Conveyor line and control method thereof

Abstract

The present application discloses a conveyor line body and a control method thereof, wherein the conveyor line body comprises a main road, a middle branch road, a plurality of side branch roads and a docking mechanism, wherein the docking mechanism comprises a plurality of stators, wherein the plurality of stators are movably arranged on a base, the middle branch road is docked with the main road through the stator, and the side branch road has a buffer zone; the control method of the conveyor line body comprises: determining whether there is a buffer zone with a mover; setting the buffer zone with the mover as the target buffer zone, setting the side branch road to which the target buffer zone belongs as the target branch road, and setting the stator closest to the target branch road as the target stator; controlling the target branch road to dock with the target stator; determining whether the mover of the target branch road moves to the first preset station of the target stator; if so, controlling the target stator with the mover to dock with the main road; and controlling the mover on the target stator to move in the direction of the main road. The control method of the conveyor line body of the embodiment of the present application has the advantage of high conveying efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of conveyor lines, and in particular to a conveyor line and a control method thereof. Background Art

[0002] The conveyor line in the related technology has a mapping relationship between a single main road and multiple branch roads. For example, one main road corresponds to multiple branch roads. A connecting mechanism is provided between the main road and the branch roads. The connecting mechanism is used to realize the connection between different branch roads and the main road, so that the movers on the branch roads can be transported to the main road via the connecting mechanism.

[0003] However, after the connecting mechanism can connect with a branch road and the main road, other branch roads will face disconnection, thereby reducing the transportation efficiency of the transmission line. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the control method of the conveyor line has the advantages of high conveying efficiency and high process efficiency.

[0005] In order to achieve the above-mentioned purpose, according to the first aspect of the embodiment of the present application, a control method for a conveyor line body is proposed, the conveyor line body includes a main road, a central branch road, multiple side branch roads and a docking mechanism, the docking mechanism includes a base and multiple stators, the multiple stators are movably arranged on the base and arranged along the extension direction of the base, the central branch road is connected to the main road through one of the multiple stators, the central branch road and multiple side branch roads are arranged along the extension direction of the base, the side branch road has a buffer area, and the central branch road and the side branch road both have a movable mover; the control method of the conveyor line body includes: judging whether there is a buffer zone with a mover; if so, setting the buffer zone with the mover as the target buffer zone; setting the side branch road to which the target buffer zone belongs as the target branch road, and setting the stator closest to the target branch road as the target stator; controlling the target branch road to connect with the target stator; judging whether the mover of the target branch road moves to the first preset position of the target stator; if so, controlling the target stator with the mover to connect with the main road; controlling the mover on the target stator to move in the direction of the main road.

[0006] The control method of the conveyor line according to the first aspect of the present application has the advantages of high conveying efficiency and high process efficiency.

[0007] In some embodiments of the present application, setting the cache area having the movers as the target cache area includes: determining whether the number of the cache areas having the movers is greater than 1; if so, determining whether there is a cache area with a saturated number of movers; if so, setting the cache area with a saturated number of movers as the target cache area.

[0008] In some embodiments of the present application, setting the cache area with a saturated number of movers as the target cache area includes: determining whether the number of cache areas with a saturated number of movers is greater than 1; if so, setting the cache area with a saturated number of movers that is closest to the stator as the target cache area.

[0009] In some embodiments of the present application, setting the cache area with the mover as the target cache area also includes: determining whether the number of the cache areas with the movers is greater than 1; if so, determining whether there is a cache area with a saturated number of movers; if there is no cache area with a saturated number of movers, setting the cache area with the mover that is closest to the stator as the target cache area.

[0010] In some embodiments of the present application, controlling the target stator with a mover to connect with the main road includes: determining whether the number of the target stators with movers is greater than 1; if so, connecting the main road with the target stator with a mover that is closest to it.

[0011] In some embodiments of the present application, before controlling the target branch road to be connected with the target stator, it includes: judging whether the target branch road has been connected with the target stator; if not, controlling the target stator to move in the direction of the target branch road, and the mover of the middle branch road stops moving in the direction of the main road.

[0012] In some embodiments of the present application, after determining whether the stator of the target branch road has moved to the first preset position of the target stator, it includes: if so, controlling the mover of the middle branch road to stop moving in the direction of the main road; if not, controlling the mover of the middle branch road to move in the direction of the main road.

[0013] In some embodiments of the present application, the control of connecting the target stator having a mover with the main road includes: determining whether the main road has been connected with the target stator; if so, determining whether the mover of the target stator has moved to a second preset position of the main road; if so, controlling the mover of the central branch road to move in the direction of the main road.

[0014] In some embodiments of the present application, the plurality of side branch roads include a first branch road and a second branch road. In the extension direction of the base, the first branch road is located on one side of the middle branch road, and the second branch road is located on the other side of the middle branch road. The number of the first branch roads is not less than the number of the second branch roads. The number of the first branch roads is X, the number of the second branch roads is Y, and the number of the stators is Z. Wherein, (X+1)≤Z≤(X+Y+1).

[0015] In some embodiments of the present application, the plurality of stators move synchronously; and the controlling the target stators with movers to be connected with the main roads respectively comprises: controlling the target stators with movers to be connected with the middle branch road.

[0016] According to the second aspect of the present application, a conveyor line body is proposed, including: a main road; a docking mechanism, the docking mechanism includes a base and multiple stators, the multiple stators are movably arranged on the base and arranged along the extension direction of the base, a central branch road, the central branch road is connected to the main road through one of the multiple stators; multiple side branch roads, the side branch roads have a cache area; a controller, the controller is used to determine whether there is a cache area with a mover, if so, the cache area with the mover is set as a target cache area, the side branch road to which the target cache area belongs is set as a target branch road, the stator closest to the target branch road is set as a target stator, the target branch road is controlled to connect with the target stator, and it is determined whether the mover of the target branch road moves to the target stator. If so, the target stator with the mover is controlled to connect with the main road, and the mover on the target stator is controlled to move toward the direction of the main road.

[0017] The conveying line body according to the second aspect embodiment of the present application is controlled by the control method of the conveying line body according to the first aspect embodiment of the present application, and has the advantages of high conveying efficiency and high process efficiency.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 This is one of the flow charts of the control method of the conveyor line body according to the embodiment of the present application;

[0021] Figure 2 This is the second flow chart of the control method of the conveyor line body of the embodiment of the present application;

[0022] Figure 3 This is the third flow chart of the control method of the conveyor line body of the embodiment of the present application;

[0023] Figure 4 This is the fourth flow chart of the control method of the conveyor line body of the embodiment of the present application;

[0024] Figure 5 This is one of the structural schematic diagrams of the conveyor line body of the embodiment of the present application;

[0025] Figure 6 This is the second structural schematic diagram of the conveyor line body of the embodiment of the present application;

[0026] Figure 7 This is the third structural schematic diagram of the conveyor line body of the embodiment of the present application.

[0027] Reference numerals:

[0028] Conveyor line body 1, main road 100, second preset station 110, central branch road 200, side branch road 300, first branch road 310, second branch road 320, buffer area 330, docking mechanism 400, base 410, stator 420, first preset station 421, mover 500. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present application are described in detail below.

[0030] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0031] like Figure 5-Figure 7As shown, the conveyor line body 1 includes a main road 100, a central branch road 200, a plurality of side branch roads 300, a docking mechanism 400 and a controller, the docking mechanism 400 includes a base 410 and a plurality of stators 420, the plurality of stators 420 are movably disposed on the base 410 and arranged along the extension direction of the base 410, and the central branch road 200 is connected to the main road 100 through one of the plurality of stators 420. The plurality of side branch roads 300 include a first branch road 310 and a second branch road 320, in the extension direction of the base 410, the first branch road 310 is located on one side of the central branch road 200, the second branch road 320 is located on the other side of the central branch road 200, and the side branch road 300 has a buffer area 330.

[0032] It can be understood that the connection described in the embodiment of the present application can be specifically explained as follows: due to the presence of a joint between the branch roads (the middle branch road 200 and the side branch road 300) and the main road 100, the mover 500 cannot achieve transmission between the branch roads and the main road 100. The embodiment of the present application sets a connection mechanism 400 to achieve transmission of the mover 500 between the branch roads and the main road 100. For example, for the central trunk road 200 and the main trunk road 100, when the connecting stator 420 is at the joint between the central trunk road 200 and the main trunk road 100, the connecting stator 420 connects the central trunk road 200 and the main trunk road 100, thereby realizing the transmission of the mover 500 between the central trunk road 200 and the main trunk road 100; for the side trunk road 300 and the main trunk road 100, the connecting stator 420 is first connected with one of them, such as the connecting stator 420 is first connected with the side trunk road 300, the mover 500 runs from the side trunk road 300 to the connecting stator 420, and then the connecting stator 420 moves and is connected with the main trunk road 100, and the mover 500 runs from the connecting stator 420 to the main trunk, thereby realizing the transmission of the mover 500 between the side trunk road 300 and the main trunk road 100.

[0033] The controller is used to determine whether there is a cache area 330 with a mover 500, wherein the cache area 330 refers to a cache area 330 near one end of the side branch trunk road 300. When the mover 500 on the side branch trunk road 300 moves to the cache area 330, it can stay in the cache area 330 without continuing to move. One or more movers 500 can be cached in the cache area 330, and the number of movers 500 that can be cached in the cache areas 330 of different side branch trunk roads can be the same or different.

[0034] If so, the cache area 330 having the mover 500 is set as the target cache area. In other words, the target cache area refers to the cache area 330 in which the stator is cached, and the cache area 330 is the target cache area.

[0035] The side branch road 300 to which the target buffer area 330 belongs is set as the target branch road. In other words, the target branch road refers to the side branch road 300 having the mover 500 in the buffer area 330 .

[0036] The stator closest to the target branch road is set as the target stator. In other words, the target stator refers to the stator with the shortest distance from the target branch road among the multiple stators.

[0037] Control the target branch road to connect with the target stator, determine whether the mover 500 of the target branch road moves to the target stator, and if so, control the target stator with the mover 500 to connect with the main road 100, and control the mover 500 on the target stator to move in the direction of the main road 100.

[0038] Specifically, the spacing between the central branch road 200 and its adjacent side branch road 300 is equal to the spacing between two adjacent stators 420. When there are multiple first branch roads 310, the multiple first branch roads 310 are arranged along the extension direction of the base 410, and the spacing between two adjacent first branch roads 310 is equal to the spacing between two adjacent stators 420. When there are multiple second branch roads 320, the multiple second branch roads 320 are arranged along the extension direction of the base 410, and the spacing between two adjacent second branch roads 320 is equal to the spacing between two adjacent stators 420.

[0039] For example, the multiple stators 420 may move synchronously, that is, the multiple stators 420 move at the same speed and in the same direction at the same time.

[0040] In addition, the main road 100 and the middle road 200 are located on opposite sides of the base 410 in the width direction of the base 410, and the movement direction of the mover 500 on the main road 100 and the movement direction of the mover 500 on the middle road 200 are the same.

[0041] If a plurality of side branches 300 and the main road 100 are located on the same side of the base 410, the movement directions of the movers 500 on the side branches 300 are the same, and the movement direction of the movers 500 on the side branches 300 is opposite to the movement direction of the movers 500 on the main road 100;

[0042] If a plurality of side branch roads 300 and a central branch road 200 are located on the same side of the base 410, the movement directions of the movers 500 on the side branch roads 300 are the same as each other, and the movement direction of the movers 500 on the side branch roads 300 is the same as the movement direction of the movers 500 on the main road 100;

[0043] If a part of the multiple side branch roads 300 and the main road 100 are located on the same side of the base 410, the movement directions of the movers 500 on this part of the side branch roads 300 are the same, and the movement direction of the movers 500 on this part of the side branch roads 300 is opposite to the movement direction of the movers 500 on the main road 100; another part of the multiple side branch roads 300 and the central branch road 200 are located on the same side of the base 410, and the movement directions of the movers 500 on this part of the side branch roads 300 are the same, and the movement direction of the movers 500 on this part of the side branch roads 300 is the same as the movement direction of the movers 500 on the main road 100.

[0044] In addition, the stator 420 has a first preset workstation 421 , the main road 100 has a second preset workstation 110 , and the side branch road 300 and the middle branch road 200 have movable movers 500 .

[0045] The following describes a control method of the conveyor line body 1 according to an embodiment of the present application in conjunction with the accompanying drawings.

[0046] like Figure 1 As shown, the control method of the conveyor line body 1 according to the embodiment of the present application includes:

[0047] Step S1: Determine whether there is a buffer area 330 with a mover 500;

[0048] If yes, proceed to step S2: set the buffer area 330 having the mover 500 as the target buffer area;

[0049] Step S3: setting the side branch trunk 300 to which the target buffer area belongs as the target branch trunk, and setting the stator 420 closest to the target branch trunk as the target stator;

[0050] Step S4: Control the target branch road to connect with the target stator;

[0051] Step S5: determining whether the mover 500 of the target branch channel has moved to the first preset position 421 of the target stator;

[0052] If yes, proceed to step S6: control the target stator with the mover 500 to connect with the main road 100;

[0053] Step S7 : the mover 500 on the target stator moves toward the direction of the main road 100 .

[0054] According to the control method of the conveyor line 1 of the embodiment of the present application, the middle branch trunk 200 is connected with the main road 100 through the stator 420. That is to say, whether or not there is a mover 500 in the buffer area 330 does not affect the connection between the middle branch trunk 200 and the main road 100 through the stator 420. When the stator 420 is in a stopped moving state, the mover 500 of the middle branch trunk 200 can always be transported to the main road 100 through the stator 420 connected thereto, thereby ensuring that the main road 100 can always be connected with the middle branch trunk 200, thereby improving the connection efficiency, thereby improving the transportation efficiency, and thus improving the process efficiency.

[0055] It should be noted that during the operation of the conveyor line 1, the central trunk road 200 may not be continuously connected to the same stator 420. Instead, no matter how the multiple stators 420 move on the base 410, when the multiple stators 420 stop moving, one of the multiple stators 420 must be connected to the central trunk road 200 and the main trunk road 100 at the same time.

[0056] In addition, the controller determines whether there is a cache area 330 with a mover 500. If there is a cache area 330 with a mover 500, the cache area 330 with the mover 500 is set as the target cache area, the side branch trunk 300 to which the target cache area belongs is set as the target branch trunk, and the stator 420 closest to the target branch trunk is set as the target stator connection.

[0057] The controller controls the target stator to connect with the target branch road, and then controls the mover 500 on the target branch road to move toward the target stator, and determines whether the mover 500 on the target branch road has moved to the target stator. If the mover 500 on the target branch road has moved to the target stator, the target stator is controlled to move toward the main road 100 until the target stator connects with the main road 100. At this time, the mover 500 on the target stator can move to the main road 100, and then the mover 500 on the middle branch road 200 can also be transported to the main road 100.

[0058] In other words, on the basis of ensuring that the movers 500 on the central branch road 200 can be transported to the main road 100, the accumulation of movers 500 in the buffer area 330 of the side branch road 300 and affecting the transport efficiency of the side branch road 300 are avoided. The transport efficiency of the conveying line 1 is high, thereby improving the process efficiency.

[0059] In addition, since the controller controls the target branch trunk to connect with its closest stator 420, the distance the target stator needs to move is small, which can shorten the time for the target stator to move, further improving the connection efficiency, thereby improving the transportation efficiency and process efficiency.

[0060] Thus, the control method of the conveyor line 1 according to the embodiment of the present application has the advantages of high conveying efficiency and high process efficiency.

[0061] The conveyor line body 1 according to the embodiment of the present application is controlled by the control method of the conveyor line body 1, and has the advantages of high conveying efficiency and high process efficiency.

[0062] like Figure 1 As shown, the above step S6: controlling the target stators with movers 500 to be connected to the main roads 100 respectively includes:

[0063] The target stator having the mover 500 is controlled to be connected to the middle branch channel 200 .

[0064] That is to say, the target stator carries the movers 500 from other side branch trunks 300. When the target stator is connected to the main trunk 100, the target stator is also connected to the middle branch trunk 200. When the movers 500 from other side branch trunks 300 on the target stator are transported to the main trunk 100, the movers 500 of the middle branch trunk 200 can be transported to the main trunk 100 through the target stator, which improves the connection efficiency, thereby improving the transportation efficiency and process efficiency.

[0065] like Figure 2 As shown, the above step S2: setting the buffer area 330 having the mover 500 as the target buffer area includes:

[0066] Step S21: determining whether the number of the buffer areas 330 having the movers 500 is greater than 1;

[0067] If yes, proceed to step S22: determine whether there is a buffer area 330 with a saturated number of movers 500;

[0068] If yes, proceed to step S221: set the buffer area 330 where the number of movers 500 is saturated as the target buffer area;

[0069] It should be noted that the buffer area 330 may have one or more buffer stations, and when the number of movers 500 in the buffer area 330 is not less than the number of buffer stations in the buffer area 330, the buffer area 330 is saturated. And the number of buffer stations in different buffer areas 330 may be the same or different.

[0070] Specifically, when the number of cache areas 330 having movers 500 is greater than 1, that is, movers 500 exist in the cache areas 330 of multiple side trunk roads 300, it is necessary to determine whether the number of movers 500 in the multiple cache areas 330 is saturated. If the number of movers 500 in the cache area 330 is already saturated, it indicates that the cache area 330 cannot continue to cache the movers 500. Therefore, it is necessary to preferentially transport the movers 500 in the side trunk road 300 to which the cache area 330 belongs to the main road 100, so as to effectively prevent accumulation, thereby improving the transport efficiency of the movers 500 in the side trunk road 300 to which the cache area 330 belongs, thereby improving the process efficiency.

[0071] like Figure 3 As shown, the above step S221: setting the buffer area 330 where the number of movers 500 is saturated as the target buffer area includes:

[0072] Step S2211: determining whether the number of the buffer areas 330 in which the number of movers 500 is saturated is greater than 1;

[0073] If yes, proceed to step S2212: set the buffer area 330 with a saturated number of movers 500 closest to the stator 420 as the target buffer area.

[0074] Specifically, if there are multiple cache areas 330 in which the number of movers 500 is saturated, the distance between the cache area 330 with a saturated number of movers 500 and the stator 420 is obtained, and the cache area 330 with a saturated number of movers 500 that is closest to the stator 420 is selected, and the cache area 330 is set as the target cache area.

[0075] In this way, the stator 420 needs to move a short distance, so that the transport of the movers 500 between the side branch road 300 and the main road 100 described in the cache area 330 where the number of movers 500 is saturated can be achieved, which can save transmission time and connection time, and further improve transportation efficiency and process efficiency.

[0076] It should be noted that there are two situations for the cache area 330 with a saturated number of movers 500 that is closest to the stator 420: the first is that the side branch trunk 300 to which the cache area 330 with a saturated number of movers 500 belongs has been connected with the stator 420, and the above-mentioned side branch trunk 300 can be set as the target branch trunk, and the stator 420 does not need to be moved at this time; the second is that the side branch trunk 300 to which the cache area 330 with a saturated number of movers 500 belongs is not connected with the stator 420. At this time, the side branch trunk 300 to which the cache area 330 with a saturated number of movers 500 that is closest to the stator 420 belongs can be set as the target branch trunk, and then the stator 420 can be moved to connect with the target branch trunk, and the distance that the stator 420 needs to move is short.

[0077] like Figure 2As shown, the above step S2: setting the buffer area 330 having the mover 500 as the target buffer area also includes:

[0078] Step S21: determining whether the number of the buffer areas 330 having the movers 500 is greater than 1;

[0079] If yes, proceed to step S22: determine whether there is a buffer area 330 with a saturated number of movers 500;

[0080] Step S222: If there is no buffer zone 330 that is saturated with movers 500, the buffer zone 330 with movers 500 that is closest to the stator is set as the target buffer zone.

[0081] Specifically, if there are multiple cache areas 330 with movers 500, and the number of movers 500 in the multiple cache areas 330 with movers 500 is not saturated, the distances between the multiple cache areas 330 with movers 500 and the stator 420 are obtained, and the cache area 330 with movers 500 that is closest to the stator 420 is selected and set as the target cache area.

[0082] In this way, the required moving distance of the stator 420 is short, so the transport of the mover 500 between the buffer area 330 having the mover 500 and the main road 100 can be realized, which can save transmission time and connection time, and further improve the transport efficiency and process efficiency.

[0083] It should be noted that there are two situations for the cache area 330 with the mover 500 that is closest to the stator 420. The first is that the side branch trunk 300 to which the cache area 330 with the mover 500 belongs is already connected to the stator 420. At this time, the above-mentioned side branch trunk 300 can be set as the target branch trunk, and the stator 420 does not need to be moved. The second is that the side branch trunk 300 to which the cache area 330 with the mover 500 belongs is not connected to the stator 420. At this time, the side branch trunk 300 to which the cache area 330 with the mover 500 that is closest to the stator 420 belongs can be set as the target branch trunk, and then the stator 420 can be moved to connect with the target branch trunk. The distance that the stator 420 needs to move is short.

[0084] like Figure 4 As shown, the above step S6: controlling the target stator with the mover 500 to connect with the main road 100 includes:

[0085] Step 62: Determine whether the number of target stators having movers 500 is greater than 1;

[0086] If yes, then step 63: connect the main road 100 to the target stator with the mover 500 closest to it.

[0087] Specifically, if there are multiple target stators with the mover 500, it is necessary to determine which target stator with the mover 500 is closest to the main road 100, and the main road 100 is preferentially connected to the target stator with the mover 500.

[0088] In this way, the distance between the target stator and the main road 100 is short, which can shorten the time required for the target stator to move to the main road 100, thereby saving transmission time and connection time, and further improving transportation efficiency and process efficiency.

[0089] like Figure 1 As shown, in the above step S4: controlling the connection between the target stator and the target branch road, the above step includes:

[0090] Step S8: Determine whether the target branch road has been connected to the target stator;

[0091] If not, proceed to step S81 : control the target stator to move in the direction of the target branch road, and the mover 500 of the middle branch road 200 stops moving in the direction of the main road 100 .

[0092] Specifically, since the target branch road is not connected to the target stator, it is necessary to move the target stator in the direction of the target branch road. At this time, multiple stators 420 all move synchronously. During the movement of multiple stators 420, the middle branch road 200 is separated from the stator 420, that is, the middle branch road 200 is not connected to the stator 420. At this time, if the mover 500 of the middle branch road 200 continues to move in the direction of the main road 100, the mover 500 of the middle branch road 200 may detach from the conveyor line body 1. Therefore, the mover 500 of the middle branch road 200 stops moving at this time, which can improve safety.

[0093] After the target stator is in place, that is, when the target branch trunk is connected to the target stator, the middle branch trunk 200 will also be connected to a stator 420. At this time, the mover 500 of the middle branch trunk 200 can continue to move, thereby improving the conveying efficiency.

[0094] like Figure 1 As shown, in the above step S5: judging whether the mover 500 of the target branch channel has moved to the first preset position 421 of the target stator, the following steps are then included:

[0095] If yes, proceed to step S91: control the mover 500 of the middle branch road 200 to stop moving toward the main road 100;

[0096] If not, proceed to step S92: control the mover 500 of the middle branch road 200 to move toward the direction of the main road 100;.

[0097] Specifically, after the target branch road is connected to the target stator, the mover 500 on the target branch road will move toward the target stator 420. When the mover 500 has not moved to the first preset position 421 of the target stator, the mover 500 on the middle branch road 200 will not interfere with the mover 500 on the target branch road. At this time, the mover 500 on the middle branch road 200 can continue to move toward the main road 100 to improve the transmission efficiency;

[0098] When the mover 500 of the target branch road moves to the first preset station 421 of the target stator, the target stator will move in the direction of the main road. At this time, if the mover 500 of the middle branch road 200 continues to move toward the main road 100, there is a risk that the mover 500 of the middle branch road 200 will be separated from the conveyor line body 1. Therefore, the mover 500 of the middle branch road 200 stops moving in the direction of the main road 100 to prevent the mover 500 of the middle branch road 200 from being separated from the conveyor line body 1.

[0099] like Figure 1 As shown, the above step S6: controlling the target stator with the mover 500 to connect with the main road 100 includes:

[0100] Determine whether the main road 100 has been connected to the target stator;

[0101] If yes, proceed to step S62: determine whether the mover 500 of the target stator has moved to the second preset station 110 of the main road 100;

[0102] If yes, proceed to step S92: control the mover 500 of the middle branch road 200 to move toward the direction of the main road 100;

[0103] If not, proceed to step S91 : control the mover 500 of the central branch road 200 to stop moving toward the main road 100 .

[0104] Specifically, after the main road 100 is connected to the target stator, the mover 500 on the target stator moves toward the second preset station 110 of the main road 100. When the mover 500 has not moved from the first preset station 421 to the second preset station 110, if the mover 500 of the middle branch road 200 continues to move toward the main road 100, there is a risk of mutual interference between the mover 500 of the middle branch road 200 and the mover 500 on the target stator. Therefore, the mover 500 of the middle branch road 200 stops moving toward the main road 100 to prevent the mover 500 of the middle branch road 200 from interfering with the mover 500 on the target stator, thereby ensuring safety.

[0105] When the mover 500 of the target stator moves to the second preset station 110 of the main road 100, the mover 500 of the middle road 200 will not interfere with the mover 500 on the target stator. At this time, the mover 500 of the middle road 200 can continue to move toward the main road 100 to improve transmission efficiency.

[0106] like Figure 5-Figure 7 As shown, the number of the first branch roads 310 is not less than the number of the second branch roads 320, the number of the first branch roads 310 is X, the number of the second branch roads 320 is Y, and the number of the stators 420 is Z; wherein, (X+1)≤Z≤(X+Y+1).

[0107] When Z=(X+Y+1), the number of stators 420 is the sum of the number of first branch trunks 310, the number of second branch trunks 320 and the number of central branch trunks 200. At this time, the central branch trunk 200 and each side branch trunk 300 can be connected to a stator 420. Therefore, if Z>(X+Y+1), there will be stators 420 that are not connected to the central branch trunk 200 and any side branch trunks 300. At this time, there is redundancy of stators 420, which increases the cost, so Z≤(X+Y+1).

[0108] When Z=(X+1), the number of stators 420 is the sum of the number of first branch roads 310 and the number of middle branch roads 200. Therefore, when each first branch road 310 is connected to the stator 420, the middle branch road 200 can also be connected to the stator 420. Since the number of first branch roads 310 is not less than the number of second branch roads 320, that is, the number of second branch roads 320 will not exceed the number of first branch roads 310. In addition, when Z=(X+1), when the middle branch road 200 is connected to the stator 420, all second branch roads 320 can be connected to the stator 420. If Z<(X+1), there must be a first branch road 310 that cannot be connected to the stator 420, which affects the transmission efficiency. Therefore, (X+1)≤Z.

[0109] Other structures and operations of the conveyor line 1 and the control method thereof according to the embodiment of the present application are known to ordinary technicians in the field and will not be described in detail here.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0111] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for a conveyor line, characterized in that: The conveyor line body includes a main road, a middle branch road, a plurality of side branch roads and a docking mechanism, wherein the docking mechanism includes a base and a plurality of stators, wherein the plurality of stators are movably arranged on the base and arranged along the extension direction of the base, wherein the middle branch road is connected to the main road through one of the plurality of stators, wherein the middle branch road and the plurality of side branch roads are arranged along the extension direction of the base, wherein the side branch roads have a buffer area, and the middle branch road and the side branch roads both have movable movers; wherein the plurality of side branch roads include a first branch road and a second branch road, wherein in the extension direction of the base, the first branch road is located on one side of the middle branch road, and the second branch road is located on the other side of the middle branch road, and the number of the first branch roads is not less than the number of the second branch roads, the number of the first branch roads is X, the number of the second branch roads is Y, the number of the stators is Z, and (X+1)≤Z≤(X+Y+1); The control method of the conveyor line body includes: Determine whether there is a buffer area with a mover; If yes, the buffer area with the mover is set as the target buffer area; The side branch road to which the target buffer area belongs is set as the target branch road, and the stator closest to the target branch road is set as the target stator; Controlling the target branch trunk to connect with the target stator; Determine whether the mover of the target branch channel moves to the first preset position of the target stator; If so, controlling the target stator with the mover to connect with the main road; The mover on the target stator is controlled to move toward the main road.

2. The control method according to claim 1, characterized in that: The step of setting the buffer area having the mover as the target buffer area comprises: Determining whether the number of the buffer areas having movers is greater than 1; If so, determine whether there is a cache area with a saturated number of movers; If so, the buffer area where the number of movers is saturated is set as the target buffer area.

3. The control method according to claim 2, characterized in that: The step of setting the buffer area where the number of movers is saturated as the target buffer area comprises: Determine whether the number of buffer areas where the number of movers is saturated is greater than 1; If so, the buffer area with a saturated number of movers closest to the stator is set as the target buffer area.

4. The control method according to claim 2, characterized in that: The step of setting the buffer area with the mover as the target buffer area further comprises: Determining whether the number of the buffer areas having movers is greater than 1; If so, determine whether there is a cache area with a saturated number of movers; If there is no buffer zone with a saturated number of movers, the buffer zone with movers closest to the stator is set as the target buffer zone.

5. The control method according to claim 1, characterized in that: The controlling the target stator having the mover to be connected with the main road comprises: Determining whether the number of the target stators having movers is greater than 1; If so, the main road is connected to the target stator with a mover that is closest to it.

6. The control method according to any one of claims 1 to 5, characterized in that: Before controlling the target branch trunk to be connected with the target stator, the method further comprises: Determining whether the target branch trunk has been connected to the target stator; If not, the target stator is controlled to move in the direction of the target branch road, and the mover of the middle branch road stops moving in the direction of the main road.

7. The control method according to any one of claims 1 to 5, characterized in that: After determining whether the mover of the target branch channel has moved to the first preset position of the target stator, the method further comprises: If yes, the mover of the middle branch road is controlled to stop moving toward the direction of the main road; If not, the mover of the middle branch road is controlled to move toward the direction of the main road.

8. The control method according to any one of claims 1 to 5, characterized in that: The controlling the target stator having the mover to be connected with the main road comprises: Determining whether the main road has been connected to the target stator; If yes, determining whether the mover of the target stator has moved to the second preset station of the main road; If so, the mover of the middle branch road is controlled to move toward the direction of the main road.

9. The control method according to any one of claims 1 to 5, characterized in that: The plurality of stators move synchronously; The control of the target stators having movers connected to the main roads respectively includes: The target stator with the mover is controlled to be connected with the center branch trunk.

10. A conveyor line, characterized in that: The conveyor line body is capable of running the control method described in any one of claims 1 to 9, and the conveyor line body comprises: Main roads; A docking mechanism, the docking mechanism comprising a base and a plurality of stators, the plurality of stators being movably disposed on the base and arranged along an extension direction of the base, A middle trunk road, wherein the middle trunk road is connected to the main trunk road through one of the plurality of stators; A plurality of side branch roads, each of which has a buffer area; A controller is used to determine whether there is a cache area with a mover, and if so, set the cache area with the mover as a target cache area, set the side branch road to which the target cache area belongs as a target branch road, set the stator closest to the target branch road as a target stator, control the target branch road to connect with the target stator, determine whether the mover of the target branch road moves to the target stator, and if so, control the target stator with the mover to connect with the main road, and control the mover on the target stator to move in the direction of the main road.

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