the magnetic drive line, the moving parameters of the rotor are controlled, the conveying piece and the rotor simultaneously move to the clamping position, the conveying piece is clamped by the rotor at the clamping position, then the moving parameters of the rotor are controlled, any cavity of the clamped conveying piece and any cavity of the star wheel mechanism simultaneously move to the separating position, the rotor is separated from the clamped conveying piece at the separating position, and the conveying piece enters the star wheel mechanism. By adopting the conveying method based on the magnetic drive motor, the moving parameters of the conveying piece are clamped and adjusted by the rotor of the magnetic drive line, so that the conveying piece clamped by the rotor can smoothly enter the star wheel mechanism without extruding the conveying piece, stable clamping of the rotor on the conveying piece in the conveying process is realized, and the problems of bottle jumping and bottle explosion caused by a bottle separating mode of a screw in the related art can be solved.

It should be noted that, the magnetic drive line is used as the intermediate transition line body to integrate the front and rear line body processes, so that the process result output by the previous process meets the process requirement of the next process after being integrated by the magnetic drive line.

In this embodiment, before interacting with the mover on the magnetic driving line, the spacing between adjacent conveying members is in a random state, that is, the spacing between different adjacent conveying members is unevenly set. When interacting with the movers on the magnetic driving line, the movers on the magnetic driving line are used for sequencing the conveying members, so that the distance between the two different adjacent conveying members is uniformly set, the distance between the two adjacent conveying members is a preset distance, and the preset distance is set according to parameters such as unit Hour productivity (UPH), unit Per Hour, star wheel speed and the like, and therefore when the conveying members enter the star wheel mechanism, the conveying members are prevented from colliding with the star wheel mechanism, and the conveying members enter the star wheel mechanism smoothly.

And adopt the magnetic drive line to realize the halving of conveying piece, compare in the mode that adopts the screw rod to divide the bottle in the correlation technique, through the anchor clamps on the change active cell, this embodiment can adapt to the bottle conveying piece of different specifications, has the advantage that the fitness is high.

In one embodiment, referring to fig. 3, when the conveying member moves to the detection position, the step S200 of binding the conveying member with the mover of the magnetic driving wire includes:

and S210, when the conveying member is detected to move to the detection position, position marking is carried out on the conveying member, and a first conveying distance between the marking position and the clamping position is calculated.

Specifically, when the conveying member moves to a photoelectric switch (camera) along with the conveying belt, the photoelectric switch shoots the conveying member and positions the punching marks, the first encoder acquires mark position information generated by the punching marks of the photoelectric switch and transmits the mark position information to the PLC, the PLC reads the mark position and compares the mark position information with clamping position information to acquire comparison information, and the PLC calculates a first conveying distance between the mark position corresponding to the conveying member and the clamping position according to the comparison information.

Step S220, obtaining the positions of the corresponding movers in the magnetic drive line, calculating the second conveying distance between the positions of the movers and the clamping positions, and binding the marked conveying piece with the movers according to the first conveying distance and the second conveying distance.

Specifically, a stator encoder arranged in the magnetic drive line acquires position information of each rotor and transmits the position information to a PLC, the PLC calculates a second conveying distance between each rotor position and the clamping position, and then the marked conveying piece and the rotor are bound according to the first conveying distance and the second conveying distance.

In one embodiment, to achieve stable clamping of the mover to the conveying member, the step S220 of binding the marked conveying member with the mover according to the first conveying distance and the second conveying distance includes:

adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance, so that the conveying member and the mover simultaneously move to the clamping position, and the center point of the conveying member coincides with the center point of the clamp;

in the clamping position, the transporting member is clamped by the mover.

In one embodiment, adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance such that the conveying member and the mover simultaneously move to the clamping position and the center point of the conveying member coincides with the center point of the clamp includes: calculating the conveying time required by conveying the conveying piece from the detection position to the clamping position according to the first conveying distance and the moving speed of the conveying belt; the moving speed of the mover is adjusted based on the transfer time so that the mover and the conveying member simultaneously move to the gripping position.

It can be understood that, in order to ensure that the mover can clamp the conveying member relatively stably at the clamping position, the conveying time from the operation of the conveying member to the clamping position is calculated, so that the mover subsequently reaches the clamping position after the conveying member reaches the clamping position, and the phenomenon that the mover and the conveying member simultaneously reach the clamping position to easily cause bottle jumping or bottle explosion is avoided, thereby realizing stable clamping of the conveying member.

In one embodiment, adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance such that the conveyor and the mover move to the gripping position simultaneously includes: acquiring the moving speed of a conveyor belt and the moving speed of a bound rotor, and comparing the moving speed of the conveyor belt with the relative size of the moving speed of the bound rotor; if the moving speed of the conveyor belt is not equal to the moving speed of the bound rotor, dividing the first conveying distance into a catch-up distance and a synchronous distance; in the catch-up distance, the moving speed of the bound mover is adjusted so that the moving speed of the bound mover is equal to the moving speed of the conveyor belt when the conveying member enters the synchronous distance, and the first conveying distance of the conveying member from the clamping position is equal to the second conveying distance of the bound mover from the clamping position so that the conveying member and the bound mover arrive at the clamping position simultaneously.

It will be appreciated that in order to ensure that the mover clamps the transport member relatively securely in the clamped position, the speed of operation of the mover and the speed of operation of the transport member should be consistent when the mover and the transport member are simultaneously moved to the clamped position. When the distance between the conveying piece and the clamping position and the distance between the rotor and the clamping position are different, dividing a catch-up distance and a synchronous distance in a first conveying distance between the conveying piece and the clamping position, wherein the catch-up distance refers to the distance required to move the conveying piece in the process of adjusting the speed of the rotor so that the distance between the conveying piece and the clamping position and the distance between the rotor and the clamping position are consistent; the synchronous distance refers to the distance between the conveying member and the clamping position, and the distance between the mover and the clamping position is kept consistent, and then the conveying member moves to the clamping position. Further, during the movement of the conveying member in the catch-up distance, the running speed of the mover is adjusted so that after the conveying member enters the synchronous distance, the running speed of the mover and the running speed of the conveying member are kept consistent, and therefore the conveying member and the bound mover arrive at the clamping position at the same speed at the same time, and the clamping stability of the mover to the conveying member is ensured.

In a possible embodiment, the moving speed of the mover can be increased by comparing the relative size of the second conveying distance of the mover from the clamping position with the first conveying distance of the conveying member from the clamping position, if the second conveying distance is greater than the first conveying distance, until the second conveying distance is equal to the first conveying distance; if the second conveying distance is smaller than the first conveying distance, the moving speed of the mover is reduced until the second conveying distance is equal to the first conveying distance, so that the conveying piece and the bound mover arrive at the clamping position at the same time.

It can be understood that the present embodiment makes the motion parameters of the mover and the motion parameters of the conveying member consistent by taking the position or the moving speed as a reference, thereby ensuring stable clamping of the mover to the conveying member at the clamping position.

In one embodiment, the magnetic drive line is a loop line, and is divided into a clamping section for clamping the conveying member by the mover and a reflow section for unbinding the conveying member and reflowing the mover.

Wherein binding the marked conveying member with the mover according to the first conveying distance and the second conveying distance, comprising: judging whether a rotor exists in the reflux section; if no mover exists in the backflow section, binding the mover closest to the backflow section in the clamping section with the marked conveying piece; if the existence of the mover exists in the backflow section, determining the mover with the smallest absolute value of the difference value between the second conveying distance and the first conveying distance in the backflow section, and binding the conveying piece with the mover with the smallest absolute value.

It can be appreciated that at the start of the conveyor line or when the number of movers is small, there may be no mover in the return section at this time, so that the mover in the clamping section closest to the return section is bound to the marked conveyor; when the number of the movers is large, the movers possibly exist in the backflow section, and then the conveying piece and the movers are sequentially bound.

In this embodiment, before binding the conveying member and the mover having the smallest absolute value, the method further includes: judging whether a mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is bound with the conveying piece or not; judging whether a previous mover of the mover having the smallest absolute value of the difference between the first conveying distance and the second conveying distance is already bound with the conveying member; if the former mover of the mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is already bound with the conveying piece, sequentially selecting the unbound mover with the Nth smallest absolute value of the difference value, wherein N is a positive integer greater than or equal to 2.

That is, for example, when the device is just started, the mover is divided into +2 mover and-1 mover by absolute value, if +2 mover and-1 mover are not bound, the-1 mover is selected; during the operation of the device, if the-1 mover is already bound, only +2 movers can be selected. "+2" means that the first conveying distance is greater than the second conveying distance, and the first conveying distance is greater than the second conveying distance by two unit values, that is, "+2 mover" means that the distance between the mover and the clamping position is greater than the distance between the conveying member and the clamping position, and the distance between the mover and the clamping position is greater than the distance between the conveying member and the clamping position by two unit values; "-1" means that the first conveying distance is smaller than the second conveying distance, and the first conveying distance is smaller than the second conveying distance by a unit value, that is, "-1 mover" means that the distance between the mover and the clamping position is smaller than the distance between the conveying member and the clamping position, and the distance between the mover and the clamping position is smaller than the distance between the conveying member and the clamping position by a unit value.

In this embodiment, the conveying method based on the magnetic drive motor further includes: according to the first conveying distance and the running speed of the conveyor belt, calculating the first conveying time length of the conveying piece moving from the detection position to the clamping position, and controlling the moving time length of the rotor along the second conveying distance to be equal to the first conveying time length.

It can be understood that after the conveying member and the mover are bound, the running speed of the mover can be adjusted to control the movement time required by the mover to move to the clamping position, so that the movement time of the mover to move to the clamping position is equal to the movement time of the conveying member to move to the clamping position, and the conveying member and the bound mover arrive at the clamping position at the same time, so that the mover can clamp the conveying member at the clamping position.

Specifically, the step of determining whether the conveying member moves to the detection position, and in the case where it is determined that the conveying member moves to the detection position, marking the conveying member includes: detecting whether the conveying member moves to a detection position by using a photoelectric switch; in the case where it is determined that the conveying member moves to the detection position, the conveying member is perforated by the photoelectric switch to mark the conveying member.

In this embodiment, the punching information includes a center point coordinate of the punching conveying member and an instantaneous speed of the conveying member, and the center point coordinate and the clamping position coordinate obtained by the punching information are absolute positions, where the clamping position coordinate is a preset coordinate, which can be adjusted according to specific process requirements, and the coordinate position is preset in the PLC.

The third encoder continuously sends the motion information of the conveyor belt to the PLC, namely, after the conveying piece is punched, the conveying piece is conveyed forwards along with the conveyor belt, and the PLC combines the motion information of the conveyor belt and the first conveying distance to calculate the conveying distance between the conveying piece and the clamping position in real time.

In this embodiment, clamping the marked transport member at the clamping position with the bound mover includes: when the marked conveying member moves to the clamping position, the bound mover moves to a position tangential to the marked conveying member; the marked transport element is clamped by means of a clamp of the bound mover.

It should be noted that, since the mover is provided with the clamp, the clamp is used for clamping the conveying member, that is, the clamping profile of the clamp should be approximately equal to the outer profile of the conveying member, thereby obtaining a good clamping effect. Since the transport member is perforated and defines a center point, the clamp also has a center position, and when the center point initially coincides with the center position, the clamp has a motion curve that should be tangential to and fit the motion curve of the transport member. It can be seen that the motion path of the mover is not fitted to the center point, so: the magnetic drive line is preset to have a fitting position, and when the rotor moves to the fitting position, the center point of the conveying piece coincides with the center position of the clamp, namely the clamp clamps the conveying piece. The fitting position can be preset in the PLC or calculated by the PLC. Generally, since the magnetic driving line is a circular line, the fitting position is generally disposed at the junction of the arc segment and the straight line segment. Or, the controller acquires the motion information of the movers, the PLC combines the motion information of the movers and the center position of the clamp to calculate the motion information of the clamp corresponding to each mover, and when the motion curve of the clamp is tangent to and fitted with the motion curve of the conveying piece, the movers corresponding to the clamp are at the fitting position.

Because the stator encoder acquires the position information of all the movers and transmits the position information to the PLC, the PLC compares the distance between the positions of the movers and the fitting position, the distance is called a second conveying distance, the PLC compares the absolute value of the difference value between each second conveying distance and the first conveying distance, and the corresponding mover with the smallest absolute value is selected for binding. It should be noted that, the fitting position in this embodiment is the clamping position described above.

The clamping position is provided with a grabbing allowance, and the grabbing allowance can be +/-1 mm.

After the conveying members are clamped by the rotor, the motion parameters of the rotor can be controlled, so that the distance between two adjacent conveying members to be clamped is a preset distance under the condition that the conveying members to be clamped move to a disengaging position (positioned behind the clamping position), and the moving speed of the rotor is equal to the rotating speed of the star wheel mechanism, so that the conveying members to be clamped by the rotor enter the star wheel mechanism conveniently. Finally, the mover is separated from the clamped conveying member, so that the conveying member enters the star wheel mechanism.

In one embodiment, the star wheel mechanism includes at least one cavity 41 for receiving the transport member, the motion parameters include a moving speed, and the step S400 of controlling the motion parameters of the mover such that the moving speed of the transport member is the same as the rotating speed of the star wheel mechanism when the clamped transport member moves to the disengaged position includes: and adjusting the moving speed of the mover so that any cavity of the clamped conveying member and the star wheel mechanism moves to the disengaging position at the same time, and the moving speed of the clamped conveying member to the disengaging position is the same as the rotating speed of the star wheel mechanism.

Specifically, when the mover clamps the conveying member to the release position, the mover clamps the conveying member to be released from the release position and enter the star wheel mechanism. In order to ensure the conveying efficiency, the star wheel mechanism is provided with a plurality of cavities for clamping the conveying members, and the moving speed of the rotor is changed before the rotor clamps the conveying members to a disengaging position, so that the cavities for clamping the conveying members in the rotor and the star wheel mechanism reach the clamping position at the same time, and the conveying members can be conveyed efficiently.

Further, the moving speed of the mover is adjusted so that any one of the clamped conveying member and the star wheel mechanism is moved to the disengaging position at the same time, and the moving speed of the clamped conveying member to the disengaging position is the same as the rotating speed of the star wheel mechanism, including: dividing the distance from the clamping position to the separating position into a variable speed distance and a uniform speed distance; and in the variable speed distance, the moving speed of the mover is regulated, so that the moving speed of the clamped conveying piece is the same as the rotating speed of the star wheel mechanism when the clamped conveying piece enters the uniform speed distance, and the conveying piece can move to a separation position with any cavity of the star wheel mechanism when the moving speed of the conveying piece is kept unchanged and the conveying piece moves at the uniform speed distance.

It can be appreciated that by adjusting the moving speed of the mover, the conveying member is moved to the disengaged position at the same speed and the cavity for receiving the conveying member in the star wheel mechanism, thereby ensuring that the conveying member stably and safely enters the star wheel mechanism.

In one embodiment, at a uniform distance, the spacing between two adjacent clamped conveying members is a preset spacing.

The preset distance can be equal to the distance between adjacent cavities in the star wheel mechanism.

It is easy to understand that by controlling the preset interval to be equal to the interval between the adjacent cavities in the star wheel mechanism and controlling the moving speed of the rotor to be equal to the rotating speed of the star wheel mechanism, the conveying piece clamped by the rotor is continuously conveyed into the star wheel mechanism at the position where the conveying piece is separated from the rotor, and the conveying efficiency is improved.

In one embodiment, when the conveying members are placed on the conveying belt, the distance between two adjacent conveying members is controlled to be larger than the preset distance, so that the problem that the conveying members are accumulated due to the fact that the number of conveying members on the conveying belt is too large to convey is avoided.

In one embodiment, the moving speed of the mover is adjusted so that any one of the clamped conveying member and the star wheel mechanism is moved to the disengaged position at the same time, and the moving speed of the clamped conveying member to the disengaged position is the same as the rotating speed of the star wheel mechanism, including: acquiring the rotation speed of the cavity closest to the separation position, and calculating the first distance between the cavity and the separation position; acquiring the moving speed of the mover closest to the separation position, and calculating a second distance between the mover and the separation position; the motion parameters of the mover are controlled such that the second pitch is equal to the first pitch and the moving speed of the mover is equal to the rotating speed of the cavity.

The PLC calculates the first distance between the nearest cavity and the separation position and the second distance between the rotor and the separation position before the rotor clamping conveying member reaches the star wheel structure, and adjusts the moving speed of the rotor according to the first distance and the second distance, so that the moving speed of the rotor and the moving speed of the cavity reach the separation position simultaneously, and the moving speed of the rotor and the moving speed of the cavity are equal to the rotating speed of the cavity when the rotor and the cavity reach the separation position simultaneously, so that the clamping of the cavity to the conveying member is facilitated, the stability of the conveying member entering the cavity is ensured, and the problems of extrusion and bottle explosion of the conveying member caused by different speeds are avoided.

In a possible implementation manner, step S400 may further include:

controlling the motion parameters of the rotor so that the distance between two adjacent clamped conveying pieces is a preset distance before the clamped conveying pieces move to the disengaging position;

and controlling the motion parameters of the rotor, keeping the distance between two adjacent clamped conveying members to be a preset distance, and enabling the moving speed of the rotor to be equal to the rotating speed of the star wheel mechanism under the condition that the clamped conveying members move to the disengaging position.

By adopting the method, firstly, the equidistant arrangement of two adjacent clamped conveying members is realized, then the moving speed of the conveying members is equal to the rotating speed of the star wheel mechanism, so that the conveying members reach equidistant arrangement between adjacent positions in a short time, and the control and adjustment are convenient.

In this embodiment, the step of placing the transport member on the conveyor belt includes: acquiring the number of conveyor belts; if the number of the conveyor belts is determined to be one, when the conveying members are placed on the conveyor belts, the distance between two adjacent conveying members is controlled to be larger than the preset distance. When a plurality of conveying pieces are arranged, the distance between the adjacent conveying pieces is larger than the preset distance by a speed doubling mode without limitation.

In one embodiment, when the conveying member moves to the detection position, binding the conveying member with the mover of the magnetic drive line includes: shooting and punching a conveying piece by using a photoelectric switch, acquiring a center point of the conveying piece, detecting the movement speed of the conveying piece and the center point coordinate of the conveying piece, and uploading the movement speed of the conveying piece and the center point coordinate of the conveying piece to a PLC; be provided with the anchor clamps that are used for the centre point of centre gripping transport piece on the active cell, with anchor clamps input PLC.

In this embodiment, the step S300 of controlling the motion parameters of the mover so that the mover moves to the gripping position and grips the transport member that also moves to the gripping position with the mover includes: and calculating the motion path of the conveying piece and the motion path of the rotor by using the PLC, so that the center point of the conveying piece coincides with the center point of the clamp under the condition that the conveying piece moves to the clamping position, and the clamp on the rotor stably clamps the conveying piece to accurately grasp materials.

In this embodiment, the clamp on the mover is used to clamp the container (conveyor) for movement, i.e. the shape of the clamp on the mover should be substantially identical to the outer contour of the container, thereby achieving stable clamping. On this basis, the clamp also has a center point, and the center point information is input into the PLC in advance, and the PLC can call the center point information of different clamps along with the replacement of different clamps. Further, the clamp is fixedly arranged on the mover, namely, the clamp is bound to the mover, and the clamping process of the clamp and the container is intuitively embodied as the movement control process of the mover because the movement information, the position information and the like of the mover are controlled by the PLC.

Specifically, at the clamping position, clamping of the container by the clamp on the mover is realized. It can also be understood that: and the PLC calculates a container motion path and a mover motion path to realize the fitting of the paths.

Further, the step S300 of controlling the motion parameters of the mover so that the mover moves to the gripping position and grips the transport member, which is also moved to the gripping position, with the mover includes:

the PLC calculates the conveying time required by the conveying piece to be conveyed to the clamping position by the photoelectric switch according to the distance between the punching position and the clamping position and the speed of the conveying belt, and controls the rotor and the conveying piece to move to the clamping position at the same time; or, setting the punching position of the photoelectric switch on the conveying piece as a zero position, calculating an initial distance between the zero position and the clamping position by using the PLC, calculating a first residual distance between the conveying piece and the clamping position after T1 time according to the initial distance and the speed of the conveying belt by using the PLC, and controlling a second residual distance between the rotor and the clamping position by using the PLC to be equal to the first residual distance.

That is, in the present embodiment, the PLC calculates the acquired conveyor speed and mover speed, and the calculation logic may be divided into time logic or position logic. Taking time logic as an example, because the photoelectric switch punches the container when the container passes through the photoelectric switch, the photoelectric switch sends punching information to the PLC, the PLC calculates the distance between the punching position and the clamping position, and the speed of the conveyor belt is combined, so that the time required by the container to be conveyed to the clamping position by the photoelectric switch is calculated, the time is used for enabling the rotor bound with the container to be provided with the clamping section and the reflux section in the reflux section magnetic drive line, and the clamping section and the reflux section run to the clamping position by taking the clamping position and the separation position as boundaries. And on the basis, the PLC controls the rotor to move to the clamping position according to the acquired conveyor belt speed, and the speed of the rotor is equal to the conveyor belt speed. Taking position logic as an example, when a photoelectric switch punches a container, the punching position at the moment is the zero point of the container, the PLC calculates the distance between the zero point and the clamping position, and the PLC obtains the conveying speed of the conveying belt, so that the position of the container at the zero point after different time periods or the distance between the container and the clamping position after different time periods can be calculated.

In this embodiment, the belt speed acquired by the PLC refers to a belt speed between the photoelectric switch and the gripping position, and when the number of belts is plural, speeds of plural belts are acquired.

To facilitate an understanding of equidistant movement, the following description is provided in connection with the actual control method: the distance between adjacent containers is unequal, so that the mover moves in the clamping section as follows: the former mover is chased, equidistant and uniform with the former mover, and the driving-out speed is reached. Further, the rotor enters the clamping section, and the algorithm of the PLC switching to the catch-up mode controls the rotor; the PLC is used for calling information such as the movement speed, the movement position and the like of the former rotor, and comparing the information of the former rotor and the current rotor, wherein the information comprises a position speed difference and the like; the PLC increases or decreases the moving speed of the active cell until the distance between the front active cell and the rear active cell is equal to the preset distance; the PLC controls the motion speed of the active cell to be equal to the motion speed of the previous active cell; the PLC switches to an algorithm control mover in a following mode, the mover acquires and matches the movement speed of the former mover, and when the movement speed of the former mover changes, the movement speed of the former mover correspondingly changes.

The step of enabling the moving speed of the rotor to be equal to the rotating speed of the star wheel mechanism comprises the following steps of: the star wheel mechanism is provided with a plurality of cavities for placing conveying members, and a central hole of the cavities is set as a filling central point; and calculating the motion parameters of a plurality of filling center points by using the PLC, and controlling the motion parameters of the rotor so that the moving speed of the rotor is equal to the rotating speed of the star wheel mechanism.

Specifically, a PLC is utilized to obtain the motion parameters of the cavity closest to the separation position, and the first distance between the cavity and the separation position is calculated; acquiring the running parameters of the mover closest to the separation position by using the PLC, and calculating a second distance between the mover and the separation position; the motion parameters of the mover are controlled such that the second pitch is equal to the first pitch and the running speed of the mover is equal to the rotation speed of the cavity.

Specifically, the step of equalizing the moving speed of the mover with the rotating speed of the star wheel mechanism further includes: in the start-stop process of the star wheel mechanism, the PLC acquires the real-time rotation speed of the star wheel mechanism; and the PLC controls the motion parameters of the rotor according to the real-time rotation speed, so that the movement speed of the rotor is equal to the rotation speed of the star wheel mechanism.

In the star wheel start-stop process, the speed change and the position change of the star wheel are nonlinear curves, so that the PLC should acquire the related information of the star wheel in real time, so that the running speed and the position change of the rotor are matched with the star wheel parameters, and the container can smoothly enter the star wheel.

The motion control modes of the rotor and the star wheel can also refer to the time logic or the position logic, and both the two logics can be applicable.

In this embodiment, the magnetic drive line is set as a circulation line, and the plurality of movers of the magnetic drive line move around the annular structure.

Because the clamp and the container are clamped hard, the clamping-releasing mode is also a hard mode, and the magnetic drive wire is provided with a clamping section and a reflux section which are limited by the clamping position and the separating position. In the conveying direction, when the rotor is at the disengaging position, the clamping is released at the moment; when the photoelectric switch detects the container, the PLC binds the container with the rotor in the backflow section.

Specifically, in a direction perpendicular to the conveying direction of the conveyor belt, the gripping position is a fixed position or a floating position, and the disengaging position is a fixed position.

In this embodiment, when the container (the conveying member) interacts with the fixture on the magnetic driving line, the conveyor belt has a clamping position, the mover and the container are clamped at the clamping position, and the clamping position can be either a fixed position or a floating position; when the conveying routes of the containers are overlapped along the belt width direction, the conveying route of each container is the same, so that the clamping position is a fixed position; when there is a difference in the conveying paths of the plurality of containers in the conveying belt width direction, the conveying path of each container may be different, so that the gripping position is a floating position. Similarly, the conveyor belt is further provided with a separation position, the rotor and the container are separated when being separated from each other, the separation position is a fixed position, and the fact that one side of the conveyor belt, which is away from the magnetic driving line, is provided with a limit strip, and the limit strip and the clamp can simultaneously clamp the container, so that the separation position is the fixed position.

When the time logic is followed, the clamping position is a fixed position; the clamping position is a floating position when following the position logic. In the operation process, the selection of the calculation logic is based on whether the difference exists between the setting positions of the containers in the width direction of the conveyor belt, that is, based on the punching information, the selection of the control logic is determined.

The conveying method based on the magnetic drive motor can be applied to the packaging field, the filling field, the bottle conveying field and the like, and specifically, pressurization, normal pressure and negative pressure in the filling field can be applied.

As shown in fig. 2, another embodiment of the present invention provides a magnetic driving and conveying device, which can implement the conveying method based on the magnetic driving motor, and the magnetic driving and conveying device includes a conveyor belt 20, a magnetic driving line 30, a detecting member, a star wheel mechanism 40 and a control member. The conveyor belt 20 has an inlet end through which the transport member enters the conveyor belt 20 and an outlet end through which the transport member exits the conveyor belt 20. The magnetic drive wire 30 is located on one side of the conveyor belt 20, the magnetic drive wire 30 having a movably arranged mover 31, the mover 31 having a clamp 32 capable of clamping the transport element 10 on the conveyor belt 20. The detecting member is capable of detecting the position of the conveying member 10 on the conveyor belt 20. The star wheel mechanism 40 is located at the outlet end of the conveyor 20, and the transport member 10 exiting from the conveyor 20 can enter the star wheel mechanism 40. The control piece can be connected with the conveyor belt 20, the magnetic drive line 30, the detection piece and the star wheel mechanism 40 in a signal mode, and the control piece can control the motion parameters of the rotor 31.

By using the magnetic drive conveying device provided by the embodiment, firstly, the control piece is used for controlling the motion parameters of the rotor 31, the rotor 31 is used for smoothly clamping the conveying piece 10, and then the control piece is used for controlling the rotor 31 to adjust the motion parameters of the conveying piece 10, so that the distance between two adjacent clamped conveying pieces 10 is equal to the preset distance, the moving speed of the rotor 31 is equal to the rotating speed of the star wheel mechanism 40, the conveying piece 10 clamped by the rotor 31 can smoothly enter the star wheel mechanism 40, the conveying piece 10 is not required to be extruded, and the problems that bottle jumping and bottle explosion are easily caused by a bottle separating mode of a screw in the related art can be solved.

In the present embodiment, the detecting member includes the photoelectric switch 50, the photoelectric switch 50 is provided on the conveyor belt 20, the photoelectric switch 50 includes a first encoder for acquiring the position of the conveying member 10 on the conveyor belt 20, and a sensor for acquiring a movement parameter, such as an instantaneous speed or the like, of the conveying member 10 on the conveyor belt 20.

The control member includes a PLC and a controller for controlling the movement parameters of the mover 31 such as speed, movement pattern, etc.

The star wheel mechanism 40 has a second encoder for acquiring a motion parameter of the star wheel mechanism 40, such as a rotational speed or the like. Because the star wheel mechanism is provided with a plurality of cavities for placing containers, the cavities are provided with a central hole, and the central hole is the filling central point. Further, the second encoder acquires star wheel information of each filling center point and transmits the star wheel information to the PLC, the PLC invokes preset parameter information such as star wheel tooth number, rotation speed, rotation radius, UPH and the like, and the parameter information is combined with the star wheel information to calculate motion information of each filling center point.

Specifically, the PLC obtains the operation information of the cavity closest to the disengagement position, and obtains the first distance between the cavity and the disengagement position. The PLC acquires the running information of the mover closest to the separation position and acquires the second distance between the mover and the separation position. Binding the mover and the cavity so that the second distance is equal to the first distance, and the running speed of the mover is equal to the rotating speed of the cavity.

In this embodiment, after the PLC obtains the information of the second encoder, the PLC divides the holding section into a catch-up section, a following section, and an output section, where the catch-up section and the following section respectively correspond to equidistant movement and following movement, as described above; the PLC calculates the running-out speed of the rotor at the separation position according to the acquired second encoder information; there are two types of control logic at this time: 1. the PLC controls the moving speed of the rotor in the following section to be equal to the driving-out speed and the interval to be equal to the preset interval according to the related signals; 2. and the PLC controls the rotor to have the same speed as the driving-out speed and the same interval as the preset interval in the output section according to the related signals.

The photoelectric switch 50 and the second encoder are respectively connected with a controller through signals, and the controller is connected with a PLC through signals.

In the embodiment, each rotor is provided with a rotor sensor, a stator is provided with a stator encoder, the rotor sensor and the stator encoder are in signal transmission with the controller, each rotor is independently controlled by the controller, and in the clamping section, the PLC controls the movement speed of all the rotors, so that the distance and the movement speed of all the rotors are kept consistent.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a conveying method based on magnetic drive motor, characterized in that is applied to magnetic drive motor, magnetic drive motor includes a plurality of stators and at least one active cell, and a plurality of the stator is arranged along the direction of conveyance and is formed at least one transfer chain body, the stator includes the armature winding, the active cell includes with armature winding magnetic coupling's permanent magnet, the stator is used for driving the active cell is along the direction of conveyance motion, the active cell is used for holding the conveyer on the conveyer belt, the conveying method based on magnetic drive motor includes:

Placing a conveying member on a conveying belt, and setting a detection position, a clamping position and a separation position which are sequentially arranged along the conveying direction of the conveying member on the conveying belt;

when the conveying piece moves to the detection position, binding the conveying piece with a rotor of the magnetic driving line;

controlling the motion parameters of the mover so that the mover moves to the clamping position and clamps the conveying member which also moves to the clamping position by using the mover;

controlling the motion parameters of the rotor so that the moving speed of the clamped conveying piece is the same as the rotating speed of the star wheel mechanism when the conveying piece moves to the disengaging position;

separating the mover from the clamped transport in the disengaged position such that the transport enters the starwheel mechanism;

when the conveying member moves to the detection position, binding the conveying member with a rotor of the magnetic drive line, and the method comprises the following steps: when the conveying piece is detected to move to the detection position, position marking is carried out on the conveying piece, and a first conveying distance between a marking position and the clamping position is calculated; acquiring the positions of a plurality of movers in a magnetic drive line, respectively corresponding to the movers, calculating a second conveying distance between the position of each mover and the clamping position, and binding the marked conveying piece with the movers according to the first conveying distance and the second conveying distance;

The binding of the transport member to be marked with the mover according to the first transport distance and the second transport distance includes: adjusting a moving speed of the mover based on the first conveying distance and the second conveying distance so that the conveying member and the mover simultaneously move to the gripping position;

the adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance so that the conveying member and the mover simultaneously move to the clamping position includes: acquiring the moving speed of the conveyor belt and the moving speed of the bound rotor, and comparing the moving speed of the conveyor belt with the relative size of the moving speed of the bound rotor; if the moving speed of the conveyor belt and the moving speed of the bound rotor are not equal, dividing the first conveying distance into a catch-up distance and a synchronous distance; in the catch-up distance, adjusting the moving speed of the bound mover so that the moving speed of the bound mover is equal to the moving speed of the conveyor belt when the conveying member enters the synchronous distance, and enabling the first conveying distance of the conveying member from the clamping position to be equal to the second conveying distance of the bound mover from the clamping position so that the conveying member and the bound mover simultaneously reach the clamping position;

After the conveying member enters the synchronization distance, the method further comprises: binding the moving speed of the conveyor belt with the moving speed of the bound mover, and synchronously changing the moving speed of the bound mover when the moving speed of the conveyor belt is changed; and/or binding the first conveying distance with the second conveying distance, wherein the second conveying distance is synchronously changed when the first conveying distance is changed.

2. The magnetic drive motor-based conveying method according to claim 1, wherein the binding of the conveying member to be marked with the mover according to the first conveying distance and the second conveying distance, further comprises:

when the conveying piece and the rotor move to the clamping position at the same time, the center point of the conveying piece coincides with the center point of the clamp;

and in the clamping position, the conveying piece is clamped by the rotor.

3. The magnetic drive motor-based conveying method according to claim 2, wherein the adjusting the moving speed of the mover based on the first conveying distance and the second conveying distance so that the conveying member and the mover move to the gripping position at the same time includes:

Calculating the conveying time required by the conveying piece to be conveyed from the detection position to the clamping position according to the first conveying distance and the moving speed of the conveying belt;

and adjusting the moving speed of the mover based on the transfer time so that the mover and the conveying member simultaneously move to the gripping position.

4. The magnetic drive motor-based conveying method according to claim 1, wherein the magnetic drive wire is a loop line, and the magnetic drive wire is divided into a clamping section for clamping the conveying member by the mover and a reflow section for unbinding with the conveying member and reflowing the mover.

5. The magnetic drive motor-based conveying method according to claim 4, wherein the binding of the conveying member to be marked with the mover according to the first conveying distance and the second conveying distance comprises:

judging whether the mover exists in the reflux section;

if the fact that the mover does not exist in the backflow section is judged, binding the mover closest to the backflow section in the clamping section with the marked conveying piece;

and if the existence of the mover in the backflow section is judged, determining the mover with the smallest absolute value of the difference value between the second conveying distance and the first conveying distance in the backflow section, and binding the conveying piece with the mover with the smallest absolute value.

6. The method of claim 5, wherein prior to binding the transport member and the mover having the smallest absolute value, the magnetic-drive motor-based transport method further comprises:

judging whether the mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is bound with the conveying piece or not;

judging whether a previous mover of the mover having the smallest absolute value of the difference between the first conveying distance and the second conveying distance is already bound with the conveying member;

and if the former mover of the mover with the smallest absolute value of the difference value between the first conveying distance and the second conveying distance is already bound with the conveying piece, sequentially selecting the unbound movers with the Nth small absolute value of the difference value, wherein N is a positive integer greater than or equal to 2.

7. The method of claim 1, wherein the step of position marking the transport member when the transport member is detected to move to the detection position comprises:

and detecting the conveying piece based on a photoelectric switch, and marking the position of the conveying piece when the conveying piece is detected to move to the detection position.

8. The magnetically driven motor based transport method according to any one of claims 1 to 7, wherein the mover is tangential to the transport member when the transport member and the mover are simultaneously moved to the gripping position.

9. The magnetic drive motor-based conveying method according to claim 1, wherein the motion parameters include a moving speed, and the motion parameters of the mover are controlled such that the moving speed of the conveying member is the same as a rotation speed of a star wheel mechanism when the clamped conveying member is moved to the disengaged position, comprising:

and adjusting the moving speed of the mover so that any cavity of the clamped conveying piece and the star wheel mechanism moves to the disengaging position at the same time, and the moving speed of the clamped conveying piece to the disengaging position is the same as the rotating speed of the star wheel mechanism.

10. The magnetic drive motor-based conveying method according to claim 9, wherein the adjusting the moving speed of the mover so that either one of the clamped conveying member and the star wheel mechanism is simultaneously moved to the disengaged position and the moving speed of the clamped conveying member to the disengaged position is the same as the rotating speed of the star wheel mechanism includes:

Dividing the distance from the clamping position to the separating position into a variable speed distance and a uniform speed distance;

and adjusting the moving speed of the mover at the variable speed distance, so that the moving speed of the clamped conveying piece is the same as the rotating speed of the star wheel mechanism when the conveying piece enters the uniform speed distance, and the conveying piece can move to the disengaging position simultaneously with any cavity of the star wheel mechanism when the conveying piece keeps the moving speed unchanged and moves at the uniform speed distance.

11. The method of claim 10, wherein the distance between two adjacent clamped conveying members is a predetermined distance.

12. The method of claim 11, wherein placing the transport member on the conveyor belt comprises: when the conveying pieces are placed on the conveyor belt, the distance between two adjacent conveying pieces is controlled to be larger than the preset distance.

13. The magnetic drive motor-based conveying method according to claim 9, wherein the adjusting the moving speed of the mover so that either one of the clamped conveying member and the star wheel mechanism is simultaneously moved to the disengaged position and the moving speed of the clamped conveying member to the disengaged position is the same as the rotating speed of the star wheel mechanism includes:

Acquiring the rotation speed of a cavity closest to the separation position, and calculating the first distance between the cavity and the separation position;

acquiring the moving speed of a mover closest to the separation position, and calculating a second distance between the mover and the separation position;

the moving speed of the mover is adjusted such that the second pitch is equal to the first pitch and the moving speed of the mover is equal to the rotating speed of the cavity.

14. The magnetic-drive-motor-based conveying method according to claim 1, wherein the magnetic drive wire is set as a circulation line, and a plurality of the movers of the magnetic drive wire move around a ring-shaped structure;

in a direction perpendicular to the conveying direction of the conveyor belt, the gripping position is a fixed position or a floating position, and the disengaging position is a fixed position.

15. A magnetic drive conveying apparatus capable of implementing the magnetic drive motor-based conveying method according to any one of claims 1 to 14, comprising:

a conveyor belt (20) having an inlet end and an outlet end;

a magnetic drive line (30) located on one side of the conveyor belt (20), the magnetic drive line (30) having a movably arranged mover (31), the mover (31) having a clamp (32) capable of clamping a transport (10) on the conveyor belt (20);

A detection member capable of detecting the position of the conveying member (10) on the conveyor belt (20);

the star wheel mechanism (40) is positioned at the outlet end of the conveyor belt (20);

the control piece can be in signal connection with the conveyor belt (20), the magnetic driving line (30), the detection piece and the star wheel mechanism (40), and the control piece can control the motion parameters of the rotor (31).

16. A magnetic drive transfer apparatus according to claim 15, wherein,

the detection part comprises a photoelectric switch (50), the photoelectric switch (50) is arranged on the conveyor belt (20), the photoelectric switch (50) comprises a first encoder and a sensor, the first encoder is used for acquiring the position of the conveying part (10) on the conveyor belt (20), and the sensor is used for acquiring the motion parameter of the conveying part (10) on the conveyor belt (20);

the control part comprises a PLC and a controller, wherein the controller is used for controlling the motion parameters of the rotor (31);

the star wheel mechanism (40) is provided with a second encoder, and the second encoder is used for acquiring the motion parameters of the star wheel mechanism (40);

the photoelectric switch (50) and the second encoder are respectively connected with the controller in a signal mode, and the controller is connected with the PLC in a signal mode.