CN118164266A - Linear motor control method and device, storage medium, and article transport system - Google Patents
Linear motor control method and device, storage medium, and article transport system Download PDFInfo
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Abstract
The application discloses a linear motor control method and device, a storage medium and an article conveying system. The motor includes: the stator line body and a plurality of active cell, be provided with transmission device around the stator line body, the active cell is driven along the stator line body motion by the stator line body, and the in-process passes through transmission device, and this method includes: a first rotor and a second rotor are arranged in the plurality of rotors, a motion binding object of the first rotor is arranged as a transmission device, and a motion binding object of the second rotor is arranged as the first rotor; and controlling the motion state of the first rotor and the motion state of the second rotor to transfer the object with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor. The application solves the technical problem of lower transmission efficiency caused by too slow article transfer speed in the related technology.
Description
Technical Field
The present application relates to the field of motor control, and in particular, to a linear motor control method and apparatus, a storage medium, and an article transport system.
Background
During the transfer of articles, the drive transfer device is a common article transfer tool. In the prior art, a mechanical arm is required to transfer the article, namely, the article is put into a transmission device or taken out of the transmission device. However, the article handing-over operation of the robot arm is performed at a slow speed, and the transfer conveyor needs to be stationary for alignment, and the transfer conveyor can continue to operate after waiting for the robot arm operation to be completed, resulting in an excessively slow article transfer speed, thereby affecting the transfer efficiency. That is, the too slow article transfer speed in the related art causes a technical problem of low transfer efficiency.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a linear motor control method and device, a storage medium and an article conveying system, which at least solve the technical problem of low conveying efficiency caused by too low article transferring speed in the related technology.
Specifically, an embodiment of the present application provides a linear motor control method, where the linear motor includes: the stator line body and a plurality of active cell, be provided with transmission device around the stator line body, the active cell is driven by the stator line body and along the motion of stator line body to and pass through transmission device in the motion process, the above-mentioned method includes: a first rotor and a second rotor are arranged in the plurality of rotors, wherein a motion binding object of the first rotor is arranged as a transmission device, and a motion binding object of the second rotor is arranged as the first rotor; and controlling the motion state of the first rotor and the motion state of the second rotor to transfer the object with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
The embodiment of the application also provides a linear motor control device, which is connected with the linear motor and comprises: the stator line body and a plurality of active cell are provided with transmission device around the stator line body, and the active cell is driven by the stator line body and moves along the stator line body to and pass through transmission device in the motion process, above-mentioned linear motor controlling means includes: a mover setting unit configured to determine a first mover and a second mover among the plurality of movers, wherein a motion binding object of the first mover is set as a transmission device, and a motion binding object of the second mover is set as the first mover; and the motion state control unit is used for controlling the motion state of the first rotor and the motion state of the second rotor so as to transfer the object with the transmission device, wherein the motion state of the first rotor is controlled according to the transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
The embodiment of the application also provides an article transmission system, which comprises: a linear motor for article transport; the linear motor control device is connected with the linear motor and executes the linear motor control method when the linear motor control device operates; and the transmission device is arranged around the linear motor and used for conveying the articles and transferring the articles with the linear motor.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is configured to execute the motor control method when running.
In the linear motor control scheme provided by the embodiment of the application, the transmission device can be used as a motion binding object of the first rotor by arranging the first rotor and the second rotor in the plurality of rotors, the first rotor can be used as a motion binding object of the second rotor, and the object transfer is performed with the transmission device by controlling the motion state of the first rotor and the motion state of the second rotor, wherein the first rotor can be controlled according to a transmission signal indicating the motion information of the transmission device, and the second rotor can be controlled according to the motion state of the first rotor. From the above, the motion of the first mover can be associated with the motion of the transmission device by means of the motion binding relationship between the first mover and the transmission device and the motion of the second mover can be indirectly associated with the motion of the transmission device by means of the first mover by means of the signal control by means of the motion binding relationship between the second mover and the first mover. In the process of article transmission, the motion state of the first rotor and the motion state of the second rotor can be adjusted according to the actual condition of the transmission device, so that the high flexibility and the high controllability of the rotors are utilized to realize the efficient transfer of articles, and the article transmission efficiency is improved.
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 and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of an alternative linear motor according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative linear motor control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative linear motor control method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an alternative determination of a first mover and a second mover according to an embodiment of the present application;
FIG. 5 is a schematic diagram of another alternative determination of a first mover and a second mover according to an embodiment of the present application;
FIG. 6 is a schematic diagram of another alternative linear motor control method according to an embodiment of the present application;
FIG. 7 is a schematic illustration of an alternative mover and drive conveyor for article transfer according to an embodiment of the present application;
FIG. 8 is a schematic view of an alternative mover and drive conveyor for article transfer according to an embodiment of the present application;
fig. 9 is a schematic structural view of an alternative linear motor control device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the application provides a linear motor control scheme, wherein a transmission device can be used as a motion binding object of a first rotor by arranging the first rotor and a second rotor in a plurality of rotors, the first rotor can be used as the motion binding object of the second rotor, and the motion state of the first rotor and the motion state of the second rotor are controlled to transfer articles with the transmission device, wherein the first rotor can be controlled according to a transmission signal indicating motion information of the transmission device, and the second rotor can be controlled according to the motion state of the first rotor. Therefore, the high flexibility and the high controllability of the mover are utilized to realize the efficient transfer of the articles, and the article transmission efficiency is further improved.
In order to make the concepts, implementations and advantages of the present description more clearly understood and effected by those skilled in the art, a specific structure of a linear motor will be schematically described with reference to the accompanying drawings.
As shown in fig. 1, which is a schematic structural diagram of an alternative linear motor according to an embodiment of the present application, the linear motor may include, but is not limited to, at least one mover (4 movers are shown in fig. 1), a mover one 102-1, a mover two 102-2, a mover three 102-3, a mover four 102-4) and a stator wire 104. The stator wire 104 may drive the mover to move by means of magnetic coupling. Wherein the stator wire 104 may include at least one stator, and in case of including a plurality of stators, adjacent stators among the plurality of stators are spliced.
Specifically, the mover may include permanent magnets, each stator in the stator line 104 may include a coil that may generate a varying magnetic field upon energization of the coil, and thrust is generated to the mover by interaction of the varying magnetic field with the permanent magnets, so that the mover may move along the stator line 104. In practice, the linear motor may be controlled by a control device, which may be understood as a linear motor control device. The control device may be incorporated in the linear motor or may be connected to the linear motor as a separate external device.
With continued reference to fig. 1, in the present embodiment, the control device is included in a linear motor, that is, the linear motor includes a control device 106, and the control device 106 controls the magnetic field of the stator wire 104 to achieve the effect of controlling the movement of the mover. Specifically, the control device 106 sends a control instruction to the stator wire 104, so as to control parameters such as on-off timing and on-current of the stator wire 104, and thus control the motion state and the motion direction of the mover.
It will be appreciated that the content of fig. 1 is only for illustrative purposes, and the stator wire body may be formed into different shapes according to actual requirements, and the shapes may be closed shapes or non-closed shapes.
In specific implementation, the motor control method provided by the embodiment of the application can be applied to different industrial scenes.
For example, the linear motor control method provided by the embodiment of the application can be applied to manufacturing scenes. Specifically, in the processing and production scenario of the workpiece, the workpiece needs to be transferred to the area corresponding to different production links. When the mover is matched with the transmission device to carry out mechanical part transmission, each transmission device can be arranged in different production links, and the mover can move to the region where the transmission device is located. Determining a first rotor and a second rotor from the plurality of rotors, controlling the first rotor to be in motion binding with the transmission device, controlling the second rotor to be in motion binding with the first rotor, controlling the motion state of the first rotor according to a transmission signal indicating the motion information of the transmission device, and controlling the motion state of the second rotor according to the motion state of the first rotor so as to realize the transfer of mechanical parts between the linear motor and the transmission device. It will be appreciated that the drive transmission may be an integral part of the processing apparatus or the drive transmission may be a device that interfaces with the processing apparatus whereby the workpiece may be transported to a processing location for processing or to a linear motor via the drive transmission.
The above use scenario is only an example, and only scenarios related to the transfer or transport process of the article are required, and the solution of the present application can be utilized. The present embodiment is not limited in any way.
In connection with the description of the relevant parts of the linear motor, in a specific implementation, a transmission device can be arranged around the stator wire body, the mover is driven by the stator wire body and moves along the stator wire body, and the mover can pass through the transmission device in the moving process. Based on this, in the embodiment of the present application, there is provided a linear motor control method, as shown in fig. 2, as an alternative embodiment, the linear motor control method may include the steps of:
S202, arranging a first mover and a second mover in the plurality of movers, wherein a motion binding object of the first mover is arranged as a transmission device, and a motion binding object of the second mover is arranged as the first mover.
The plurality of movers may be part of one linear motor or all of the movers in one linear motor. The order of arrangement of the first mover and the second mover is not limited, and the first mover and the second mover may be arranged in synchronization among the plurality of movers, or the first mover or the second mover may be arranged sequentially.
In this embodiment, the motion binding object of one mover of the plurality of movers may be set as another mover or a transmission device, specifically, the motion binding object of the first mover is set as the transmission device, the motion binding relationship is established between the first mover and the transmission device, the motion binding object of the second mover is set as the first mover, and the motion binding relationship is established between the second mover and the first mover.
The motion state of the transmission is independent. For the first mover and the second mover, the motion state thereof is associated with the motion state of the set motion binding object. For the first mover it can maintain a motion state matching the bound gear transmission, and for the second mover it can maintain a motion state matching the bound first mover.
In this embodiment, the transmission device may perform the function of transporting the article by means of a mechanical transmission, and the type of movement of the transmission device may be, but is not limited to, linear movement or rotational movement.
In this embodiment, the arrangement of the first mover and the second mover may be set according to an actual scenario, which may be considered from one or more dimensions such as a distance between the plurality of movers and the transmission device, a movement sequence of the plurality of movers, a numbering situation of the plurality of movers, etc., and a specific concept of how to arrange the first mover and the second mover will be described in the following in connection with the embodiment, which will not be repeated in this section.
It should be noted that, for one mover, it may be provided as a first mover in some cases, and as a second mover in other cases. The specific case where the mover is set as the first mover or the second mover may be determined by the actual scene and the requirement, and the embodiment of the present application is not particularly limited thereto.
In practical application, when there are multiple transmission devices, the transmission device as the first mover binding object needs to be determined from the multiple transmission devices, and the setting time of the first mover and the determining time of the first mover binding object may be executed successively according to the practical situation.
In an alternative embodiment, a drive transmission device as a target binding object is determined from among a plurality of drive transmission devices, and a corresponding first mover is set from among a plurality of movers based on the drive transmission device as the binding object. Therefore, the corresponding first mover is determined according to the judging result of the transmission device.
In an alternative example, in the case where there are a plurality of transmission devices, the first mover and the second mover may be determined first, and then the target transmission device may be determined from the plurality of transmission devices. The target drive transmission device can be reused as a motion binding object of the first mover in case that the first mover needs to be controlled by the target drive transmission device.
It is understood that in practical application, the plurality of transmission devices may be disposed in areas, and the mover in the transmission device area is taken as a candidate, so that the first mover and the second mover corresponding to each transmission device area may be disposed from the plurality of transmission device areas.
S204, controlling the motion state of the first rotor and the motion state of the second rotor to transfer the object with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
The control of the motion states of the first mover and the second mover may be control of motion-related amounts such as a speed, a moving distance, and an acceleration of the movers.
By controlling the motion state of the first mover and the motion state of the second mover, the first mover and the second mover can respectively keep motion linkage with the transmission device, so that article transfer can be realized. It is understood that the article transfer process may be the transfer of an article from at least one of the first mover and the second mover to the live conveyor, or the transfer of an article from the live conveyor to at least one of the first mover and the second mover.
The transmission may have two states of motion, a stationary state and a driven state. The transmission signal is generated based on the motion state of the transmission device, and can be used for indicating the transmission signal of the transmission device, namely, whether the transmission device is in a static state or a transmission state. It is understood that the drive transmission signal may be generated based on a current state of motion of the drive transmission, or the drive transmission signal may be generated based on an impending state of motion of the drive transmission.
In practical application, the transmission signal can be generated according to the internal signal of the transmission device, or can be generated by detecting structural members in the transmission device, and the transmission state indicated by the transmission signal can be a rotation state or a linear motion state according to the specific generation mode of the transmission signal. For example, if the transmission signal is generated according to a control signal for driving the rotating motor inside the transmission device, the transmission state is a rotation state; if the drive transmission signal is generated based on detecting a conveyor belt in the drive transmission, the drive state may be a linear movement state. It will be appreciated that the embodiments of the present application are not limited to a particular manner of generating the drive transmission signal.
It should be noted that the order of controlling the movement state of the first mover based on the power transmission signal of the power transmission device and controlling the movement state of the second mover based on the movement state of the first mover is not limited.
In some cases, the motion state of the second mover may be indirectly controlled by the transmission signal due to the motion state control of the first mover controlled by the transmission signal. In other cases, the motion state of the second mover may also be not controlled by the transmission signal because the motion state of the first mover is not controlled by the transmission signal, for example, after determining the first mover and the second mover, only the motion state of the second mover may be controlled according to the motion state of the first mover, so that the motion of the second mover is bound to the motion of the first mover. Then, after the motion state of the first rotor is controlled by the transmission signal, the motion state of the second rotor is correspondingly adjusted according to the motion state of the first rotor.
For different transmission signals, the magnetic field change of the stator wire body can be controlled by the control device so as to change the motion state of the first rotor. Corresponding first rotor control parameters can be set in advance according to different transmission signals, so that the motion state of the first rotor can be changed through the corresponding first rotor control parameters when the transmission signals are received.
Fig. 3 is a schematic diagram of an alternative linear motor control method according to an embodiment of the present application. As shown in fig. 3, the linear motor may include a stator wire 104 and a plurality of movers (e.g., a first mover 102-1, a second mover 102-2, a third mover 102-3, and a fourth mover 102-4 in fig. 3), where a first transmission device 302 is disposed around the stator wire 104, and the plurality of movers are driven by the stator wire 104 to move to the right along the stator wire 104, and pass through the first transmission device 302 during the movement. In the process of transferring the article using the plurality of movers and the first transmission device 302, the first mover and the second mover may be provided from among the plurality of movers. It is to be understood that the number of the first mover and the second mover is not limited, and for example, the first mover 102-1 may be set as the first mover and the second mover 102-2 may be set as the second mover; for another example, the second mover 102-2 may be set as a first mover, and the third mover 102-3 and the fourth mover 102-4 may be set as a second mover. It is also understood that it is not necessary that all movers be configured as a first mover and a second mover for article transfer with the first conveyor 302, for example, the first mover 102-1 may not be configured as a first mover and a second mover, i.e., the movement of the first mover 102-1 is not affected by the first conveyor 302.
Taking the example that the first mover 102-1 is set as the first mover and the second mover 102-2 is set as the second mover, the motion state of the first mover 102-1 can be controlled according to the transmission signal generated based on the transmission device 302, and the motion state of the second mover 102-2 can be controlled according to the motion state of the first mover 102-1. Moreover, according to actual needs, the article transferring process may be to transfer the articles from the first sub-102-1 and the second sub-102-2 to the first transmission device 302, or may be to transfer the articles from the first transmission device 302 to at least one of the first sub-102-1 and the second sub-102-2.
When the plurality of first movers and the first transmission device 302 are used for transferring the article, a part of the first movers and the second movers may not be used for transferring the article with the first transmission device 302, or the non-first movers and the second movers may be used for transferring the article with the first transmission device 302. For example, in the case where the first mover 102-1 in FIG. 3 is set as a first mover and the second mover 102-2, the third mover 102-3, and the fourth mover 102-4 are set as a second mover, article transfer can be performed using the first mover 102-1 and the second mover 102-2 and the first transmission device 302. And the motion state of the third mover 102-3 and the fourth mover 102-4 serving as the second mover is controlled by the motion state of the first mover 102-1, but the article is not transferred with the first transmission device 302.
Taking the first mover 102-1 as a first mover and the second mover 102-2 and the third mover 102-3 as a second mover as examples, the motion state of the fourth mover 102-4 can be controlled according to preset parameters to transfer articles with the transmission device, and the motion state can not be controlled by transmission signals and the motion states of the other movers.
It should be noted that the above drawings are only for illustrative description, and the moving direction of the mover may be controlled according to actual requirements and the arrangement shape of the stator wire, and the moving direction of the mover is not particularly limited in the embodiment of the present application.
In the linear motor control scheme provided by the embodiment of the application, the first rotor and the second rotor are arranged in the plurality of rotors, the transmission device can be used as a motion binding object of the first rotor, the first rotor can be used as a motion binding object of the second rotor, and the object transfer is carried out with the transmission device by controlling the motion state of the first rotor and the motion state of the second rotor, wherein the first rotor can be controlled according to a transmission signal indicating the motion information of the transmission device, and the second rotor can be controlled according to the motion state of the first rotor. From the above, the motion states of the first mover and the second mover can be controlled by using the motion binding relationship between the first mover and the transmission device and the motion binding relationship between the second mover and the first mover after determining the first mover and the second mover, the first mover can be controlled by the transmission signal of the motion information of the transmission device, and the second mover can be controlled by the motion state of the first mover. The movement of the first mover can be correlated with the movement of the transmission by signal control, and the movement of the second mover can be correlated with the movement of the transmission indirectly by the first mover. In the process of article transmission, the motion state of the first rotor and the motion state of the second rotor can be adjusted according to the actual condition of the transmission device, so that the high flexibility and the high controllability of the rotors are utilized to realize the efficient transfer of articles, and the article transmission efficiency is improved.
In an alternative embodiment, the disposing the first mover and the second mover in the plurality of movers may include at least one of:
1) Setting a first mover and a second mover based on the intervals between the plurality of movers and the transmission device respectively;
2) Setting a first mover and a second mover based on an order in which the plurality of movers pass through the monitoring positions, wherein the monitoring positions are set based on the stator wire body;
3) And setting the first mover and the second mover based on the identification information of the plurality of movers, wherein the identification information of the movers is preset or dynamically allocated.
It should be noted that, the distance between each mover and the transmission device may be calculated by software, hardware or a combination of the two. For example, in the software method, the distance between each mover and the transmission device may be determined according to the relative position between the stator wire body and the transmission device and the position information of the mover, which are acquired in advance. For another example, in the hardware mode, the positions of the mover and the transmission device may be confirmed by a sensor (e.g., an optical sensor) that detects the positions, and the distance between each mover and the transmission device may be confirmed based on the confirmation of the distance between each mover and the transmission device, or the distance between each mover and the transmission device may be confirmed by a sensor (e.g., an ultrasonic sensor) that detects the distance. For example, in a mode of combining software and hardware, the positions of the movers can be confirmed through a sensor for detecting the positions, and the relative positions between the stator wire body and the transmission device are acquired in advance, so that the distance between each mover and the transmission device is confirmed.
In an alternative embodiment, when the first mover is set according to the distances between the plurality of movers and the transmission device, the first mover may be the mover with the smallest distance between the first mover and the transmission device, or may be the mover with the distance between the first mover and the transmission device meeting the preset first distance threshold.
In an alternative embodiment, when the second mover is set according to the distance between the plurality of movers and the transmission device, the second mover may be set after the first mover is set, or may be set in synchronization with the first mover. For example, after the first mover is disposed, the second mover may be adjacent to or spaced apart from the first mover by at least one mover. For another example, the second mover may be a mover whose distance from the transmission gear satisfies a preset second distance threshold. In an alternative embodiment, the monitoring position may be provided in the stator line body, and the first mover and the second mover may be provided from among the plurality of movers in an order in which the movers pass through the monitoring position. For example, a first mover passing through the monitoring position may be set as a first mover, and at least one mover passing through later may be set as a second mover; the mover corresponding to the preset sequence number may also be set as the first mover. It is understood that one or more monitoring positions may be provided, and when a plurality of monitoring positions are provided, a corresponding first mover and a corresponding second mover may be provided according to each monitoring position.
It should be noted that, the above-mentioned determination of whether the mover passes through the monitoring position and the sequence of passing through the monitoring position may be implemented by setting software or hardware. For example, the monitoring positions are set by taking the stator line body as a coordinate axis, and the position information of each rotor is dynamically calculated through an algorithm, so that the time and the sequence of each rotor passing through the monitoring positions are determined. For another example, an inductive sensor (such as a magnetic sensor, an optical sensor, etc.) is correspondingly arranged at the monitoring position of the stator wire body, and a trigger signal can be generated when the mover passes through the trigger sensor, so that the time and the sequence of the mover passing through the monitoring position can be determined, wherein the inductive sensor can be in contact connection or non-contact connection with the stator wire body.
In an alternative embodiment, the first mover and the second mover may be set based on identification information of a plurality of movers, where the identification information of the movers has uniqueness and is used for identifying the movers, and the identification information of the movers may include a number, a character, or a combination of the two, where the identification information of the movers may be obtained by encoding the movers in advance, or may be obtained by dynamically encoding the movers during the movement of the movers.
In an alternative embodiment, the movers may be encoded in advance, for example, each mover may be assigned a unique code, and the movers may be controlled more quickly when they are controlled. The coding can be dynamically given to the mover when the article is transferred, so that the mover can be controlled more flexibly. When dynamically encoding the movers, encoding can be given to the movers passing through the preset positions sequentially, and a plurality of movers on the stator line body can be encoded at the same time.
The above-mentioned methods for arranging the first mover and the second mover in the plurality of movers may be used alone or in combination, for example, the first mover and the second mover may be arranged according to the distance between the plurality of movers and the transmission device after the plurality of movers pass through the monitoring position. For another example, after a plurality of movers pass through the monitoring position, identification information of the movers may be acquired, and then the first and second movers may be set according to the identification information.
Through the embodiment of the application, various first mover and second mover arrangement modes are provided, so that the proper first mover and second mover arrangement modes can be flexibly selected in combination with practical application scenes, and the effect of article transfer can be ensured.
It can be understood that when there are a plurality of transmission devices, the stator wire body can be divided into a plurality of different partitions according to the distribution situation of the plurality of transmission devices, and the first mover and the second mover are set for the movers in the different partitions by the above setting mode.
In an alternative embodiment, the setting the first mover and the second mover based on the sequence in which the plurality of movers pass through the monitoring positions may include any one of the following:
1) Setting at least one mover which preferentially reaches the monitoring position as a first mover;
2) Among the plurality of movers sequentially reaching the monitoring position, a first-designated-order mover is set as a first mover, and a second-designated-order mover is set as a second mover.
It should be noted that the number of the first movers is not limited, and a plurality of movers that preferentially arrive may be provided as the first movers, in addition to the first mover that preferentially arrives at the monitoring position being provided as the first mover. In the case where the plurality of movers are provided as the first movers, the plurality of first movers can be all allowed to perform the motion state control in accordance with the transmission signal.
In an alternative embodiment, the designated order may be to arrange the movers in an odd order and an even order, i.e. the first designated order is one of the odd order and the even order and the second designated order is the other of the odd order and the even order, to enable combining the odd even movers with each other into a pair of movers for article transfer with the pair of first and second movers and the transfer conveyor.
In an alternative embodiment, the specified order may be set in a preset number interval. For example, the preset number interval is [1, X ], the first designated order is i, the second designated order is the number order after excluding i, the 1 st to the X th movers which sequentially reach the monitoring position are divided into a group, the i-th mover is set as the first mover, and the remaining X-1 movers are set as the second mover to be motion-bound to the first mover. And then acquiring the 1 st to the X th movers of the next round of the monitoring position in turn, setting the first and the second movers of the next round, and so on, which are not repeated, wherein X is an integer greater than 1, and i is a positive integer less than or equal to X. Therefore, a plurality of movers can be grouped by utilizing a preset digital interval, and the movers which are grouped into a group and the transmission device can be used for transferring articles.
Fig. 4 is a schematic diagram of an alternative determination of a first mover and a second mover according to an embodiment of the present application. As shown in fig. 4, the first mover 102-1, the second mover 102-2, and the third mover 102-3 may carry the article to the right and transfer the article with the transmission device, and the first mover passing through the first monitoring position 402 may be set as the first mover. When the first mover 102-1, the second mover 102-2 and the third mover 102-3 move to the right, the first mover 102-1, the second mover 102-2 and the third mover 102-3 pass through the first monitoring position 402 in sequence, and the first mover 102-1 may be set as a first mover and the second mover 102-2 and the third mover 102-3 may be set as a second mover. After the first mover 102-1 is set as the first mover, the motion state of the first mover may be controlled according to a transmission signal generated based on the transmission device, so that the first mover may be linked with the transmission device, and the second mover may be linked with the first mover. For the second monitor position 404, as shown in fig. 4, the first mover 102-1, the second mover 102-2 and the third mover 102-3 will pass through the second monitor position 404 in sequence, where the second passing second mover 102-2 is set as the first mover and the first mover 102-1 and the third mover 102-3 are set as the second mover.
According to the embodiment of the application, the monitoring positions are utilized to determine the movers, a plurality of movers which preferentially pass through the monitoring positions can be set as the first movers, the movers with the designated orders can be set as the first movers, and the first movers and the second movers can be selected according to specific application scenes, so that the setting flexibility of the first movers and the second movers is improved.
In an optional embodiment, the setting the first mover and the second mover based on the identification information of the plurality of movers includes:
And executing the identification operation on the acquired identification information, and setting a first mover and a second mover in the movers corresponding to the acquired identification information based on the identification result.
As described above, the identification information may be in the form of numerals, characters, or a combination thereof, and the identification operation performed on the identification information may be different according to the different forms of the identification information.
In an alternative embodiment, when the identification operation is performed on the identification information of the digital type, modulo calculation may be performed on the identification information of the movers to set the first mover and the second mover according to the modulo result. For example, a mover corresponding to the identification information of which the modulo result is 0 may be set as the first mover or a mover corresponding to the identification information of which the modulo result is 1 may be set as the second mover. Vice versa, no further description is given here.
In an alternative embodiment, when the identification information of the character type is subjected to the identification operation, the identification information of the mover may be subjected to the feature matching operation, and the first mover and the second mover may be set according to the feature matching result.
Fig. 5 is a schematic diagram of another alternative determination of a first mover and a second mover according to an embodiment of the present application. As shown in FIG. 5, mover one 102-1, mover two 102-2 and mover three 102-3 move to the right to transfer articles with the drive conveyor. Each of the first mover 102-1, the second mover 102-2 and the third mover 102-3 has a corresponding identification information, and the identification information can be preset, so that the identification information of each mover can be unique. As shown in fig. 5, the identification information of the first mover 102-1 is 6a39a68, the identification information of the second mover 102-2 is 6b39a43, and the identification information of the third mover 102-3 is 6b39a24. If the feature matching operation is to determine whether the second bit in the identification information is a or b, according to the feature matching result, the first mover 102-1 with the second bit being a is set as a first mover, and the second mover 102-2 with the second bit being b and the third mover 102-3 are set as second movers.
According to the embodiment of the application, the arrangement flexibility of the first rotor and the second rotor can be improved according to different identification operations.
The arrangement mode of combining the first rotor and the second rotor can be known, and according to actual requirements, the first rotor and the second rotor can be in one-to-one correspondence or can be in one-to-many correspondence. Thereby improving transmission efficiency.
In an alternative embodiment, the separation distance between adjacent movers may be determined according to the size of the object in relation to the movement direction of the plurality of movers. For example, when transferring the same kind of articles, the distance between the first mover and the second mover and the distance between the second movers which may exist may be determined according to the number of the same kind of articles and the size of the articles related to the moving directions of the plurality of movers. It will be appreciated that the spacing between the first mover and the second mover and the size of the spacing between the second movers that may be present may be the same. When transferring different kinds of articles, the distance between the first mover and the second mover and the possible distance between the second movers can be determined according to the number of the respective kinds of articles and the article size related to the movement direction of the plurality of movers. It will be appreciated that the spacing between the first mover and the second mover and the spacing between the plurality of second movers, if present, may be the same or different.
In an alternative embodiment, determining the separation distance between adjacent movers according to the size of the object related to the movement direction of the plurality of movers may include:
In the first case, the spacing distance between adjacent movers holding the article may be the same as the article size of the held article;
In the second case, the distance between adjacent movers holding the article may be the same as the size of the holding portion of the article.
The size of the article related to the moving direction of the plurality of movers may be determined according to the moving direction of the movers and the size of the article in the plurality of directions. The size of the article has fixed specifications, but when the article is transferred, the position of the article in space can influence the clamping position when the mover clamps the article. In the case of transferring an article, the size of the article associated with the distance between adjacent movers may be determined first. The size of the article associated with the distance between adjacent movers may be the size of the article associated with the moving direction of the adjacent movers, i.e., the size of the article in the moving direction of the movers may be determined as the article size.
In an alternative embodiment, in the case of gripping an article with adjacent movers, the dimension of the article in the same direction as the movement direction of the movers may vary in a direction perpendicular to the movement direction of the movers. Therefore, in the case of gripping an article with adjacent movers to transfer the article, the distance between adjacent movers gripping the article may be the same as the size of the gripping portion of the article.
With the above embodiment of the present application, the motion state of one first mover may control the motion state of one second mover, and the motion state of one first mover may also control the motion states of a plurality of second movers. According to different actual needs, different corresponding control relations are set, so that the flexibility of the article transfer system is improved.
In an alternative embodiment, the controlling the motion state of the first mover and the motion state of the second mover to transfer the article with the transmission device includes at least one of:
1) Controlling the motion state of the first rotor and the motion state of the second rotor so that the first rotor and the second rotor respectively transfer objects with the transmission device;
2) And controlling the motion state of the first rotor and the motion state of the second rotor to combine the first rotor and the second rotor and transfer the articles with the transmission device.
When the first rotor and the second rotor are respectively in article transfer with the transmission device, each rotor has an article carrying function independently; when the first rotor and the second rotor are combined and the transmission device is used for transferring the article, the article can be clamped through the cooperation between the first rotor and the second rotor. Based on this, the movement states of the plurality of movers can be controlled according to the sandwiching method of the movers.
In the case where the mover alone has a carrying function, the mover may be equipped with a carrying member (e.g., a jig, a carrying groove, etc.). When the article is held by the cooperation between the first mover and the second mover, the first mover and the second mover function as a carrier, and the carrier member may not be separately assembled for the movers.
In an alternative embodiment, the case of transferring the article between the mover and the transmission device may include at least one of the following cases:
under the condition that the article placing groove rotates to a position capable of carrying out article transfer with the first rotor and the first rotor also moves to the position of the article transfer in the transmission device (the first rotor and the article placing groove simultaneously reach the article transfer position), the moving speed of the first rotor is adjusted to be matched with the linear speed of the article placing groove so that the rotor can directly transfer articles into the article placing groove.
Under the condition that the first rotor moves to the article transferring position of the transmission device, the article placing groove can rotate to the rear of the first rotor, and the moving speed of the first rotor is adjusted to be matched with the linear speed of the article placing groove so as to transfer the articles in the article placing groove to the rear of the first rotor. And the first rotor is utilized to control the second rotor, so that the distance between the second rotor and the first rotor is reduced, and the double-rotor object clamping is realized.
According to the embodiment of the application, the flexible configuration of the movers can be utilized, so that the diversity of article transferring modes is increased.
In an alternative embodiment, the controlling the motion state of the first mover and the motion state of the second mover includes:
s1, controlling the motion state of a first rotor according to motion information of a transmission device corresponding to a transmission signal so as to enable the motion information of the first rotor to be matched with the motion information of the transmission device;
S2, controlling the motion information of the second rotor to be matched with the motion information of the first rotor;
Wherein the motion information includes: at least one of movement distance information and speed information. Specifically, the motion information of the first mover is matched with the motion information of the transmission device, and the speed information of the first mover may be matched with the speed information of the transmission device, or the motion distance information of the first mover may be matched with the motion distance information of the transmission device. The motion information of the second mover is matched with the motion information of the first mover, and the speed information of the second mover may be matched with the speed information of the first mover, or the motion distance information of the second mover may be matched with the motion distance information of the first mover. It can be understood that the motion information of the first mover may be obtained according to a preset first mover control parameter, or may be calculated in real time according to the motion information of the transmission device corresponding to the transmission signal.
It should be noted that, the transmission signal may be generated based on a rotational motion or a linear motion of the transmission device, so that the motion information of the first mover is matched with the motion information of the transmission device, which may be, but not limited to: the motion information of the first mover is synchronized with the motion information of the transmission, wherein synchronization is understood to be the same or a conversion correspondence exists. For example, the power transmission signal is generated based on a rotational movement of the power transmission device, and the movement information of the power transmission device corresponding to the power transmission signal is rotational movement information, and specifically, the movement information of the power transmission device may include at least one of rotational distance information and rotational speed information. And the first rotor is in linear motion, namely the motion information of the first rotor is in linear motion information, and the linear motion information of the first rotor is corresponding to the rotation motion information of the transmission device according to the conversion relation between the rotation motion and the linear motion.
For example, a rotary drive transmission may rotate and the pockets on the disc type drive transmission will also perform a circular motion as the device rotates. At the same time, the first mover will also transfer the articles to the transfer device, i.e. to the storage tank. The form of the transmission device is different, and the limitation is different, for example, for a belt type transmission device, a storage groove is not arranged on the transmission device, and only the first rotor is required to keep speed matching with the transmission device at the object transferring position.
Since the motion modes of the second mover and the first mover are the same, the motion information of the second mover is matched with the motion information of the first mover, and may be, but not limited to, the same as the motion information of the first mover, specifically, the speed information of the second mover may be the same as the speed information of the first mover; the movement distance information of the second mover may be the same as the movement distance information of the first mover.
According to the embodiment of the application, the motion information of the first rotor is controlled to be matched with the motion information of the transmission device, and the motion information of the second rotor is controlled to be matched with the motion information of the first rotor, so that different rotors are controlled, the object transfer is facilitated, and the object transfer efficiency is improved.
In an alternative embodiment, the motion states of the first mover and the second mover are controlled to combine the first mover and the second mover, and in the case of transferring the article with the transmission device, the article can be transferred by combining the first mover and the second mover to achieve the mode that the article is clamped by multiple movers. Based on this, in the process of controlling the movement state of the first mover and the movement state of the second mover, the distance between the first mover and the second mover may be adjusted at the stage when the article is transferred so as to clamp the article from the power transmission device or so as to release the clamp of the article and cause the power transmission device to acquire the article. And in the non-article transferring stage (such as the stage before article transferring and the stage after article transferring, etc.), the motion information of the first mover can be controlled to be synchronous with the motion information of the transmission device corresponding to the transmission signal, and the motion information of the second mover can be controlled to be the same as the motion information of the first mover.
In other words, in some cases (such as the case where the clamping function is achieved by multiple movers), the motion information between the first mover and the transmission means is matched, and the motion information between the second mover and the first mover is matched. May further comprise at least one of the following: controlling the motion information of the first rotor to be asynchronous with the motion information of the transmission device in the stage of article transfer; the motion information of the second mover is controlled to be different from the motion information of the first mover at the stage of article transfer.
In an alternative embodiment, the adjusting the distance between the first mover and the second mover includes at least one of:
1) When the article clamped by the plurality of movers is aligned with the storage area of the transmission device, controlling the motion state of at least one of the first mover and the second mover so as to increase the distance between the first mover and the second mover;
2) When the object of the transmission device is positioned between the first rotor and the second rotor, the motion state of at least one of the first rotor and the second rotor is controlled so as to reduce the distance between the first rotor and the second rotor.
The distance between the movers can be obtained through a sensor on the stator wire body, or an inductor can be arranged on the movers, namely, the distance between the movers can be determined by obtaining the positions of the movers, or the distance between the movers can be obtained by means of software. This is not shown in the embodiments of the present application.
For ease of understanding and description, the following description is exemplified in conjunction with the accompanying drawings.
Fig. 6 is a schematic diagram of another alternative linear motor control method according to an embodiment of the present application. As shown in fig. 6 (a), the moving directions of the movers are rightward, that is, the first mover 102-1 and the second mover 102-2 move rightward, where the first mover 102-1 may be configured as a first mover, the second mover 102-2 may be configured as a second mover, and the transmission device may include a linear transmission mechanism (not labeled in the drawing) for transmitting the article to the stator line body. Taking the article one 602 as an example, the linear transmission mechanism transmits the article one 602 to the stator wire body, and the first mover (the mover one 102-1 in (a) in fig. 6) and the second mover (the mover two 102-2 in (a) in fig. 6) move to the transmission device and control the first mover according to the transmission signal generated based on the transmission device. So that the first mover remains coupled to the motion of the transmission. After the first mover passes through the transmission device, the transmission device can transfer the first article 602 to the rear of the first mover (e.g. to the left of the first mover 102-1 in fig. 6 (b)), and the speed of the second mover is changed so that the distance between the first mover and the second mover is adjusted to achieve the effect of clamping the first article 602. As shown in fig. 6 (c), mover one 102-1 and mover two 102-2 hold article one 602. Wherein, the distance between the first mover and the second mover may be determined according to the material of the article one 602, for example, for rigid or vulnerable electronic devices, the distance between the first mover and the second mover needs to be set to be equal to or slightly larger than the size of the article one 602 so as to avoid damaging the article one 602; for flexible objects, the distance between the first mover and the second mover may be slightly smaller than the size of item one 602 to grip item one 602.
Fig. 7 is a schematic view of an alternative mover and drive conveyor for article transfer according to an embodiment of the present application. As shown in FIG. 7, mover one 102-1, mover two 102-2, mover three 102-3 and mover four 102-4 are moved to the right in preparation for article transfer with drive conveyor two 702. The second transmission 702 is shown in fig. 7, and is a transmission in the form of a belt, and for the transmission in the form of a belt, a storage slot may be provided thereon, and a protrusion may be provided to lock the article. The first mover (e.g., mover one 102-1 in FIG. 7) is motion-bound to the second transmission 702, and the second mover (e.g., mover two 102-2, mover three 102-3, and mover four 102-4 in FIG. 7) is motion-bound to the first mover. The motion state of the first mover is controlled by the drive transmission signal at a stage before the transfer of the article so that the first mover can be synchronized with the speed of the conveyor belt of the second drive transmission 702 and the motion speed of the second mover is synchronized with the motion speed of the first mover. At the stage of article transfer, the articles (such as article two 704, article three 706 and article four 708 in fig. 7) can be pushed between the first mover and the second mover (specifically, between the first mover and the adjacent second mover or between the adjacent two second movers) through the telescopic members of the transmission device, and the articles can be clamped by reducing the distance between the second mover and the first mover. At a stage after the transfer of the article, the first mover and the second mover may continue to move to the right, having conveyed the gripped article.
Fig. 8 is a schematic view of an alternative mover and drive conveyor for article transfer according to an embodiment of the present application. As shown in FIG. 8, mover one 102-1, mover two 102-2, mover three 102-3 and mover four 102-4 are moved to the right in preparation for article transfer with drive transmission three 802. The third drive transmission 802 is shown in fig. 8 and is a drive transmission having a plurality of storage slots 806. The article transfer system shown in fig. 8 may be to transfer article five 804, article six 808, and article seven 810 held by the subunits into the holding pocket 806 of the third gear transfer device 802. The first mover (e.g., mover one 102-1 in fig. 8) is motion-bound to transmission three 802, and the second mover (e.g., mover two 102-2 in fig. 8) is motion-bound to the first mover. At a stage before the transfer of the article, the motion state of the first mover is controlled by the transmission signal so that the article five 804 held between the first mover and the second mover is aligned with the article placing slot 806 (the article placing area) of the transmission device three 802. At the stage of article transfer, the speed of the first mover can be controlled to be increased, so that the distance between the first mover and the second mover is increased, and the article five 804 can enter the article placing groove 806. And the motion state of the second mover (such as the third mover 102-3 and the fourth mover 102-4 in fig. 8) can be controlled according to the motion state of the first mover (such as the first mover 102-1 in fig. 8), so that when the sixth object 808 clamped by the second mover 102-2 and the third mover 102-3 is aligned with the corresponding object placing slot in the third transmission device 802, the distance between the second mover 102-2 and the third mover 102-3 is controlled to be increased, and the sixth object 808 clamped by the second mover is placed in the object placing slot. The articles clamped by the active groups can be transferred to the transmission device through the process.
According to the embodiment of the application, the motion state of the first rotor is controlled according to the transmission signal, so that the first rotor can be synchronous with the motion of the first rotor at the transmission device to transfer objects, and the motion state of the second rotor is controlled according to the motion state of the first rotor, so that the second rotor can be matched with the first rotor to clamp objects, objects with different sizes can be clamped, and the diversity of object transfer is improved.
In an alternative embodiment, before controlling the motion state of the first mover according to the motion information of the transmission device corresponding to the transmission signal, the method further includes:
And determining that the mover reaches an external control starting position, wherein the external control starting position is set based on the stator wire body.
In other words, after the first mover passes through the external control starting position, the first mover is controlled by the transmission signal, and when the first mover does not reach the external control starting position, the first mover may not be controlled according to the transmission signal, and the movement condition of the first mover before reaching the external control starting position may be set according to actual requirements. The external control starting position may coincide with the monitoring position, or may be located after the monitoring position (in terms of the moving direction of the mover). Thereby, the diversity of the first mover control can be increased.
It should be noted that, when the mover passes through the external control start position, it may not be set as the first mover or the second mover yet. For example, the mover may be given a code through a preset position by encoding the mover while passing through an externally controlled start position. The plurality of movers may be configured as first movers such that the plurality of first movers are motion-bound with the transmission means to control a motion state of the plurality of first movers by the transmission signal. For the first movers, an external control start position may be provided such that a plurality of first movers start at the external control start position, the movement state of which is controlled by the transmission signal. The preset position to which the code is given to the mover may be an external control start position, and in one example, after the mover is given the code through the external control start position, it may be determined as the first mover according to the code so that the movement state thereof may be controlled by the transmission signal. The preset position for imparting the code to the mover may be after the external control start position, and in one example, the first mover may be determined according to the code after the mover is imparted with the code through the preset position, and the motion state of the first mover may be controlled using the transmission signal in a case where the first mover passes through the external control start position. It can be seen that the mover may not be the first mover or the second mover when it is subjected to an external control of the starting position.
In an alternative embodiment, the linear motor control method may further include at least one of:
Under the condition that the first rotor reaches a first binding and releasing position, the transmission device is released to be a motion binding object of the first rotor, wherein the first binding and releasing position is set based on the stator line body;
And under the condition that the second mover reaches a second binding and releasing position, releasing the first mover as a motion binding object of the second mover, wherein the second binding and releasing position is set based on the stator line body.
Therefore, according to the actual situation, the unbound rotor can move independently, can be linked with different transmission devices under the condition of not changing the moving direction, and can be linked with different or same transmission devices under the condition of changing the moving direction, so that the flexibility of rotor control is increased.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, it should be understood by those skilled in the art that the embodiments described in the specification are all alternative embodiments, and in practical application, the alternative embodiments may be combined and cross-referenced with each other without conflict, thereby extending the scope of the various possible embodiments, which are all considered disclosed and disclosed in the specification.
The application further provides a linear motor control device corresponding to the linear motor control method. The linear motor control device is used for controlling the motion state of the first rotor and the motion state of the second rotor in the linear motor so as to transfer articles with the transmission device. The following detailed description is made by way of specific embodiments with reference to the accompanying drawings.
It should be noted that the linear motor control apparatus described below may be regarded as a functional module required to be provided for implementing the linear motor control method provided by the embodiment of the present application; the contents of the linear motor control apparatus described below may be referred to in correspondence with the contents of the linear motor control method described above.
In an alternative embodiment, as shown in fig. 9, the linear motor control apparatus may include:
A mover setting unit 902 for setting a first mover and a second mover among the plurality of movers, wherein a motion binding object of the first mover is set as a transmission device, and a motion binding object of the second mover is set as the first mover;
And a motion state control unit 904 configured to control a motion state of the first mover and a motion state of the second mover to perform article transfer with the transmission device, where the motion state of the first mover is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second mover is controlled according to the motion state of the first mover.
By utilizing the linear motor control device provided by the embodiment of the application, the motion of the first rotor is related to the motion of the transmission device through signal control by utilizing the motion binding relation between the first rotor and the transmission device and utilizing the motion binding relation between the second rotor and the first rotor, and the motion of the second rotor is indirectly related to the motion of the transmission device through the first rotor. In the process of article transmission, the motion state of the first rotor and the motion state of the second rotor can be adjusted according to the actual condition of the transmission device, so that the high flexibility and the high controllability of the rotors are utilized to realize the efficient transfer of articles, and the article transmission efficiency is improved.
Alternatively, the above mover setting unit may include: the first setting module is used for setting a first rotor and a second rotor based on the intervals between the plurality of rotors and the transmission device respectively; the second setting module is used for setting the first rotor and the second rotor based on the sequence of the plurality of rotors passing through the monitoring positions, wherein the monitoring positions are set based on the stator wire body; and the third setting module is used for setting the first mover and the second mover based on the identification information of the plurality of movers, wherein the identification information of the movers is preset or dynamically allocated.
Optionally, the second setting module may be further configured to: setting at least one mover which preferentially reaches the monitoring position as a first mover; among the plurality of movers sequentially reaching the monitoring position, a first-designated-order mover is set as a first mover, and a second-designated-order mover is set as a second mover.
Optionally, the third setting module is further configured to: and executing the identification operation on the acquired identification information, and setting a first mover and a second mover in the movers corresponding to the acquired identification information based on the identification result.
Alternatively, the first mover and the second mover may be in a one-to-one correspondence or a one-to-many correspondence.
Alternatively, the motion state control unit may include: the first control module is used for controlling the motion state of the first rotor and the motion state of the second rotor so as to enable the first rotor and the second rotor to respectively transfer articles with the transmission device; and the second control module is used for controlling the motion state of the first rotor and the motion state of the second rotor so as to combine the first rotor and the second rotor and transfer articles with the transmission device.
Optionally, the motion state control unit may further include: the third control module is used for controlling the motion state of the first rotor according to the motion information of the transmission device corresponding to the transmission signal so as to enable the motion information of the first rotor to be matched with the motion information of the transmission device; the fourth control module is used for controlling the motion information of the second rotor to be matched with the motion information of the first rotor; wherein the motion information includes: at least one of movement distance information and speed information.
Optionally, the motion state control unit further includes: and the position determining module is used for determining that the first rotor reaches an external control starting position, wherein the external control starting position is set based on the stator wire body.
Optionally, the motion state control unit further includes: and a fifth control module for adjusting the distance between the first mover and the second mover when transferring the article to clamp the article from the transmission device or to unclamp the article and enable the transmission device to acquire the article.
Optionally, the fifth control module is further configured to: when the article clamped by the plurality of movers is aligned with the storage area of the transmission device, controlling the motion state of at least one of the first mover and the second mover so as to increase the distance between the first mover and the second mover; when the object of the transmission device is positioned between the first rotor and the second rotor, the motion state of at least one of the first rotor and the second rotor is controlled so as to reduce the distance between the first rotor and the second rotor.
Optionally, the above mover determining unit further includes: the first unlocking module is used for unlocking the transmission device to be a motion binding object of the first rotor under the condition that the first rotor reaches a first binding unlocking position, wherein the first binding unlocking position is set based on the stator line body; and the second releasing module is used for releasing the first mover from being a motion binding object of the second mover under the condition that the second mover reaches a second binding releasing position, wherein the second binding releasing position is set based on the stator line body.
The embodiment of the application also provides an article transmission system, which comprises: a linear motor for article transport; the linear motor control device is connected with the linear motor and executes the linear motor control method when the linear motor control device operates; and the transmission device is arranged around the linear motor and used for conveying the articles and transferring the articles with the linear motor.
The article transmission system provided by the embodiment of the application can be applied to different industrial scenes. For example, in the above-mentioned processing and production scenarios, reference may be made to the descriptions of the relevant parts, which are not repeated here.
For another example, the article transmission system provided by the embodiment of the application can be applied to detection scenes. In particular, as in the delivery of medical diagnostic reagents, it is necessary to dispense and manage reagent containers containing different reagents and to accurately deliver the required reagents to the designated reagent processing apparatus. In one example, multiple reagents may be transported simultaneously in a single medical reagent delivery line, where multiple movers may be utilized to carry reagent containers corresponding to the multiple reagents and the reagent containers may be assembled in the carrier members of the movers. When one of the reagents is required to be detected or processed, a first mover and a second mover may be provided among the plurality of movers. And the motion state of the first rotor is controlled according to the transmission signal of the transmission device (can be reagent processing equipment or other equipment in the system), and the motion state of the second rotor is controlled by utilizing the motion state of the first rotor, so that the second rotor can be bound with the first rotor for motion. One or more first movers may be provided in the carrier mover of each reagent such that a second one of the carrier movers of each reagent may be in motion binding with the corresponding first mover. When different reagents are controlled, the motion states of all the movers are not required to be controlled for multiple times according to external reagent processing equipment, and the motion control of the second mover which is correspondingly bound can be realized by controlling the motion state of the first mover.
Also for example, embodiments of the present application provide that the item transport system may be applied in an assembly scenario. In particular, in the accessory assembling scene of the electronic product, when the accessory of the mobile phone is assembled, the mobile phone needs to be reciprocated, so that the mobile phone can be transported to the accessory assembling device by using a mover or a mover group to carry the mobile phone, and the mobile phone stays for a short time. After the transmission device (which can be a fitting assembly device or other devices in a system) is determined, a first rotor and a second rotor can be arranged in the plurality of rotors, then the motion state of the first rotor is controlled according to transmission signals of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor, so that the effects of clamping a mobile phone by the first rotor and the second rotor and temporarily staying at the transmission device are achieved. After the accessory is assembled one or more times, the mobile phone can be clamped by the first rotor and the second rotor to move again; after reaching the preset position, the first rotor and the second rotor can be reset, and the motion states of the first rotor and the second rotor can be controlled again, so that the purposes of reciprocating the mobile phone and assembling accessories again are achieved.
An embodiment of the present application provides a computer-readable storage medium, from which a processor of a computer device reads the computer program, the processor executing the computer program, so that the computer device executes the linear motor control method of any of the above embodiments.
Alternatively, in the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for performing the steps of:
s1, arranging a first rotor and a second rotor in a plurality of rotors, wherein a motion binding object of the first rotor is arranged as a transmission device, and a motion binding object of the second rotor is arranged as the first rotor;
S2, controlling the motion state of the first rotor and the motion state of the second rotor to transfer objects with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
It will be appreciated that the specific implementation manner, technical effects and the like of the above steps may refer to the above related description and the accompanying drawings, and are not repeated herein.
Alternatively, in this embodiment, it will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be performed by a program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, where the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
A computer program may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, and the like, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language.
The units, modules, etc. in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as independent products. Based on such understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product or all or part of the technical solution, which is stored in a storage medium, and includes several instructions for causing a control terminal (e.g. a control device, a control apparatus, etc.) to perform all or part of the steps of the above-mentioned method according to the various embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the above-described apparatus embodiments are merely illustrative, and the division of the units, for example, is merely a logic function division, and other division manners may be implemented in practice, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, each functional unit may exist alone physically, or two or more functional units may be integrated in one processing unit. The above integrated units of each functional unit may be implemented in hardware (such as a circuit, a processor, a module, etc.), or may be implemented in software.
While the foregoing is directed to embodiments of the present application, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the application, and it is intended to cover the modifications and the embodiments of the application as defined in the appended claims.
Claims (14)
1. A linear motor control method, characterized in that the linear motor comprises: a stator wire body and a plurality of movers, the stator wire body is provided with transmission device around, the movers are driven by the stator wire body and move along the stator wire body, and pass through the transmission device in the moving process, the method comprises:
A first rotor and a second rotor are arranged in the plurality of rotors, wherein a motion binding object of the first rotor is arranged as the transmission device, and a motion binding object of the second rotor is arranged as the first rotor;
And controlling the motion state of the first rotor and the motion state of the second rotor to transfer objects with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
2. The method of claim 1, wherein the disposing a first mover and a second mover in the plurality of movers comprises at least one of:
setting the first mover and the second mover based on the intervals between the plurality of movers and the transmission device respectively;
Setting the first mover and the second mover based on an order in which the plurality of movers pass through a monitoring position, wherein the monitoring position is set based on the stator wire body;
And setting the first mover and the second mover based on the identification information of the plurality of movers, wherein the identification information of the movers is preset or dynamically allocated.
3. The method according to claim 2, wherein the setting of the first mover and the second mover based on the order in which the plurality of movers pass through the monitoring position includes any one of:
Setting at least one mover which preferentially reaches the monitoring position as the first mover;
Among the plurality of movers sequentially reaching the monitoring position, a first-designated-order mover is set as the first mover, and a second-designated-order mover is set as the second mover.
4. The method according to claim 2, wherein setting the first mover and the second mover based on identification information of a plurality of the movers includes:
and executing identification operation on the acquired identification information, and setting the first mover and the second mover in the movers corresponding to the acquired identification information based on the identification result.
5. The method of claim 1, wherein the first mover and the second mover are in a one-to-one or one-to-many relationship.
6. The method of claim 1, wherein controlling the motion state of the first mover and the motion state of the second mover for article transfer with the drive conveyor comprises at least one of:
Controlling the motion state of the first rotor and the motion state of the second rotor so that the first rotor and the second rotor respectively transfer objects with the transmission device;
And controlling the motion state of the first rotor and the motion state of the second rotor so as to combine the first rotor and the second rotor and transfer articles with the transmission device.
7. The method of claim 1, wherein the controlling the motion state of the first mover and the motion state of the second mover comprises:
Controlling the motion state of the first rotor according to the motion information of the transmission device corresponding to the transmission signal so as to enable the motion information of the first rotor to be matched with the motion information of the transmission device;
controlling the motion information of the second rotor to be matched with the motion information of the first rotor;
wherein the motion information includes: at least one of movement distance information and speed information.
8. The method of claim 1, wherein prior to said controlling the motion state of the first mover and the motion state of the second mover, the method further comprises:
and determining that the first rotor reaches an external control starting position, wherein the external control starting position is set based on the stator wire body.
9. The method of claim 1, wherein the controlling the motion state of the first mover and the motion state of the second mover comprises:
and adjusting the distance between the first mover and the second mover when the article is transferred so as to clamp the article from the transmission device or release the clamp of the article and enable the transmission device to acquire the article.
10. The method of claim 9, wherein the adjusting the spacing between the first mover and the second mover comprises at least one of:
Controlling the motion state of at least one of the first mover and the second mover to increase the distance therebetween when the article held by the plurality of movers is aligned with the storage area of the transmission device;
And controlling the motion state of at least one of the first mover and the second mover when the object of the transmission device is positioned between the first mover and the second mover so as to reduce the distance between the first mover and the second mover.
11. The method according to any one of claims 1 to 10, further comprising at least one of:
under the condition that the first rotor reaches a first binding and releasing position, the transmission device is released to be a motion binding object of the first rotor, wherein the first binding and releasing position is set based on the stator line body;
and under the condition that the second mover reaches a second binding and releasing position, releasing the first mover as a motion binding object of the second mover, wherein the second binding and releasing position is set based on the stator line body.
12. A linear motor control apparatus, wherein the linear motor control apparatus is connected to a linear motor, the linear motor comprising: the stator line body and a plurality of active cell, be provided with transmission device around the stator line body, the active cell receives the stator line body drive and along the motion of stator line body, and pass through in the motion process transmission device, linear motor controlling means includes:
A mover setting unit configured to set a first mover and a second mover from among the movers, wherein a motion binding object of the first mover is set as the transmission device, and a motion binding object of the second mover is set as the first mover;
And the motion state control unit is used for controlling the motion state of the first rotor and the motion state of the second rotor so as to transfer the object with the transmission device, wherein the motion state of the first rotor is controlled according to a transmission signal, the transmission signal is generated based on the motion state of the transmission device, and the motion state of the second rotor is controlled according to the motion state of the first rotor.
13. An article transport system, comprising:
a linear motor for article transport;
linear motor control means connected to said linear motor, said linear motor control means being operative to perform the method of any one of claims 1 to 11;
and the transmission device is arranged around the linear motor and used for conveying articles and transferring the articles with the linear motor.
14. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 11.
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| CN202410594632.9A CN118164266A (en) | 2024-05-14 | 2024-05-14 | Linear motor control method and device, storage medium, and article transport system |
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