Multi-actor wireless control method and device, controller, and storage medium

Abstract

The application discloses a kind of multi-rotor wireless control method and its device, controller, storage medium, device includes main PLC and multiple vice PLC, method includes that main PLC obtains the position information of multiple vice PLC, main PLC sends preparation signal to multiple vice PLC according to position information, and receive the standby start signal returned by multiple vice PLC, main PLC sends start signal to multiple vice PLC, to make vice PLC control rotor run, and after rotor runs, end signal is sent to main PLC, and multiple end signals are used to carry out position adjustment processing to multiple vice PLC by main PLC, to realize multi-rotor wireless control operation, and then realize the wireless of multi-rotor device, solve the problems, such as cable easy to wear, prone to line abnormality etc., in prior art, for example, multi-rotor device for feeding and discharging etc.wired device, and then prolong the life of multi-rotor device, make multi-rotor device easy to maintain.

Description

Technical Field

[0001] This application relates to the field of industrial manufacturing technology, specifically to a multi-motor wireless control method and apparatus, controller, and storage medium. Background Technology

[0002] In the prior art, a multi-actuator device capable of performing actions such as loading and unloading, hot pressing, and welding is a device that drives the corresponding actuator to move through the mover on the multi-actuator linear module, so that the actuator can perform the corresponding actions.

[0003] However, with the rapid development of modern industrial technology, the ever-changing business environment and product demands have made the structure of multi-movement sub-devices increasingly complex. As a result, the existing wired multi-movement sub-devices have long been limited by space and have a large number of cables, which easily leads to the problem of cables inside the drag chain getting tangled and rubbing against each other, resulting in a significant reduction in the lifespan of the multi-movement sub-devices. Moreover, when the multi-movement sub-devices have circuit abnormalities, it is not easy to schedule production and maintain them. Therefore, there is a need to use wireless communication in combination with sliding contact lines to solve the problems of a large number of cables, inconvenient maintenance, and short lifespan. Summary of the Invention

[0004] This application provides a wireless control method and apparatus for multi-motor devices, a controller, and a storage medium. It can at least ensure that the solution of this application realizes the wireless design of the multi-motor device, thereby solving the problems in the prior art where wired multi-motor device cables are easily worn and prone to line abnormalities, thus extending the life of the multi-motor device and making the multi-motor device easier to maintain.

[0005] In a first aspect, embodiments of this application provide a multi-motor wireless control method, the method being applied to a multi-motor wireless device, the multi-motor wireless device including a main PLC and multiple auxiliary PLCs, the method comprising:

[0006] The main PLC acquires the position information of the multiple auxiliary PLCs;

[0007] The main PLC sends a preparation signal to multiple auxiliary PLCs based on the position information, and receives a start-up signal returned by multiple auxiliary PLCs.

[0008] The main PLC sends a start signal to the multiple auxiliary PLCs so that the auxiliary PLCs control the movement of the actuator, and sends an end signal to the main PLC after the movement of the actuator is completed.

[0009] The main PLC adjusts the positions of the multiple auxiliary PLCs based on the multiple end signals.

[0010] In some embodiments, the main PLC sends a start signal to multiple slave PLCs to enable the slave PLCs to control the movement of a rotor, and sends a stop signal to the main PLC after the rotor has finished running, including:

[0011] The main PLC synchronously sends start signals to multiple auxiliary PLCs, so that the actuators corresponding to the multiple PLCs perform synchronous actions, and the multiple auxiliary PLCs send end signals to the main PLC.

[0012] In some embodiments, the plurality of secondary PLCs includes a first secondary PLC and a second secondary PLC. The main PLC sends a start signal to the plurality of secondary PLCs to enable the secondary PLCs to control the movement of a rotor, and sends a stop signal to the main PLC after the rotor operation is completed.

[0013] The main PLC sends a start signal to the first auxiliary PLC, so that the first actuator corresponding to the first auxiliary PLC performs a corresponding action, and the first auxiliary PLC sends a first end signal to the main PLC and the second auxiliary PLC.

[0014] The second actuator corresponding to the second auxiliary PLC performs a corresponding action and sends a second end signal to the main PLC.

[0015] If the plurality of sub-PLCs also includes a third sub-PLC, the second sub-PLC sends a second end signal to the third sub-PLC.

[0016] In some embodiments, the plurality of secondary PLCs includes a first secondary PLC and a second secondary PLC. The main PLC sends a start signal to the plurality of secondary PLCs to enable the secondary PLCs to control the movement of a rotor, and sends a stop signal to the main PLC after the rotor operation is completed.

[0017] The main PLC sends a start signal to the first auxiliary PLC, so that the first actuator corresponding to the first auxiliary PLC performs a corresponding action, and the first auxiliary PLC sends a first end signal to the main PLC.

[0018] The main PLC sends a start signal to the second auxiliary PLC, so that the second actuator corresponding to the second auxiliary PLC performs a corresponding action after the X-axis position information of the first actuator reaches a safe distance, and the second auxiliary PLC sends a second end signal to the main PLC.

[0019] If the plurality of sub-PLCs also includes a third sub-PLC, the main PLC sends a start-up signal to the third sub-PLC.

[0020] Secondly, this application proposes a multi-movement wireless device, comprising: a linear module, a first driving element, multiple moving actuators, and an integrated electrical box;

[0021] The first driving component is used to drive the linear module to perform linear motion. The moving actuator is disposed on the linear module and is connected to the integrated electrical box. The integrated electrical box is used to supply power to the moving actuator.

[0022] The actuator includes an action execution end, a second drive member, and a third drive member. The second drive member drives the actuator to perform linear motion on the linear module, and the third drive member drives the action execution end to perform rotational motion. The action execution end includes a mechanical mechanism and a fourth drive member, and the fourth drive member is used by the mechanical mechanism to perform corresponding actions.

[0023] The integrated electrical box is equipped with multiple secondary PLCs. These secondary PLCs interact with the main PLC in the electrical control cabinet to allow the main PLC to acquire the position information of the secondary PLCs. The main PLC sends a preparation signal to the secondary PLCs based on the position information and receives a start-up signal from the secondary PLCs. The main PLC sends a start signal to the secondary PLCs to enable them to control the movement of the actuators. After the actuators have finished running, the main PLC sends an end signal to the main PLC. The main PLC adjusts the position of the secondary PLCs based on the multiple end signals.

[0024] In some embodiments, the multi-motion sub-wireless device further includes a connector disposed on one side of the linear module;

[0025] The connector includes a current collector, a terminal block, and a sliding contact line. One end of the current collector is connected to the terminal block, and the other end of the current collector is connected to the sliding contact line. The current collector and the sliding contact line are used to supply power to the integrated electrical box so that the integrated electrical box supplies power to the actuator.

[0026] The sliding contact line is a three-phase four-wire sliding contact line, which is laid along the entire X-axis movement direction of the actuator.

[0027] In some embodiments, the multi-action sub-wireless device further includes a pressing component and a fifth driving component disposed on the action execution end;

[0028] The fifth driving member is used to drive the pressing assembly to move along the Y-axis, so that the pressing assembly performs the pressing action after the fourth driving member drives the mechanical mechanism to perform the corresponding action.

[0029] In some embodiments, the multi-action wireless device further includes an operating table, the linear module is connected to the operating table, and the operating table is provided with a plurality of product placement plates, which are respectively located below a plurality of action execution ends.

[0030] Thirdly, embodiments of this application provide a controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-motor wireless control method as described in any embodiment of the first aspect.

[0031] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the multi-motor wireless control method as described in any embodiment of the first aspect.

[0032] This application has at least the following beneficial effects: The first driving member drives the linear module to perform linear motion; the actuator is mounted on the linear module and connected to the integrated electrical box, which provides power to the actuator; the actuator includes an action execution end, a second driving member, and a third driving member; the second driving member drives the actuator to perform linear motion on the linear module, and the third driving member drives the action execution end to perform rotational motion; the action execution end includes a mechanical mechanism and a fourth driving member, which performs corresponding actions on the mechanical mechanism; the integrated electrical box contains a secondary PLC, and multiple secondary PLCs are used for communication... By interacting with the main PLC in the electrical control cabinet, the main PLC obtains the position information of multiple auxiliary PLCs. Based on the position information, the main PLC sends a preparation signal to the multiple auxiliary PLCs and receives the start-up signal returned by the multiple auxiliary PLCs. The main PLC sends a start signal to the multiple auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuators. After the actuators finish running, they send an end signal to the main PLC. The main PLC adjusts the position of the multiple auxiliary PLCs based on the multiple end signals to realize wireless control operation of the multiple actuators. This achieves wireless operation of the multiple actuator device, solving the problems of easy cable wear and circuit abnormalities in existing wired devices such as multiple actuator devices used for loading and unloading. This extends the life of the multiple actuator device and makes it easier to maintain. Attached Figure Description

[0033] Figure 1 This is a flowchart of a multi-motor wireless control method proposed in an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of a simulated scenario in a multi-motor wireless control method proposed in an embodiment of this application;

[0035] Figure 3 This is another flowchart of a multi-motor wireless control method proposed in an embodiment of this application;

[0036] Figure 4 This is a schematic diagram of another simulated scenario in the multi-motor wireless control method proposed in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the structure of a multi-motor wireless device;

[0038] Figure 6 This is a schematic diagram of the multi-motor wireless device from the rearward direction.

[0039] Figure 7 for Figure 5 A partially enlarged view of the structural schematic diagram;

[0040] Figure 8 for Figure 7 A partially enlarged view of the structural schematic diagram;

[0041] Figure 9 This is a structural diagram of a controller proposed in another embodiment of this application.

[0042] Reference numerals: 101, linear module; 102, first drive unit; 103, moving part material handling mechanism; 104, integrated electrical box; 105, operating table; 106, second drive unit; 107, third drive unit; 108, fourth drive unit; 109, gripper; 110, connector; 111, sliding contact line; 112, current collector; 113, product placement plate; 114, pressing assembly; 115, fifth drive unit; 116, slider rail; 117, sensor. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] In some embodiments, although functional modules are divided in the system diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the foregoing drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0045] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0046] In some embodiments, reference Figure 1 , Figure 1 This is a flowchart of a multi-motor wireless control method according to an embodiment of this application. The method is applied to a multi-motor wireless device, which includes a main PLC and multiple auxiliary PLCs. The method includes at least the following steps:

[0047] Step S110: The main PLC acquires the position information of multiple secondary PLCs;

[0048] In step S120, the main PLC sends a preparation signal to multiple auxiliary PLCs based on the position information and receives a start-up signal returned by multiple auxiliary PLCs.

[0049] In step S130, the main PLC sends a start signal to multiple auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuator, and sends an end signal to the main PLC after the actuator has finished running;

[0050] In step S140, the main PLC adjusts the positions of multiple auxiliary PLCs based on multiple end signals.

[0051] This application solves the problems in the prior art, such as the easy wear and tear of cables in wired devices, such as multi-motion devices used for loading and unloading, by using wireless control operation of multi-motion devices, thereby extending the life of multi-motion devices and making them easier to maintain.

[0052] In some embodiments, the main PLC sends start signals to multiple secondary PLCs to enable the secondary PLCs to control the movement of the actuators, and sends an end signal to the main PLC after the actuators have finished running. This includes: the main PLC synchronously sending start signals to multiple secondary PLCs to enable the actuators of the actuators corresponding to the multiple PLCs to perform synchronous corresponding actions, and enabling the multiple secondary PLCs to send end signals to the main PLC.

[0053] In some embodiments, the actuator of this application can be used in the industrial manufacturing field to perform common multi-actuator actions such as material handling, welding, and hot pressing. For example, when the actuator is used as a material handling mechanism, it can be used to perform material handling; when it is used as a welding mechanism, it can be used to perform welding; when it is used as a hot pressing mechanism, it can be used to perform hot pressing, and so on. Those skilled in the art can apply the solution of this application to application scenarios such as controlling upward material flow and smart factories, so that the actuator can perform actions corresponding to the application scenario, play the role of controlling material handling, controlling welding, and controlling hot pressing, thereby realizing wireless control of multi-actuator devices, making multi-actuator devices easy to maintain, and effectively extending the life of multi-actuator devices.

[0054] In some embodiments, the multi-movement sub-device mentioned in this application specifically refers to a multi-movement sub-device for loading and unloading materials, wherein the actuator performs corresponding actions, including the material-picking mechanism performing material-picking actions. Specifically, in the prior art, a multi-movement sub-device for loading and unloading materials is a device that drives a picking and unloading robot to move by a mover on a multi-movement linear module, so that the picking and unloading robot can pick up and unload materials when distributing products. However, with the rapid development of modern industrial technology, the ever-changing business environment and product demands have made the structure of multi-movement sub-devices for loading and unloading materials increasingly complex. As a result, the workstations of multi-movement sub-devices for loading and unloading materials are often limited by space, resulting in a large number of cables and the problem of cables inside the cable chain getting tangled and rubbing against each other, which greatly reduces the lifespan of multi-movement sub-devices for loading and unloading materials. Moreover, when a circuit abnormality occurs in a multi-movement sub-device for loading and unloading materials, it is difficult to schedule production and maintain. That is, there is a need to use wireless communication in combination with a sliding contact line to solve the problems of a large number of cables, inconvenient maintenance, and short lifespan.

[0055] The existing technology has the following problems:

[0056] 1) The current traditional wiring design process is to pass all motor cables and signal cables through drag chains, plan the movable wire harness, and then lead them to the electrical control cabinet through fixed cable paths. When there are too many cables, the selection of drag chains and the internal conduit layout become a technical challenge.

[0057] 2) For multi-movement sub-devices used for loading and unloading, whether the design is gear rack and pinion or linear motor in the X-axis direction, there will be thorny and difficult problems such as limited installation space for the cable chain and interference of the cable chain movement.

[0058] In some embodiments, the corresponding actions of the moving actuator include the moving material picking mechanism picking up materials. The control method is applied to a multi-moving wireless device. The device includes a linear module, a first drive unit, multiple moving material picking mechanisms, and an integrated electrical box. The integrated electrical box is equipped with a secondary PLC. The multiple secondary PLCs interact with the main PLC in the electrical control cabinet to control the multiple moving material picking mechanisms to perform loading and unloading actions.

[0059] Specifically, the main PLC acquires the relevant axis position information of the first and second auxiliary PLCs; the main PLC sends a preparation signal to the first and second auxiliary PLCs and receives the start-up signal returned by the first and second auxiliary PLCs; the main PLC synchronously sends a start signal to the first and second auxiliary PLCs to enable the first and second moving part material handling mechanisms of the first and second auxiliary PLCs to perform synchronous material handling actions, and enables the first and second auxiliary PLCs to send an end signal to the main PLC; the main PLC performs data acquisition and judgment processing based on the end signal, and triggers a secondary start signal or end signal to perform position adjustment and fine-tuning processing.

[0060] For details, please refer to Figure 2 , Figure 2 This is a schematic diagram of a simulated scenario in a multi-motor wireless control method proposed in an embodiment of this application, wherein the above embodiment corresponds to... Figure 2 The complete steps for simulated scenario A (synchronous testing) are as follows:

[0061] 1) The main PLC acquires the relevant axis position information of sub-PLCs #1 and #2 (used to determine the safety of position operation);

[0062] 2) The main PLC sends a preparation signal to auxiliary PLC #1 and auxiliary PLC #2, and receives a start-up signal (used to reset the current position information);

[0063] 3) The main PLC synchronously sends a start signal to auxiliary PLC #1 and auxiliary PLC #2 (triggering the mechanism to run synchronously);

[0064] 4) The #1 and #2 auxiliary PLCs start synchronously upon receiving signals (Action 1: The #1 and #2 actuators pick up materials from points A and D respectively, and then discharge materials at points B and C).

[0065] Action 2: Movers #1 and #2 pick up material from points A and B respectively, and then move to points C and D to unload material. (Action 3: Movers #1 and #2 pick up material from points B and C respectively, and then move to points A and D to unload material.)

[0066] 5) After completing their actions, auxiliary PLCs #1 and #2 send an end signal to the main PLC (to trigger data comparison);

[0067] 6) After receiving the signal, the main PLC collects the relevant axis position data of sub-PLCs #1 and #2 (and compares the relevant data with the set data);

[0068] 7) The main PLC performs data judgment and triggers a secondary start signal or end signal (for position adjustment and fine-tuning).

[0069] refer to Figure 3 In some embodiments, the multiple auxiliary PLCs include a first auxiliary PLC and a second auxiliary PLC. The main PLC sends a start signal to the multiple auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuator, and sends an end signal to the main PLC after the actuator has finished running. The process includes the following steps:

[0070] In step S310, the main PLC sends a start signal to the first auxiliary PLC to cause the first actuator corresponding to the first auxiliary PLC to perform a corresponding action, and causes the first auxiliary PLC to send a first end signal to the main PLC and the second auxiliary PLC.

[0071] In step S320, the second actuator corresponding to the second auxiliary PLC performs the corresponding action and sends the second end signal to the main PLC;

[0072] In step S330, if the multiple sub-PLCs include a third sub-PLC, the second sub-PLC sends a second end signal to the third sub-PLC.

[0073] The corresponding actions of the moving actuators include the moving material handling mechanism performing material handling actions. In some embodiments, multiple auxiliary PLCs interact with the main PLC in the electrical control cabinet to control multiple moving material handling mechanisms to perform loading and unloading actions. This includes: the main PLC acquiring the relevant axis position information of the first and second auxiliary PLCs; the main PLC sending a preparation signal to the first and second auxiliary PLCs and receiving a start-up signal returned by the first and second auxiliary PLCs; the main PLC sending a start signal to the first auxiliary PLC to cause the first moving material handling mechanism corresponding to the first auxiliary PLC to perform material handling actions, and causing the first auxiliary PLC to send a first end signal to the main PLC and the second auxiliary PLC; causing the second moving material handling mechanism corresponding to the second auxiliary PLC to perform material handling actions, and sending a second end signal to the main PLC; the main PLC performing data acquisition and judgment processing based on the first and second end signals, and triggering a secondary start signal or end signal to perform position adjustment fine-tuning processing.

[0074] Figure 4 This is a schematic diagram of another simulated scenario in the multi-motor wireless control method proposed in an embodiment of this application. Figure 4 This corresponds to simulation scenario B (logic test) and simulation scenario C (coherence test) in this application.

[0075] For details, please refer to Figure 4 The logic test steps corresponding to the above embodiments are as follows:

[0076] 1) The main PLC acquires the relevant axis position information of sub-PLCs #1 and #2 (used to determine the safety of position operation);

[0077] 2) The main PLC sends a preparation signal to auxiliary PLC #1 and auxiliary PLC #2, and receives a start-up signal (used to reset the current position information);

[0078] 3) The main PLC sends a start signal to the #1 auxiliary PLC (triggering the mechanism to run);

[0079] 4) After receiving the signal, auxiliary PLC #1 starts the operation. After the operation is completed, it sends a completion signal to both the main PLC and auxiliary PLC #2. (Action 1: Mover #1 picks up material from point A, moves to point B to unload material, and returns to point A.)

[0080] Action 2: Mover #1 moves from point A to point B to pick up material, and returns to point A to unload material.

[0081] 5) After receiving the signal, the auxiliary PLC #2 starts running. After the operation is completed, it sends a completion signal to the main PLC (Action 1: Mover #1 moves from point C to point B to pick up material, and returns to point C to unload material).

[0082] Action 2: Mover #1 picks up material from point C, moves to point B to unload material, and returns to point C.

[0083] 6) After receiving the completion signal, the main PLC collects the relevant axis position data of sub-PLCs #1 and #2 (and compares the relevant data with the set data);

[0084] 7) The main PLC performs data judgment and triggers a secondary start signal or end signal (for position adjustment and fine-tuning).

[0085] In some embodiments, the plurality of auxiliary PLCs include a first auxiliary PLC and a second auxiliary PLC. The main PLC sends a start signal to the plurality of auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuators, and sends an end signal to the main PLC after the actuators have finished running. This includes: the main PLC sending a start signal to the first auxiliary PLC to enable the first actuator corresponding to the first auxiliary PLC to perform a corresponding action, and enabling the first auxiliary PLC to send a first end signal to the main PLC; the main PLC sending a start-up signal to the second auxiliary PLC to enable the second actuator corresponding to the second auxiliary PLC to perform a corresponding action after the X-axis position information of the first actuator reaches a safe distance, and enabling the second auxiliary PLC to send a second end signal to the main PLC; and in the case where the plurality of auxiliary PLCs also includes a third auxiliary PLC, the main PLC sends a start-up signal to the third auxiliary PLC.

[0086] The corresponding actions of the moving actuators include the material picking action of the moving material picking mechanism. In some embodiments, multiple auxiliary PLCs interact with the main PLC in the electrical control cabinet to control multiple moving material picking mechanisms to perform loading and unloading actions. This includes: the main PLC acquiring the relevant axis position information of the first and second auxiliary PLCs; the main PLC sending a preparation signal to the first and second auxiliary PLCs and receiving a start-up signal returned by the first and second auxiliary PLCs; the main PLC sending a start signal to the first auxiliary PLC to enable the first moving material picking mechanism corresponding to the first auxiliary PLC to perform a material picking action, and enabling the first auxiliary PLC to send a first end signal to the main PLC; the main PLC sending a start-up signal to the second auxiliary PLC to enable the second moving material picking mechanism corresponding to the second auxiliary PLC to perform a material picking action after the X-axis position information of the first moving material picking mechanism reaches a safe distance, and enabling the second auxiliary PLC to send a second end signal to the main PLC; the main PLC performing data acquisition and judgment processing based on the first and second end signals, and triggering a secondary start signal or end signal to perform position adjustment fine-tuning processing.

[0087] For details, please refer to Figure 4 The corresponding sequential test steps for the above embodiments are as follows:

[0088] 1) The main PLC acquires the relevant axis position information of sub-PLCs #1 and #2 (used to determine the safety of position operation);

[0089] 2) The main PLC sends a preparation signal to auxiliary PLC #1 and auxiliary PLC #2, and receives a start-up signal (used to reset the current position information);

[0090] 3) The main PLC sends a start signal to auxiliary PLC #1, and waits for the start signal to be sent to auxiliary PLC #2 (to trigger the mechanism to run);

[0091] 4) The #1 auxiliary PLC receives the signal and starts operation (Action 1: The #1 mover picks up material from point A, runs to point B to unload material, and returns to point A).

[0092] Action 2: Mover #1 moves from point A to point B to pick up material, and returns to point A to unload material.

[0093] 5) The 2# auxiliary PLC collects the X-axis position information of the 1# mover. When the safe distance is reached, the start is triggered (Action 1: The 1# mover moves from point C to point B to pick up the material, and moves to point C to unload the material. Action 2: The 1# mover picks up the material from point C, moves to point B to unload the material, and returns to point C).

[0094] 6) When auxiliary PLC #1 and auxiliary PLC #2 finish their operation, they send a completion signal to the main PLC;

[0095] 7) After receiving the completion signal, the main PLC collects the relevant axis position data of sub-PLCs #1 and #2 (and compares the relevant data with the set data);

[0096] 8) The main PLC performs data judgment and triggers a secondary start signal or end signal (for position adjustment and fine-tuning).

[0097] Through the above-mentioned wireless application scenarios and steps, such as synchronous test scenarios, logic test scenarios, and continuous test scenarios, it is shown that this application can effectively realize the wirelessization of multi-movement substation loading and unloading, solve the problems in the prior art, such as easy wear and tear of cables of multi-movement substations used for loading and unloading, which can easily lead to line abnormalities, thereby extending the life of multi-movement substations used for loading and unloading, and making the multi-movement substations used for loading and unloading easier to maintain.

[0098] In some embodiments, this application discloses a multi-movement wireless device. The device includes a linear module, a first driving member, multiple moving actuators, and an integrated electrical box. The first driving member drives the linear module to perform linear motion. The moving actuators include an action execution end, a second driving member, and a third driving member. The second driving member drives the moving actuator, and the third driving member drives the action execution end. The action execution end includes a mechanical mechanism and a fourth driving member. The fourth driving member is used to perform corresponding actions on the mechanical mechanism. A secondary PLC is installed in the integrated electrical box. The multiple secondary PLCs are used to interact with the main PLC in the electrical control cabinet to enable the main PLC to acquire multiple... The main PLC sends a preparation signal to multiple auxiliary PLCs based on the position information and receives a start-up signal from the auxiliary PLCs. The main PLC sends a start signal to multiple auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuators, and sends an end signal to the main PLC after the actuators have finished running. The main PLC adjusts the positions of the multiple auxiliary PLCs based on the multiple end signals to achieve wireless multi-actuator loading and unloading stations. This solves the problems in existing technologies, such as easy wear and tear of cables in multi-actuator loading and unloading devices, which can easily lead to circuit abnormalities. This extends the lifespan of multi-actuator loading and unloading devices and makes them easier to maintain.

[0099] In some embodiments, the integrated electrical box supplies power to the actuator, and the multi-actuator wireless device also includes a pressing component and a fifth driving component disposed on the action execution end. The linear module is connected to the operating table, and multiple product placement plates are disposed on the operating table, with the multiple product placement plates located below the multiple action execution ends respectively.

[0100] In some embodiments, the action execution end includes a material picking end, the moving actuator includes a moving material picking mechanism, the aforementioned mechanical mechanism includes a gripper, and a fourth driving member is used to drive the gripper to perform a clamping action. (Refer to...) Figure 5 and Figure 6 , Figure 5This is a schematic diagram of the structure of a multi-motor wireless device. Figure 6 This is a structural schematic diagram of the multi-moving wireless device from a rearward angle. The multi-moving wireless device in this application includes: a linear module 101, a first driving member 102, multiple moving part picking mechanisms 103, and an integrated power box 104. The first driving member 102 is used to drive the linear module 101 to perform linear motion. The moving part picking mechanisms 103 are disposed on the linear module 101 and are connected to the integrated power box 104. The integrated power box 104 is used to supply power to the moving part picking mechanisms 103.

[0101] refer to Figure 7 , Figure 7 for Figure 5 A partially enlarged view of the structural schematic shows that the moving part material handling mechanism 103 includes a material handling end, a second driving member 106, and a third driving member 107. The second driving member 106 drives the material handling mechanism to perform linear motion on the linear module 101, and the third driving member 107 drives the material handling end to perform rotational motion. The material handling end includes a gripper 109 and a fourth driving member 108. The fourth driving member 108 drives the gripper 109 to perform clamping motion. An auxiliary PLC is installed in the integrated electrical box 104. Multiple auxiliary PLCs are used to interact with the main PLC in the electrical control cabinet to control multiple moving part material handling mechanisms 103 to perform loading and unloading actions. This solves the problems of increased program timing difficulty and increased programming time caused by using a sliding contact line 111 to provide power to the moving part and using wireless communication to process signal interaction in the prior art.

[0102] In some embodiments, the multi-moving wireless device further includes a connector 110 disposed on one side of the linear module 101; the connector 110 includes a current collector 112, a terminal block, and a sliding contact line 111. One end of the current collector 112 is connected to the terminal block, and the other end of the current collector 112 is connected to the sliding contact line 111. The current collector 112 and the sliding contact line 111 are used to supply power to the integrated electrical box 104 so that the integrated electrical box 104 supplies power to the moving part material handling mechanism 103; the sliding contact line 111 is a three-phase four-wire sliding contact line 111, which is laid along the entire X-axis movement direction of the moving part material handling mechanism 103 to improve the stability of loading and unloading in this application.

[0103] In some embodiments, specifically, the integrated electrical box 104 in this application is a small electrical box. The linear module can be locked at any position on the operating table 105. A connector 110 is also provided on one side of the linear module 101. One end of the current collector 112 is connected to the terminal block, and the other end of the current collector 112 is connected to the sliding contact line 111. The small electrical box is powered through the connection between the current collector 112 and the sliding contact line 111. The small electrical box powers the material picking mechanism. The material picking mechanism is fixedly connected to the side of the linear module 101 away from the connector 110. The material picking mechanism includes a picking end, a second driving member 106 and a third driving member 107. The driving end of the second driving member 106 is connected to the material picking mechanism. The second driving member 106 drives the material picking mechanism to move linearly on the linear module 101. The third drive unit 107 is located above the material picking end. The third drive unit 107 drives the material picking end to rotate according to the material picking and unpicking position. The material picking end includes a gripper 109 and a fourth drive unit 108. The fourth drive unit 108 is located above the gripper 109 and drives the gripper 109 to clamp the product. At the same time, an auxiliary PLC is set in the integrated electrical box 104. Multiple auxiliary PLCs are used to interact with the main PLC in the electrical control cabinet to control multiple moving material picking mechanisms 103 to perform loading and unloading actions, so as to realize the wireless multi-moving loading and unloading station, solve the problems of easy wear of cables of multi-moving devices used for loading and unloading in the prior art, which can easily lead to circuit abnormalities, thereby extending the service life of multi-moving devices used for loading and unloading, and making the multi-moving devices used for loading and unloading easy to maintain.

[0104] refer to Figure 7 and Figure 8 , Figure 8 for Figure 7 A partially enlarged view of the structural schematic diagram shows that the multi-movement wireless device also includes a pressing assembly 114 and a fifth driving member 115 disposed on the picking end. The fifth driving member 115 is used to drive the pressing assembly 114 to move along the Y-axis, so that the pressing assembly 114 performs the pressing action after the fourth driving member 108 drives the gripper 109 to perform the clamping action. The pressing assembly 114 is provided with the fifth driving member 115, which drives the pressing assembly 114 to move along the Y-axis. After each product is picked up, the product is flattened, so that the product remains stable during transportation without falling or misaligning, which facilitates the loading of the next station. This application has a higher loading speed.

[0105] In some embodiments, the multi-movement wireless device further includes an operating table 105, with the linear module 101 connected to the operating table 105. The operating table 105 is provided with a plurality of product placement plates 113, which are respectively located below a plurality of picking ends. The product placement plates 113 are provided with grooves that are adapted to the grippers 109 of the picking mechanism, so as to facilitate the grippers 109 to pick up products and improve the gripping stability of this application.

[0106] In some embodiments, the fourth drive chamber and the fifth drive unit 115 in this application are both electric cylinders, and the fourth drive chamber and the fifth drive unit 115 have ports that are connected to the driver of the integrated electrical box 104, thereby realizing power supply.

[0107] In some embodiments, the gripper 109 is provided with a slider rail 116 and a sensor 117. The slider rail 116 is used for buffering, and the sensor 117 is used to prevent the gripper 109 from moving upward. The inner side of the gripper 109 is provided with a groove, and the gripper 109 can be adjusted and locked in the groove according to the size of the product to improve the stability and effectiveness of the gripper 109 in gripping the product.

[0108] In some embodiments, this application provides two types of grippers 109 and two sets of pressing components 114, which can simultaneously grip two sets of products.

[0109] In some embodiments, each moving part of the material handling device in this application has an integrated small electrical box at its moving end. The integrated electrical box 104 is powered by a current collector 112 connected to a sliding contact line 111. Meanwhile, in terms of networking, each moving part is equipped with a secondary PLC in its integrated small electrical box. The secondary PLC and the main PLC in the electrical control cabinet communicate via a 5.8GHz / 2.4GHz wireless local area network. The program control timing has been optimized from one PLC controlling multiple axes to data communication between the main PLC, secondary PLC #1, and secondary PLC #2 to control multiple moving part material handling mechanisms 103 to perform loading and unloading actions, thereby realizing wireless multi-moving part loading and unloading stations.

[0110] refer to Figure 9 , Figure 9 This is a schematic diagram of the controller provided in the embodiments of this application.

[0111] Some embodiments of this application provide a controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the multi-motor wireless control method of any of the above embodiments, for example, performing the above-described... Figure 1 Method steps S110 to S140, Figure 3 Method steps S310 to S330.

[0112] The controller 900 in this embodiment includes one or more processors 910 and a memory 920. Figure 9 The example uses a processor 910 and a memory 920.

[0113] The processor 910 and the memory 920 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0114] The memory 920, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory 920 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device.

[0115] In some embodiments, the memory 920 may optionally include a memory 920 remotely located relative to the processor 910, which can be connected to the controller 900 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0116] In some embodiments, when the processor executes a computer program, it executes the multi-motor wireless control method of any of the above embodiments at preset intervals.

[0117] Those skilled in the art will understand that Figure 9 The system architecture shown does not constitute a limitation on the controller 900, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0118] exist Figure 9 In the controller 900 shown, the processor 910 can be used to call the multi-motor wireless control method stored in the memory 920, thereby realizing the multi-motor wireless control method.

[0119] Based on the hardware structure of the controller 900 described above, various embodiments of the multi-motor wireless device control system of this application are proposed. Meanwhile, the non-transient software program and instructions required to implement the multi-motor wireless control method of the above embodiments are stored in a memory. When executed by a processor, the multi-motor wireless control method of the above embodiments is executed.

[0120] Furthermore, embodiments of this application also provide a multi-motor wireless device control system, which includes the controller described above.

[0121] In some embodiments, since the multi-motor wireless device control system of this application has the controller of the above embodiments, and the controller of the above embodiments is capable of executing the multi-motor wireless control method of the above embodiments, the specific implementation and technical effects of the multi-motor wireless device control system of this application can refer to the specific implementation and technical effects of the multi-motor wireless control method of any of the above embodiments.

[0122] This application also provides a computer-readable storage medium storing computer-executable instructions for performing the aforementioned multi-motor wireless control method. For example, the computer-executable instructions can cause one or more processors to perform the multi-motor wireless control method described above, such as executing the above-described method. Figure 1 Method steps S110 to S140, Figure 3 Method steps S310 to S330.

[0123] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network nodes. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] Those skilled in the art will understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer-readable storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer-readable storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer-readable storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage systems, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0125] The above is a detailed description of the preferred embodiments of this application. However, this application is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method for wireless control of multiple active devices, characterized in that, The method is applied to a multi-action sub-wireless device, the multi-action sub-wireless device including a main PLC and multiple auxiliary PLCs, the method comprising: The main PLC acquires the position information of the multiple auxiliary PLCs; The main PLC sends a preparation signal to multiple auxiliary PLCs based on the position information, and receives a start-up signal returned by multiple auxiliary PLCs; The main PLC sends start signals to multiple slave PLCs to enable the slave PLCs to control the actuator to run, and sends an end signal to the main PLC after the actuator has finished running; The main PLC adjusts the positions of the multiple auxiliary PLCs according to the multiple end signals. The plurality of auxiliary PLCs includes a first auxiliary PLC and a second auxiliary PLC. The main PLC sends a start signal to the plurality of auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuator, and sends a stop signal to the main PLC after the actuator has finished running. The main PLC sends a start signal to the first auxiliary PLC, so that the first actuator corresponding to the first auxiliary PLC performs a corresponding action, and the first auxiliary PLC sends a first end signal to the main PLC and the second auxiliary PLC. The second actuator corresponding to the second auxiliary PLC performs a corresponding action and sends a second end signal to the main PLC. If the plurality of sub-PLCs also includes a third sub-PLC, the second sub-PLC sends a second end signal to the third sub-PLC.

2. The multi-motor wireless control method according to claim 1, characterized in that, The main PLC sends start signals to multiple slave PLCs to enable the slave PLCs to control the actuator to run, and sends an end signal to the main PLC after the actuator has finished running, including: The main PLC synchronously sends start signals to multiple auxiliary PLCs, so that the actuators corresponding to the multiple PLCs perform synchronous actions, and the multiple auxiliary PLCs send end signals to the main PLC.

3. The multi-motor wireless control method according to claim 1, characterized in that, The plurality of auxiliary PLCs includes a first auxiliary PLC and a second auxiliary PLC. The main PLC sends a start signal to the plurality of auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuator, and sends a stop signal to the main PLC after the actuator has finished running. The main PLC sends a start signal to the first auxiliary PLC, so that the first actuator corresponding to the first auxiliary PLC performs a corresponding action, and the first auxiliary PLC sends a first end signal to the main PLC. The main PLC sends a start signal to the second auxiliary PLC, so that the second actuator corresponding to the second auxiliary PLC performs a corresponding action after the X-axis position information of the first actuator reaches a safe distance, and the second auxiliary PLC sends a second end signal to the main PLC. If the plurality of sub-PLCs also includes a third sub-PLC, the main PLC sends a start-up signal to the third sub-PLC.

4. A multi-motion wireless device, characterized in that, include: Linear module, first drive unit, multiple actuators and integrated electrical box; The first driving component is used to drive the linear module to perform linear motion. The moving actuator is disposed on the linear module and is connected to the integrated electrical box. The integrated electrical box is used to supply power to the moving actuator. The actuator includes an action execution end, a second drive member, and a third drive member. The second drive member drives the actuator to perform linear motion on the linear module, and the third drive member drives the action execution end to perform rotational motion. The action execution end includes a mechanical mechanism and a fourth drive member, and the fourth drive member is used by the mechanical mechanism to perform corresponding actions. The integrated electrical box is equipped with multiple auxiliary PLCs. These auxiliary PLCs interact with the main PLC in the electrical control cabinet to allow the main PLC to acquire the position information of the auxiliary PLCs. The main PLC sends a preparation signal to the auxiliary PLCs based on the position information and receives a start-up signal from each auxiliary PLC. The main PLC sends a start signal to the auxiliary PLCs to control the movement of a actuator, and sends an end signal to the main PLC after the actuator has finished running. The main PLC adjusts the position of the auxiliary PLCs based on the multiple end signals. The plurality of auxiliary PLCs includes a first auxiliary PLC and a second auxiliary PLC. The main PLC sends a start signal to the plurality of auxiliary PLCs to enable the auxiliary PLCs to control the movement of the actuator, and sends a stop signal to the main PLC after the actuator has finished running. The main PLC sends a start signal to the first auxiliary PLC, so that the first actuator corresponding to the first auxiliary PLC performs a corresponding action, and the first auxiliary PLC sends a first end signal to the main PLC and the second auxiliary PLC. The second actuator corresponding to the second auxiliary PLC performs a corresponding action and sends a second end signal to the main PLC. If the plurality of sub-PLCs also includes a third sub-PLC, the second sub-PLC sends a second end signal to the third sub-PLC.

5. The multi-motion wireless device according to claim 4, characterized in that, The multi-motion sub-wireless device also includes a connector disposed on one side of the linear module; The connector includes a current collector, a terminal block, and a sliding contact line. One end of the current collector is connected to the terminal block, and the other end of the current collector is connected to the sliding contact line. The current collector and the sliding contact line are used to supply power to the integrated electrical box so that the integrated electrical box supplies power to the actuator. The sliding contact line is a three-phase four-wire sliding contact line, which is laid along the entire X-axis movement direction of the actuator.

6. The multi-motion wireless device according to claim 4, characterized in that, The multi-action wireless device also includes a pressing component and a fifth driving component disposed on the action execution end; The fifth driving member is used to drive the pressing assembly to move along the Y-axis, so that the pressing assembly performs the pressing action after the fourth driving member drives the mechanical mechanism to perform the corresponding action.

7. The multi-motion wireless device according to claim 4, characterized in that, The multi-action wireless device also includes an operating table, the linear module is connected to the operating table, and the operating table is provided with multiple product placement plates, which are respectively located below the multiple action execution ends.

8. A controller, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the multi-motor wireless control method as described in any one of claims 1 to 3.

9. A computer-readable storage medium storing computer-executable instructions for performing the multi-motor wireless control method as described in any one of claims 1 to 3.

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