Beat control method and apparatus, linear motor device, and industrial automation system

Abstract

The application discloses a beat control method and device, a linear motor equipment and an industrial automation system, and belongs to the technical field of automation control. The method comprises the following steps: after starting a program corresponding to a beat control graph element, attribute parameters of the beat control graph element are acquired; the attribute parameters are set through an interactive interface, and the attribute parameters are determined according to operation equipment beat information and operation equipment distribution information; arrival position information and cooperation time interval information corresponding to at least one working procedure are determined according to the attribute parameters, so that a mover component is controlled to move to a position indicated by the arrival position information within a time interval indicated by the cooperation time interval information. Compared with the prior art, the beat control strategy is adjusted by modifying codes, and the method has the advantages of being more intuitive and convenient to operate, high in debugging efficiency and strong in universality.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a cycle control method, device, linear motor equipment, and industrial automation system. Background Technology

[0002] In industrial automation scenarios, different types of operating equipment are typically deployed based on process requirements, such as loading equipment, processing equipment, and unloading equipment. Each operation step of the operating equipment is configured according to the corresponding process requirements. The moving parts of the linear motor equipment can cooperate with different types of operating equipment through movement. By adjusting the motion control strategy of the moving parts, it is desirable to match the cycle time of the linear motor equipment corresponding to the same process with the cycle time of the operating equipment, thereby achieving seamless cooperation between the linear motor equipment and the operating equipment.

[0003] As process requirements become more complex and diverse, the duration of a single operation may vary depending on the type of operating equipment, and the number of moving parts that can cooperate in a single operation may also differ. In related technologies, it is typically necessary to write or modify code to change the movement strategy of the moving parts, resulting in significant difficulties and low efficiency in cycle time debugging of linear motor equipment. Summary of the Invention

[0004] This invention aims to solve the above-mentioned technical problems and proposes a cycle control method, device, linear motor equipment and industrial automation system. The cycle adjustment of the linear motor equipment is realized based on the visualized cycle control primitives.

[0005] In a first aspect, this application provides a cycle control method applied to a linear motor device, the linear motor device including a mover component, and at least one operating device distributed around the linear motor device, each operating device corresponding to at least one operation, the method comprising: After starting the program corresponding to the beat control graphic element, the attribute parameters of the beat control graphic element are obtained; wherein, the attribute parameters are set through the interactive interface, and the attribute parameters are determined according to the beat information of the operating equipment and the distribution information of the operating equipment; Based on the attribute parameters, at least one process-related arrival location information and collaboration time interval information are determined, so as to control the moving part to move to the position indicated by the arrival location information within the time interval indicated by the collaboration time interval information.

[0006] Optionally, the method further includes at least one of the following: The beat control primitives are provided based on the interactive interface; In response to the attribute expansion operation of the beat control element, the attribute setting sub-interface of the beat control element is displayed in the interactive interface; Based on the attribute setting sub-interface, the attribute parameters of the rhythm control graphic element are set according to the rhythm information and distribution information of the operating equipment.

[0007] Optionally, the attribute parameters include process allocation parameters, execution mode parameters, and cycle enable parameters, and the method further includes at least one of the following: The process allocation parameters of the cycle control element are set. The process allocation parameters are used to characterize the station information allocated to each process. A station information is used to indicate a station set based on the stator assembly in the linear motor equipment. The execution mode parameters of the cycle control element are set, and the execution mode parameters are used to characterize the process range controlled by the program corresponding to the cycle control element; Set the cycle enable parameter of the beat control element, the cycle enable parameter is used to characterize whether the program corresponding to the beat control element is allowed to run in a loop; The system displays in real time the process and corresponding workstation information currently controlled by the program corresponding to the cycle control graphic element.

[0008] Optionally, determining the arrival position information and cooperation time interval information corresponding to at least one process based on the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information, includes at least one of the following: Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and cooperation time interval information corresponding to at least one target process within the process range are determined, and the arrival position information is determined based on the workstation position indicated by the target workstation information, so as to control the movement of no more than the number of moving parts of the target workstation to the workstation position within the time interval indicated by the cooperation time interval information. Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and collaboration time interval information corresponding to at least one target process within the process range are determined. Based on the workstation position indicated by the target workstation information, the arrival position information is determined. Within the time interval indicated by the collaboration time interval information, a corresponding motion control command is generated based on the arrival position information and sent to the control module of the linear motor equipment to command the control module to control no more than the number of moving parts of the target workstation to move to the workstation position.

[0009] Optionally, determining the target workstation information and collaborative time interval information corresponding to at least one target process within the process range based on the execution mode parameters of the cycle control element and the process allocation parameters includes at least one of the following: When the execution mode parameter is set to single execution, a target process is determined according to the order of the processes of the allocated workstation information in the process allocation parameter, and the target workstation information is determined according to the workstation information corresponding to the target process. When the execution mode parameter is set to multiple executions, at least one target process is determined according to the process of the assigned workstation information in the process allocation parameter, and the target workstation information is determined according to the workstation information corresponding to the target process. When the execution mode parameter is set to multiple executions, the processes in the process allocation parameter are sequentially set as target processes according to the order of the processes of the allocated workstation information, and the target workstation information is determined according to the workstation information corresponding to the target process.

[0010] Optionally, determining the collaboration time interval information based on the attribute parameters includes: When the delay function of the cycle control element is enabled, the interval duration of the next target process is adjusted and set according to the delay information corresponding to each process indicated by the process allocation parameters.

[0011] Optionally, the process allocation parameters for setting the cycle control element include at least one of the following: Based on the first and second sub-regions of the displayed table area, establish an assignment relationship between at least one process cell in the first sub-region and at least one workstation cell in the second sub-region; Based on the process list in the displayed table area, set delay information for at least one process indicated by the process list.

[0012] Optionally, establishing an allocation relationship between at least one process cell in the first sub-region and at least one workstation cell in the second sub-region, based on the first and second sub-regions of the displayed table area, includes at least one of the following: After obtaining the allocation input information for establishing the allocation relationship from the third sub-region of the table area, the workstation cell and process cell corresponding to the cell where the allocation input information is located are identified, and the workstation information corresponding to the identified workstation cell is allocated to the process corresponding to the process cell. The third sub-region and the first sub-region do not intersect, and the third sub-region and the second sub-region do not intersect. After obtaining cell selection information from the third sub-region and obtaining workstation input information, the process cell corresponding to the cell selection information is identified, and at least one workstation cell is determined based on the workstation input information. The workstation information corresponding to the determined workstation cell is assigned to the process corresponding to the identified process cell, and the allocation relationship between the process cell and the workstation cell is automatically displayed in the third sub-region. Here, one workstation cell corresponds to multiple workstation information.

[0013] Optionally, the method further includes: providing a non-beat control graphic element and a graphic element relationship construction area based on an interactive interface; establishing a configuration relationship between the beat control graphic element and the non-beat control graphic element based on the graphic element relationship construction area, wherein the configuration relationship is a hierarchical relationship or a parallel relationship.

[0014] In a second aspect, this application provides a control device, the control device comprising: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the control device to execute the clock control method described in any of the above technical solutions.

[0015] In a third aspect, this application provides a linear motor device, the linear motor device including a moving part, at least one operating device distributed around the linear motor device, one operating device corresponding to at least one process, the linear motor device further including a visualization module and a control module; The visualization module is configured to present beat control primitives; The control module is configured to, after starting the program corresponding to the cycle control element, acquire the attribute parameters of the cycle control element, determine the arrival position information and cooperation time interval information corresponding to at least one process based on the attribute parameters, and control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information; wherein, the attribute parameters are set through an interactive interface, and the attribute parameters are determined based on the cycle information of the operating equipment and the distribution information of the operating equipment.

[0016] In a fourth aspect, this application provides an industrial automation system, including at least one operating device, at least one moving part, at least one stator assembly, at least one control device, and at least one display device, wherein: The operating devices are distributed around the stator assembly; The display device is used to display at least one interactive interface, the interactive interface being used to provide the beat control graphic elements; The control device is used to obtain the attribute parameters of the cycle control element after starting the program corresponding to the cycle control element, and determine the arrival position information and cooperation time interval information corresponding to at least one process according to the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information. The attribute parameters are set through the interactive interface and the attribute parameters are determined according to the cycle information of the operating equipment and the distribution information of the operating equipment.

[0017] The above-described technical solutions of this application have at least one or more of the following beneficial effects: After starting the program corresponding to the cycle control graphic element set through the interactive interface, by obtaining the attribute parameters of the cycle control graphic element, the arrival position information and cooperation time interval information corresponding to at least one process can be determined. Since the attribute parameters are determined based on the cycle information and distribution information of the operating equipment, the arrival position information determined by the attribute parameters matches the distribution position of the operating equipment, and the cooperation time interval information matches the cycle of the operating equipment. By controlling the moving part of the linear motor equipment to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information, the number of moving parts cooperating during one operation of the operating equipment can be controlled, so that the cycle of the linear motor equipment corresponding to the same process matches the cycle of the operating equipment. Therefore, this application realizes the cycle control of the linear motor equipment based on the visualized cycle control graphic element, making it match the cycle of the operating equipment. Compared with the existing technology that adjusts the cycle control strategy by modifying the code, it has significant advantages such as more intuitive and convenient operation, high debugging efficiency, and strong universality. Attached Figure Description

[0018] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings are used to denote similar components, wherein: Figure 1 This is a schematic diagram illustrating the implementation steps of a beat control method provided in this application; Figure 2 This is a schematic diagram of an application scenario based on the operation of a feeding device, provided in an embodiment of this application. Figure 3 This is a schematic diagram of an application scenario based on the operation of a device to perform loading and unloading operations, provided by an embodiment of this application; Figure 4 This is a schematic diagram of a sub-interface for setting attribute parameters provided in this application; Figure 5 and Figure 6 This is a schematic diagram of another attribute parameter setting sub-interface provided in an embodiment of this application; Figure 7 This is a schematic diagram of the interface for establishing the configuration relationship between beat control elements and non-beat control elements provided in the embodiments of this application. Detailed Implementation

[0019] Some embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application.

[0020] In the description of this application, "module" and "unit" can include hardware, software, or a combination of both. A module or unit can include hardware circuitry, various suitable sensors, and communication ports. The term "A and / or B" refers to all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0021] First, some of the nouns or terms that appear in the description of the embodiments of this application are explained as follows: Moving parts: These are parts that can move along the stator assembly and can cooperate with different types of operating equipment to perform different types of process tasks, such as material transfer tasks and collaborative processing tasks.

[0022] Stator assembly: refers to the assembly used to guide and support the movement of the stator components. A stator assembly includes at least one stator component, and when a stator assembly includes multiple stator components, the stator components can be spliced ​​together.

[0023] Workstation: refers to the position of a moving part when performing a specific type of process task.

[0024] A process refers to the operational steps in an industrial automation scenario that have certain sequential requirements. It can be divided into different types of processes based on the specific operation content, such as loading process, unloading process, and processing process.

[0025] This application provides a cycle control method for a linear motor. Based on visualized cycle control primitives, it achieves cycle control of the linear motor device, matching it with the cycle of the operating device. In this application embodiment, the linear motor device includes a moving part, and at least one operating device is distributed around the linear motor device. Each operating device corresponds to at least one process. For example, an operating device with a gripping function can be used only for the loading process, placing material on the moving part, or it can be used for both the loading and unloading processes, determining loading or unloading based on whether the moving part is loaded with material. The cycle control method provided in this application embodiment specifically includes, as follows: Figure 1 Steps S11 and S12 are shown.

[0026] Step S11: After starting the program corresponding to the beat control graphic element, obtain the attribute parameters of the beat control graphic element; The attribute parameters are set through an interactive interface, and the attribute parameters are determined based on the operating equipment's cycle time information and the operating equipment's distribution information.

[0027] In this embodiment, after the beat control graphic element is displayed through the interactive interface, user operations can be obtained through the interactive interface. When the obtained user operation includes an instruction to start the program corresponding to the beat control graphic element, the program corresponding to the beat control graphic element is triggered to start according to the user operation. It should be understood that the user operations mentioned in this embodiment can be generated by touch screen, voice, mouse click, keyboard input, etc.

[0028] In some embodiments, the beat control graphic element encapsulates attribute parameters for controlling the beat of the moving part in a visual manner. Before starting the program corresponding to the beat control graphic element, the method may further include expanding and displaying the attribute parameters encapsulated in the beat control graphic element when the user operation obtained through the interactive interface includes an instruction to expand the attribute parameters corresponding to the beat control graphic element. For the editable attribute parameters corresponding to the beat control graphic element, parameter configuration function units such as input boxes, selection boxes, buttons, and tables displayed based on the editable attribute parameters can be used to realize the parameter setting function.

[0029] Optionally, for ease of description, a user operation including instructions to expand the attribute parameters corresponding to a beat control element can be simply referred to as an "attribute expansion operation." One implementation method for setting the attribute parameters is as follows: In response to the attribute expansion operation of the beat control element, an attribute setting sub-interface for the beat control element is displayed in the interactive interface; based on the attribute setting sub-interface, the attribute parameters of the beat control element are set according to the beat information and distribution information of the operating equipment. For example, based on the interactive interface, after obtaining the attribute expansion operation generated by the user through mouse click, the beat control element is expanded to obtain the attribute parameters encapsulated within the beat control element, and the obtained attribute parameters are displayed in the interactive interface by displaying the attribute setting sub-interface. When setting the attribute parameters of the beat control element, based on the parameter configuration function unit displayed for editable attribute parameters in the attribute setting sub-interface, the attribute parameters of the beat control element are set according to the beat information and distribution information of the operating equipment.

[0030] Optionally, the operating equipment distribution information A1 indicates that one or more operating devices (such as feeding devices) are deployed around the process area of ​​the stator assembly in the linear motor equipment (the starting boundary of the area can be identified by the coordinate values ​​along the coordinate axes constructed along the stator assembly). The process area is used to perform various types of processes (such as feeding processes). The operating equipment cycle time information A2 indicates the working cycle time of the operating equipment. For example, the feeding device can pick up 1 item at a time and pick up x items for feeding within a unit time (which can be seconds, minutes, or hours). Based on the operating equipment cycle time information and the operating equipment distribution information, attribute parameters are configured. Figure 2 The diagram shows an application scenario of performing a feeding operation based on an operating device, according to an embodiment of this application. In this application scenario, the distribution information and cycle time information of the operating device are shown in the following example: A feeding device 12 is deployed around the process area 11 of the stator assembly 10 in the linear motor equipment. The process area 11 is used to perform the feeding process, and the feeding device 12 can grab one item at a time for feeding.

[0031] In some embodiments, the attribute parameters may include process allocation parameters. After providing the cycle control graphic element based on the interactive interface, the step of setting the attribute parameters may also be included, specifically as follows: setting the process allocation parameters of the cycle control graphic element. The process allocation parameters are used to characterize the station information allocated to each process. One station information is used to indicate the position of a station set based on the stator assembly in the linear motor equipment, that is, one station information is used to indicate a station position.

[0032] In this system, a workstation can be identified either directly by coordinate values ​​or by a workstation point. If the workstation information indicates a workstation location via a workstation point, workstation information can be generated based on the workstation point's identifier. This workstation information can then be used to determine the corresponding identifier, and consequently, the coordinate values ​​of the corresponding workstation point can be obtained. For example, for different types of processes such as loading, welding, assembly, quality inspection, and unloading, the corresponding coordinate values ​​or workstation point identifiers can be determined based on the stator assembly, thereby configuring the workstation information for each type of process. Binding the identifier of a process to at least one workstation establishes a correspondence between a process and at least one workstation. In this embodiment, the process allocation parameters can reflect the correspondence between each process and one or more workstations.

[0033] like Figure 3 The diagram illustrates an application scenario based on the collaborative execution of loading and unloading operations by operating devices, as provided in this application embodiment. In this application scenario, the distribution of loading and unloading devices indicated by the operating device distribution information is as follows: Figure 3 As shown, two loading devices 12 are deployed around the process area 11 of the stator assembly 10, and the process area 11 is used to perform the loading process. One unloading device 22 is deployed around the process area 21, and the process area 21 is used to perform the unloading process. In this application scenario, the operating equipment cycle time information is as follows: each loading device 12 can grab 2 items for loading at a time, and each unloading device can grab 4 items for unloading at a time. Correspondingly, according to... Figure 3 The process allocation parameters for the distribution information and cycle time information of the operating equipment in the scenario shown should include the following: allocate 2 workstations for the loading process and 4 workstations for the unloading process.

[0034] In some embodiments, the attribute parameters may include execution mode parameters. After providing the beat control graphic element based on the interactive interface, the step of setting the attribute parameters may also be included, specifically as follows: setting the execution mode parameters of the beat control graphic element, wherein the execution mode parameters are used to characterize the process range controlled by the program corresponding to the beat control graphic element; in practical applications, the execution mode parameters may be set to single execution or multiple execution according to the number of executions required by the process.

[0035] In some embodiments, after providing the cycle control graphic element based on the interactive interface, it may also include: real-time display of the process and corresponding workstation information currently controlled by the program corresponding to the cycle control graphic element.

[0036] If the execution mode parameter is set to single execution, only the first process in the process allocation parameters and its corresponding workstation information will be displayed. If multiple processes in the process allocation parameters are assigned workstation information, when the execution mode parameter is set to multiple executions (such as sequential execution or timed execution), the currently executing process and its corresponding workstation information can be dynamically updated and displayed in real time as the workstation order changes.

[0037] In some embodiments, the attribute parameters may include a loop enable parameter. After providing the beat control primitive based on the interactive interface, the step of setting the attribute parameters may also be included, specifically as follows: setting the loop enable parameter of the beat control primitive, wherein the loop enable parameter is used to characterize whether the program corresponding to the beat control primitive is allowed to run in a loop.

[0038] Step S12: Determine the arrival position information and cooperation time interval information corresponding to at least one process according to the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information.

[0039] Within the time interval indicated by the collaboration time interval information, the moving parts matching the process are identified, and according to the motion control parameters, the matched moving parts are controlled to move to the position corresponding to the process. The collaboration time interval information corresponding to the process can determine the collaboration duration. Based on the collaboration duration and the number of moving parts reaching the position corresponding to the process within the time interval, the cycle time of the moving parts can be determined. The motion control parameters may include target acceleration parameters, target velocity parameters, maximum velocity parameters, maximum acceleration parameters, etc.

[0040] By adjusting attribute parameters (such as at least one of the execution mode parameters and the process allocation parameters), the cooperative time interval information can be modified. With motion control parameters remaining unchanged, the modified cooperative time interval information may alter the cycle time of the moving component. Similarly, adjusting the motion control parameters while keeping the time interval indicated by the cooperative time interval information unchanged may also change the cycle time of the moving component. Therefore, during the commissioning phase, by adjusting at least one of the attribute parameters and motion control parameters, the cycle time of the moving component can be changed, thereby enabling the determination of a parameter configuration scheme adapted to the cycle time of the operating equipment.

[0041] In one specific embodiment, the acquired attribute parameters include pre-set process allocation parameters and execution mode parameters. When the program corresponding to the cycle control element is configured in the control module of the linear motor equipment itself, at least one process's arrival position information and cooperation time interval information are determined based on the attribute parameters. This is to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information. Specifically, this includes: Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and cooperation time interval information corresponding to at least one target process within the process range are determined. Based on the workstation position indicated by the target workstation information, the arrival position information is determined so as to control the movement of no more than the number of moving parts to the workstation position within the time interval indicated by the cooperation time interval information.

[0042] In one specific embodiment, the acquired attribute parameters include pre-set process allocation parameters and execution mode parameters. When the program corresponding to the cycle control element is configured in a controller other than the control module of the linear motor equipment itself, the arrival position information and cooperation time interval information corresponding to at least one process are determined according to the attribute parameters. This is to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information. Specifically, this includes: Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and collaboration time interval information corresponding to at least one target process within the process range are determined. Based on the workstation position indicated by the target workstation information, the arrival position information is determined. Within the time interval indicated by the collaboration time interval information, a corresponding motion control command is generated based on the arrival position information and sent to the control module of the linear motor equipment to command the control module to control no more than the number of moving parts of the target workstation to move to the workstation position.

[0043] In one specific embodiment, the acquired attribute parameters include pre-set process allocation parameters, execution mode parameters, and cycle enable parameters. Based on the process allocation parameters and execution mode parameters, arrival location information and collaboration time interval information corresponding to at least one process are determined. Furthermore, based on the cycle enable parameters, when the cycle operation function is enabled, the arrival location information is determined according to the workstation position indicated by the target workstation information. Within the time interval indicated by the collaboration time interval information, the process is executed cyclically according to a preset cycle period: controlling no more than the number of moving parts (not exceeding the target workstation number) to move to the workstation position. It should be understood that the cycle period can also be set when setting the cycle enable parameters.

[0044] Among them, the target workstation information corresponds to the target workstation, and the number of target workstations can be determined by the number of target workstation information.

[0045] In this embodiment, the workstation usage status information of the corresponding target workstation can be obtained based on the target workstation information. The workstation usage status information is used to indicate whether the corresponding workstation is in an idle state or an occupied state. If the target process corresponds to p target workstations, then the number of target workstation positions is p. Based on the target workstations corresponding to the target workstation information, the workstation usage status information of the target workstations is obtained. If, based on the obtained workstation usage status information, it is determined that the number q of idle target workstations is equal to p, then p moving parts can be selected for movement. If, based on the obtained workstation usage status information, the number of idle target workstations is q, then p moving parts can be selected for movement. If the number of idle target workstations, q, is less than p, then we can wait until the number of idle target workstations reaches p before selecting p moving parts. Alternatively, we can first select q moving parts that match the current number of idle target workstations, q (i.e., the number of selected moving parts is less than p), and then move them. In this case, there may be target workstations that have not been assigned moving parts. When we determine, based on the subsequently obtained workstation usage status information, that there are target workstations whose usage status has been updated to idle, it is preferable to assign the corresponding number of moving parts to the target workstations that have been updated to idle. Here, p is a positive integer, and q is an integer greater than or equal to zero.

[0046] It should be understood that the linear motor device described in this application embodiment may have motion control parameters pre-stored in its own control module or in a controller other than the control module.

[0047] The collaborative time interval information mentioned in the embodiments of this application is used to indicate the time interval during which the moving parts are allowed to move to the target workstation in the corresponding target process. Within the time interval indicated by the collaborative time interval information, one or more moving parts can be controlled to move to the target workstation according to the motion control parameters, target workstation information, workstation usage status information of the target workstation, and workstation distribution information.

[0048] In some embodiments, in the method provided by this application, when the execution mode parameters are set differently, the step S12 of determining the target workstation information and collaborative time interval information corresponding to at least one target process within the process range based on the execution mode parameters of the cycle control element and the process allocation parameters also differs. Specifically: When the execution mode parameter is set to single execution, a target process is determined according to the order of the processes in the process allocation parameter, and the target workstation information is determined according to the workstation information corresponding to the target process. For example, according to the order of the processes in the process allocation parameter, the process that is first in the order is determined as the target process, and the number of target workstations is determined according to the workstation information corresponding to the target process. This allows the moving parts, which are equivalent to the number of target workstations, to move to the position corresponding to the target workstation, thereby enabling the cycle time adjustment of a single process.

[0049] When the execution mode parameter is set to multiple executions, at least one target process is determined based on the process with assigned workstation information in the process allocation parameter, and the target workstation information is determined based on the workstation information corresponding to the target process. For example, assuming the number of processes with assigned workstation information in the process allocation parameter is m, where m is a positive integer, when the execution mode parameter is set to multiple executions, through synchronous control, up to m target processes can be determined from multiple processes at once, and the target workstation information corresponding to each of the m target processes can be determined.

[0050] When the execution mode parameter is set to multiple executions, the processes in the assigned workstation information in the process allocation parameter are sequentially set as target processes according to their order. The target workstation information is then determined based on the workstation information corresponding to the target process. For example, assuming there are n processes in the process allocation parameter with assigned workstation information, where n is a positive integer, when the execution mode parameter is set to multiple executions, an asynchronous control method is used to select one target process from the sorted processes each time, and the target workstation information corresponding to the target process is determined. If n is 1, the target workstation obtained in the two executions is the same.

[0051] Specifically, when the execution mode parameter is set to single execution or multiple execution with asynchronous control, the collaborative time interval information corresponding to each target process differs. That is, in single execution or asynchronous multiple execution, the allowed time interval for moving parts to reach the target workstation for each target process is different. When the execution mode parameter is set to multiple execution with synchronous control, the allowed time intervals for moving parts to reach the target workstation for each target process may overlap.

[0052] In some embodiments, before sequentially setting the sorted processes as target processes according to the workstation information allocated in the process allocation parameters, the method further includes: when the delay function of the cycle control element is detected as enabled, adjusting the interval length for setting the next target process according to the delay information corresponding to each process indicated by the process allocation parameters. For example, when the delay function of the cycle control element is detected as disabled, a target process is set once at time t1, and the next target process is set at time t2. When the delay function of the cycle control element is detected as enabled, a target process is set once at time t1, and the next target process is set at time t3, according to the delay information corresponding to each process indicated by the process allocation parameters. The difference between the interval length corresponding to time t1 to time t2 and the interval length corresponding to time t1 to time t3 corresponds to the delay information. Because the interval length for setting the target process changes twice, the collaborative time interval information also changes accordingly, thereby adjusting the cycle length of the moving parts.

[0053] In some embodiments, the multiple executions may also include non-timed execution (such as sequential execution, parallel execution) and timed execution. When the execution mode parameter is set to timed execution, it is determined that the delay function of the cycle control element is enabled, and the interval duration of the next target process is adjusted according to the delay information corresponding to each process indicated by the process allocation parameter.

[0054] Optionally, the process allocation parameters in the embodiments of this application can be based on, for example... Figure 4 The attribute settings sub-interface shown is used for setting and displaying attributes. For example... Figure 4 The attribute setting sub-interface 40 shown is presented in the form of a two-dimensional table. The specific method for setting the process allocation parameters in the two-dimensional table is as follows: Based on the first sub-area and the second sub-area of ​​the displayed table area, an allocation relationship is established for at least one process cell in the first sub-area and at least one workstation cell in the second sub-area; wherein, the first sub-area is used to distribute the process list 201, which is composed of process cells, and the second sub-area is used to distribute the workstation list 202, which is composed of workstation cells; based on the process list 201 in the displayed table area, delay information is set for at least one process indicated by the process list 201.

[0055] It should be understood that, Figure 4In the attribute setting sub-interface 40 shown, the vertical list in the first column of the two-dimensional table corresponds to the first sub-region. Within the first sub-region, there is a process list 201 composed of process cells. The horizontal list in the first row of the two-dimensional table corresponds to the second sub-region. Within the second sub-region, there is a workstation list 202 composed of workstation cells. Each workstation cell indicates a workstation. The value of the cell indicated by the correspondence between each process cell and each workstation cell corresponds to the allocation relationship established between them. Optionally, row number information can be used as process information. For example, if the row number information of row 0 is 0, it can be used to represent process 0, which can indicate the material loading process. Similarly, row 1 can be used to represent process 1, which can indicate the assembly process. For example, if the value of the cell indicated by the correspondence between process cells and workstation cells is not empty, it means that the process corresponding to that process cell is bound to the workstation corresponding to that workstation cell.

[0056] In the two-dimensional table, delay information can also be set for at least one process indicated by the process list in the displayed table area, such as... Figure 4 As shown, the value of the cell indicated by the correspondence between the delay cell at the end of the workstation list 202 and each process cell corresponds to the delay information set for the process. For example, when the value of the cell indicated by the correspondence between the delay cell and the process cell is T1, it means that the delay execution time of the process corresponding to that process cell is T1.

[0057] Furthermore, the above-mentioned establishment of an allocation relationship between at least one process cell in the first sub-region and at least one workstation cell in the second sub-region, based on the first and second sub-regions of the displayed table area, can include the following implementation methods: Method 1: After obtaining the allocation input information for establishing the allocation relationship from the third sub-region of the table area, the workstation cell and process cell corresponding to the cell where the allocation input information is located are identified, and the workstation information corresponding to the identified workstation cell is allocated to the process corresponding to the process cell. In this method, the third sub-region and the first sub-region do not intersect, and the third sub-region and the second sub-region do not intersect.

[0058] This method is typically used in applications where the number of workstations corresponding to a process is relatively small. In such applications, the interface for setting the process allocation parameters can be... Figure 4 The attribute settings are configured and displayed in the sub-interface 40 shown. It should be understood that... Figure 4In the attribute setting sub-interface 40 shown, the area in the two-dimensional table used for distributing allocation relationships corresponds to the third sub-region 203. Each cell in the third sub-region 203 can be used to obtain allocation input information. For example, a cell in the third sub-region with the value "1" indicates the cell where the allocation input information "1" is located. Based on the cell where the allocation input information "1" is located, the process cell and workstation cell with established allocation relationships can be identified. Figure 4 The process allocation parameters displayed in the sub-interface are as follows: Process 0 is bound to station 1 with a delay of T1; Process 1 is bound to station 2 with no delay; and Process 2 is bound to station 4 with a delay of T2. Furthermore, in Figure 4 The attribute setting sub-interface 40 also includes a selection box 204 for setting loop enable parameters and a button 205 for setting execution mode parameters. In the figure, "Reached Timer" corresponds to selection box 204, and "Execution Mode" corresponds to button 205. When the selection box 204 corresponding to "Reached Timer" is checked, the timed loop execution function is enabled. If the timed loop execution function is enabled, after executing all data rows, it can be re-executed according to the preset timer period. Clicking the drop-down arrow button 205 corresponding to "Execution Mode" displays "Execute One Row," "Sequential Execution," and "Timed Execution." "Execute One Row" executes the program corresponding to the first row containing data in the table; "Sequential Execution" automatically executes the programs corresponding to rows containing data in the table sequentially until the last row containing data is executed; "Timed Execution" automatically executes the programs corresponding to rows containing data in the table sequentially. If the currently executed row has a delay information, it waits for the duration indicated by the delay information before executing the next row.

[0059] Method 2: After obtaining cell selection information from the third sub-region and obtaining workstation input information, identify the process cell corresponding to the cell selection information, and determine at least one workstation cell based on the workstation input information. Assign the workstation information corresponding to the determined workstation cell to the process corresponding to the identified process cell, and automatically display the allocation relationship between the process cell and the workstation cell in the third sub-region. Here, one workstation cell corresponds to multiple workstation information.

[0060] This method is typically used in applications where the number of workstations corresponding to a process is large. In such applications, the interface for setting the process allocation parameters can be... Figure 5 and Figure 6 The attribute settings sub-interface shown is used for setting and displaying attributes. It should be understood that... Figure 5 The locations of the first, second, and third sub-regions in the attribute settings sub-interface shown are... Figure 4The same applies, so I won't repeat it here. The following only discusses the methods mentioned above. Figure 2 The differences between the interfaces shown will be explained. Figure 5 In the table area shown, the first sub-area contains a process list 501 composed of process cells, and the second sub-area contains a workstation list 502 composed of workstation cells. Each workstation cell indicates multiple workstations, for example... Figure 5 Each workstation cell shown can indicate 32 corresponding workstations. The value of the cell indicated by the correspondence between each process cell and each workstation cell corresponds to the allocation relationship established between them. Multiple input boxes for obtaining user input are distributed in the workstation input area 504. Optionally, the number of workstation cells in the workstation list 502 is determined by the total number of configured workstations, for example... Figure 5 In the workstation list 502, the last workstation cell corresponds to workstations AA-AB, where AB represents a value that is at least as high as the total number of configured workstations, and AA represents a value that is 31 less than AB. Therefore, workstations AA-AB can indicate 32 corresponding workstations. The cell selection information in this embodiment can be understood as... Figure 5 The information shown corresponds to the cell indicated by the arrow in the third sub-region 503, generated in response to the user's click operation. The workstation input information can be understood as... Figure 6 This corresponds to the information generated by the input boxes in the workstation input area 504 in response to user input operations. Each input box can obtain workstation input information in response to user input operations.

[0061] In practical applications, you can first select a cell from the table corresponding to the process parameters, and then determine the process to which the input operation instruction should be based on the row number information of the cell. For example... Figure 5 The cell indicated by the middle arrow is the selected cell, with a row number of 0, and can be used to indicate the material loading process. Then, enter values ​​in the multiple input boxes in the workstation input area. The range of values ​​is determined by the total number of configured workstations. Clicking the "Set" button reads the input values ​​from the multiple input boxes in the workstation input area, determines the workstation for the input operation instruction, and displays the corresponding configuration result in the row of the selected cell. Optionally, the configuration result can be displayed in decimal, binary, hexadecimal, etc., such as... Figure 5 and Figure 6 As shown, based on the selected cell, process cell "0" can be identified. Based on the workstation input information "1, 2, 35, 34", workstation cells "workstation 0-31" and workstation cells "32-63" can be determined. After assigning the workstation information corresponding to the determined workstation cells to the processes corresponding to the identified process cells, the displayed configuration result is as follows. Figure 6The "00000006" and "0000000C" shown in the figure indicate that the configuration result is displayed in hexadecimal.

[0062] In some embodiments, the method provided in this application further includes: providing non-beat control elements and element relationship construction areas based on an interactive interface, and establishing a configuration relationship between the beat control elements and the non-beat control elements based on the element relationship construction area, wherein the configuration relationship is a hierarchical relationship or a parallel relationship. In the embodiments of this application, the non-beat control elements include at least a start element and an end element, and may further include at least one of a judgment element, a mover control element, a system control element, and an information acquisition element. The judgment element is configured to check whether the operation of an element with which it has a hierarchical relationship has been successfully executed or to check whether a judgment condition is met. The mover control elements are configured to include at least one of a multi-station sequential allocation element, a mover absolute motion element, a global motion parameter setting element, a stop all mover motion elements, a full-station mover downward movement element, a all mover servo power-on element, a all mover servo power-off element, and a mover bias setting element. The system control elements are configured to include at least one of the following: system initialization element, automatic operation start element, automatic operation stop element, automatic operation pause element, automatic operation resume element, system termination element, system emergency stop element, system error clearing element, and error automatic recovery element. The information acquisition elements are configured to include at least one of the following: mover movement acquisition element, mover offset acquisition element, mover status acquisition element, quantity acquisition element, system status acquisition element, and workstation mover arrival acquisition element.

[0063] For example, such as Figure 7 The figure shows a schematic diagram of an interface for establishing a configuration relationship between beat control elements and non-beat control elements based on an interactive interface, as provided in an embodiment of this application. The interface shown includes an element list area 301, an element editing area 302, and a toolbar area 303. The element list area 301 is used to display various types of candidate elements, such as start elements, end elements, and judgment elements. Figure 7 The interactive interface shown specifically provides non-beat control elements and beat control elements based on the element list area 301. The element editing area 302 is used by the user to edit and establish configuration relationships between elements, that is, in Figure 7The interactive interface shown uses the element editing area 302 as the element relationship construction area to establish the configuration relationship between beat-controlled elements and non-beat-controlled elements. The toolbar area 303 displays various tool buttons, such as the save button, open button, pointer tool button, connector button, start button, run settings button, and network settings button. The pointer tool button allows entry into pointer mode, where elements from the element list area can be added to the element editing area. The connector button allows entry into connection mode, providing directional connections to establish hierarchical relationships between two elements in the element editing area. The start button generates run commands, automatically executing the code program corresponding to each element according to the flow order among multiple elements in the element editing area. It sends the generated commands to the connected controller and receives data feedback from the controller for recording or judgment by the corresponding elements. Furthermore, if it detects that the previous command has not been completed (e.g., the mover has not reached the specified position), the next generated command is sent after the previous command is completed. The Run Settings button enables or disables the cyclic execution function. After configuring the cycle period parameters, the function is executed periodically according to the corresponding cycle duration. Furthermore, if the command from the previous cycle has not yet completed, the command generated in the next cycle will be executed only after the previous cycle command has finished. The Network Settings button is used to establish a connection with the controller. Specifically, local address parameters, controller address parameters, and communication port parameters can be configured. Upon successful connection with the controller, a "Network connection successful" message will be displayed on the interface; otherwise, no message will be displayed, or a "Network connection failed" message will be displayed. It should be understood that... Figure 7 All other elements besides the "beat control" element shown in the element list area 301 of this application belong to the non-beat control elements described in the embodiments of this application.

[0064] Those skilled in the art will understand that all or part of the processes in the methods of any of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0065] On the other hand, embodiments of this application also provide a control device, the control device comprising: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the control device to perform the clock control method described in any of the above embodiments.

[0066] This application also provides a computer program product, including a computer program adapted to execute the clock control method described in any of the above embodiments.

[0067] It should be understood that the program in the control device or computer program product includes, but is not limited to, a program for executing the cycle control method of the above method embodiments. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention.

[0068] On the other hand, this application embodiment also provides a linear motor device, the linear motor device including a moving part, at least one operating device distributed around the linear motor device, one operating device corresponding to at least one process, the linear motor device also including a visualization module and a control module; The visualization module is configured to present beat control primitives; The control module is configured to, after starting the program corresponding to the cycle control element, acquire the attribute parameters of the cycle control element, determine the arrival position information and cooperation time interval information corresponding to at least one process based on the attribute parameters, and control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information; wherein, the attribute parameters are set through an interactive interface, and the attribute parameters are determined based on the cycle information of the operating equipment and the distribution information of the operating equipment.

[0069] On the other hand, embodiments of this application also provide an industrial automation system, including at least one operating device, at least one moving part, at least one stator assembly, at least one control device, and at least one display device, wherein: The operating devices are distributed around the stator assembly; The display device is used to display at least one interactive interface, the interactive interface being used to provide the beat control graphic elements; The control device is used to obtain the attribute parameters of the cycle control element after starting the program corresponding to the cycle control element, and determine the arrival position information and cooperation time interval information corresponding to at least one process according to the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information. The attribute parameters are set through the interactive interface and the attribute parameters are determined according to the cycle information of the operating equipment and the distribution information of the operating equipment.

[0070] The stator assembly is assembled from one or more stator components. One of the stator assembly and the moving component is provided with an excitation component, which generates a variable magnetic field when energized. The other of the stator assembly and the moving component is provided with a magnetic component. After the magnetic component and the variable magnetic field generated by the excitation component are interacted, an electromagnetic force is generated that acts on the moving component. The electromagnetic force drives each moving component to move along the stator assembly.

[0071] Optionally, based on the shape of the movement path formed by the stator assembly along the deployment direction, multiple moving parts can perform linear movement (such as linear motion or curvilinear motion) along the stator assembly. Among them, the excitation component can be formed based on a coil; the magnetic component is an object that has a magnetic field, such as a permanent magnet or a magnet.

[0072] It should be understood that the various modules in this application are merely for illustrating the functional units of the device or system of this application. The modules shown in the figures may be one or more, and may be part of software, part of hardware, or a combination of software and hardware. Therefore, the number of modules in the figures is merely illustrative.

[0073] Those skilled in the art will understand that the various component modules can be adaptively split or merged. Such splitting or merging of specific modules will not cause the technical solution to deviate from the principles of this application; therefore, the technical solutions after splitting or merging will fall within the protection scope of this application.

[0074] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A cycle control method applied to linear motor equipment, characterized in that, The linear motor device includes a moving part, and at least one operating device is distributed around the linear motor device, with each operating device corresponding to at least one process. The method includes: After starting the program corresponding to the beat control graphic element, the attribute parameters of the beat control graphic element are obtained; wherein, the attribute parameters are set through the interactive interface, and the attribute parameters are determined according to the beat information of the operating equipment and the distribution information of the operating equipment; Based on the attribute parameters, at least one process-related arrival location information and collaboration time interval information are determined, so as to control the moving part to move to the position indicated by the arrival location information within the time interval indicated by the collaboration time interval information.

2. The method according to claim 1, characterized in that, The method further includes at least one of the following: The beat control primitives are provided based on the interactive interface; In response to the attribute expansion operation of the beat control element, the attribute setting sub-interface of the beat control element is displayed in the interactive interface; Based on the attribute setting sub-interface, the attribute parameters of the cycle control graphic element are set according to the cycle information and distribution information of the operating equipment.

3. The method according to claim 1, characterized in that, The attribute parameters include process allocation parameters, execution mode parameters, and cycle enable parameters, and the method further includes at least one of the following: The process allocation parameters of the cycle control element are set. The process allocation parameters are used to characterize the station information allocated to each process. A station information is used to indicate a station set based on the stator assembly in the linear motor equipment. The execution mode parameters of the cycle control element are set, and the execution mode parameters are used to characterize the process range controlled by the program corresponding to the cycle control element; Set the cycle enable parameter of the beat control element, the cycle enable parameter is used to characterize whether the program corresponding to the beat control element is allowed to run in a loop; The system displays in real time the process and corresponding workstation information currently controlled by the program corresponding to the cycle control graphic element.

4. The method according to claim 3, characterized in that, The step of determining arrival position information and cooperation time interval information corresponding to at least one process based on the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information, includes at least one of the following: Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and cooperation time interval information corresponding to at least one target process within the process range are determined, and the arrival position information is determined based on the workstation position indicated by the target workstation information, so as to control the movement of no more than the number of moving parts of the target workstation to the workstation position within the time interval indicated by the cooperation time interval information. Based on the execution mode parameters of the cycle control element and the process allocation parameters, the target workstation information and collaboration time interval information corresponding to at least one target process within the process range are determined. Based on the workstation position indicated by the target workstation information, the arrival position information is determined. Within the time interval indicated by the collaboration time interval information, a corresponding motion control command is generated based on the arrival position information and sent to the control module of the linear motor equipment to command the control module to control no more than the number of moving parts of the target workstation to move to the workstation position.

5. The method according to claim 4, characterized in that, The step of determining the target workstation information and collaborative time interval information corresponding to at least one target process within the process range based on the execution mode parameters of the cycle control graphic element and the process allocation parameters includes at least one of the following: When the execution mode parameter is set to single execution, a target process is determined according to the order of the processes of the allocated workstation information in the process allocation parameter, and the target workstation information is determined according to the workstation information corresponding to the target process. When the execution mode parameter is set to multiple executions, at least one target process is determined according to the process of the assigned workstation information in the process allocation parameter, and the target workstation information is determined according to the workstation information corresponding to the target process. When the execution mode parameter is set to multiple executions, the processes in the process allocation parameter are sequentially set as target processes according to the order of the processes of the allocated workstation information, and the target workstation information is determined according to the workstation information corresponding to the target process.

6. The method according to claim 5, characterized in that, Determining the collaboration time interval information based on the attribute parameters includes: When the delay function of the cycle control element is enabled, the interval duration of the next target process is adjusted according to the delay information corresponding to each process indicated by the process allocation parameters.

7. The method according to claim 3, characterized in that, The process allocation parameters for setting the cycle control elements include at least one of the following: Based on the first and second sub-regions of the displayed table area, establish an assignment relationship between at least one process cell in the first sub-region and at least one workstation cell in the second sub-region; Based on the process list in the displayed table area, set delay information for at least one process indicated by the process list.

8. The method according to claim 7, characterized in that, The step of establishing an allocation relationship between at least one process cell in the first sub-region and at least one workstation cell in the second sub-region, based on the first and second sub-regions of the displayed table area, includes at least one of the following: After obtaining the allocation input information for establishing the allocation relationship from the third sub-region of the table area, the workstation cell and process cell corresponding to the cell where the allocation input information is located are identified, and the workstation information corresponding to the identified workstation cell is allocated to the process corresponding to the process cell. The third sub-region and the first sub-region do not intersect, and the third sub-region and the second sub-region do not intersect. After obtaining cell selection information from the third sub-region and obtaining workstation input information, the process cell corresponding to the cell selection information is identified, and at least one workstation cell is determined based on the workstation input information. The workstation information corresponding to the determined workstation cell is assigned to the process corresponding to the identified process cell, and the allocation relationship between the process cell and the workstation cell is automatically displayed in the third sub-region. Here, one workstation cell corresponds to multiple workstation information.

9. The method according to claim 1, characterized in that, The method further includes: Based on the interactive interface, non-beat control primitives and primitive relationship construction areas are provided; Based on the aforementioned primitive relationship, a configuration relationship is established between the beat control primitive and the non-beat control primitive in the constructed region, wherein the configuration relationship is a hierarchical relationship or a parallel relationship.

10. A control device, characterized in that, The control device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the control device to perform the method as described in any one of claims 1 to 9.

11. A linear motor device, characterized in that, The linear motor device includes a moving part, and at least one operating device is distributed around the linear motor device, with each operating device corresponding to at least one process. The linear motor device also includes a visualization module and a control module. The visualization module is configured to present beat control primitives; The control module is configured to, after starting the program corresponding to the cycle control element, acquire the attribute parameters of the cycle control element, determine the arrival position information and cooperation time interval information corresponding to at least one process based on the attribute parameters, and control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information; wherein, the attribute parameters are set through an interactive interface, and the attribute parameters are determined based on the cycle information of the operating equipment and the distribution information of the operating equipment.

12. An industrial automation system, characterized in that, It includes at least one operating device, at least one moving part, at least one stator assembly, at least one control device, and at least one display device, wherein: The operating devices are distributed around the stator assembly; The display device is used to display at least one interactive interface, the interactive interface being used to provide the beat control graphic elements; The control device is used to obtain the attribute parameters of the cycle control element after starting the program corresponding to the cycle control element, and determine the arrival position information and cooperation time interval information corresponding to at least one process according to the attribute parameters, so as to control the moving part to move to the position indicated by the arrival position information within the time interval indicated by the cooperation time interval information. The attribute parameters are set through the interactive interface and the attribute parameters are determined according to the cycle information of the operating equipment and the distribution information of the operating equipment.

Images