Transmission control method, transmission device, and processing system

Abstract

This application provides a transmission control method, a transmission device, and a processing system. The transmission device includes a carrier, M gears, and M motors, where M is a positive integer greater than 1. The M gears are arranged sequentially and spaced apart. The carrier is used to hang a carrier plate and engages with at least one of the M gears. Each of the M motors drives the corresponding gear to rotate, and each gear drives the carrier to move during rotation. The transmission control method includes: in response to the Nth gear being pushed to rotate by the carrier and the Nth motor meeting a triggering condition, triggering the Nth motor to operate and triggering the (N-1)th motor to stop operating, where N is any positive integer from 2 to M; or triggering the Nth motor to operate and triggering the (N+1)th motor to stop operating, where N is any positive integer from 1 to M-1. This ensures that only one motor operates at a time when the carrier moves, keeping idle gears stationary, reducing the probability of rack and pinion collisions, and improving the smoothness of carrier plate transmission.

Description

Technical Field

[0001] This application relates to the technical field of automated equipment, and in particular to a transmission control method, transmission equipment, and processing system. Background Technology

[0002] Carrier plate transfer equipment enables the reciprocating movement of carrier plates between at least two chambers. Currently, when transferring vertical carrier plates, carrier plate transfer equipment typically involves detachably mounting the carrier plate onto a carrier frame, then using a motor to drive gears to rotate, which in turn drives the carrier frame to move by meshing with a rack located on the carrier frame, thereby achieving the transfer of the carrier plate.

[0003] Currently, when the carrier plate transport equipment drives the carrier plate to move, the gear meshing with the rack on the carrier plate and the other idle gears all rotate synchronously. During the movement of the carrier plate, due to the continuous rotation of the idle gears, there is a possibility that the rack on the carrier plate, which is close to an idle gear, may collide with the idle gear, affecting the smoothness of the carrier plate transport. Summary of the Invention

[0004] In view of the above, it is necessary to provide a transmission control method, transmission equipment and processing system to solve the above-mentioned defects.

[0005] In a first aspect, embodiments of this application provide a transmission control method applied to a transmission device. The transmission device includes a carrier, M gears, and M motors arranged one-to-one with the M gears, where M is a positive integer greater than 1. The M gears are arranged sequentially and spaced apart. The carrier is used to hang a carrier plate and engages with at least one of the M gears. Each of the M motors is used to drive the corresponding gear to rotate, and each gear is used to drive the carrier to move when rotating. The transmission control method includes: in response to the Nth gear being pushed and rotating by the carrier, and the Nth motor meeting a triggering condition, triggering the Nth motor to operate and triggering the (N-1)th motor to stop operating, where N is any positive integer from 2 to M; or triggering the Nth motor to operate and triggering the (N+1)th motor to stop operating, where N is any positive integer from 1 to M-1.

[0006] Optionally, the triggering conditions include: the motor's running time reaching a triggering time threshold; and / or the motor's rotor rotation stroke reaching a triggering stroke threshold.

[0007] Optionally, the transmission control method further includes: in response to receiving a first trigger command and when the transmission device meets a first starting condition, triggering a first motor to operate to drive a first gear to rotate, and the rotation of the first gear to drive the carrier to move closer to the Mth gear.

[0008] Optionally, the transmission control method further includes: in response to the transmission device meeting the first termination condition, triggering the Mth motor to stop working, so that the Mth gear stops rotating and the carrier stops moving.

[0009] Optionally, the first termination condition includes: the running time of the Mth motor reaches a first time threshold; and / or the rotational stroke of the mover of the Mth motor reaches a first stroke threshold.

[0010] Optionally, the transmission device is disposed in a connected first chamber and a second chamber, the first gear is located on the side of the first chamber away from the second chamber, the Mth gear is located on the side of the second chamber away from the first chamber, and the transmission device further includes a position detection element for detecting the position of the carrier plate; the first starting condition includes: the carrier plate is located at a first cutoff position, wherein the first cutoff position is located in the first chamber; the first ending condition includes: the carrier plate is located at a second cutoff position, wherein the second cutoff position is located in the second chamber.

[0011] Optionally, the transmission control method further includes: in response to receiving a second trigger command and when the transmission device meets a second start condition, triggering the Mth motor to operate, thereby driving the Mth gear to rotate, and the rotation of the Mth gear to drive the carrier to move closer to the first gear.

[0012] Optionally, the transmission control method further includes: in response to the satisfaction of the second termination condition, triggering the first motor to stop working, so that the first gear stops rotating and the carrier stops moving.

[0013] Optionally, the second termination condition includes: the running time of the first motor reaches a second time threshold; and / or the rotation stroke of the first motor reaches a second stroke threshold.

[0014] Optionally, the transmission device is disposed in a connected first chamber and a second chamber, the first gear is located on the side of the first chamber away from the second chamber, the Mth gear is located on the side of the second chamber away from the first chamber, and the transmission device further includes a position detection element for detecting the position of the carrier plate; the second starting condition includes: the carrier plate is located at a second cutoff position, wherein the second cutoff position is located in the second chamber; the second ending condition includes: the carrier plate is located at a first cutoff position, wherein the first cutoff position is located in the second chamber.

[0015] Secondly, embodiments of this application provide a transmission device, comprising: M gears, where M is a positive integer greater than 1, the M gears being arranged sequentially and spaced apart; a carrier frame for suspending a carrier plate and engaging with at least one of the M gears; M motors, each of the M motors corresponding one-to-one with the M gears, each of the M motors driving the corresponding gear to rotate, and each gear driving the carrier frame to move during rotation; and a processor connected to each motor, the processor executing the transmission control method as described above.

[0016] Optionally, the carrier includes a rack that meshes with at least one of the M gears. The length direction of the rack is the same as the spacing direction of the M gears. The length of the rack is greater than or equal to the distance between any two adjacent gears in the M gears, and less than the distance between the two end gears in any three adjacent gears in the M gears.

[0017] Thirdly, embodiments of this application provide a processing system for processing materials. The processing system includes: two chambers connected to each other; and a transmission device as described above, wherein the transmission device is disposed in the two chambers and is used to drive the material to move between the two chambers.

[0018] The transmission control method, transmission equipment, and processing system provided in this application allow only one motor among multiple motors to operate as the drive source for the movement of the carrier and carrier plate at any given time, while the other motors cease operation. When the gear corresponding to a motor that was not originally a drive source is driven and rotates for a period of time or a certain distance, the drive source for the carrier and carrier plate can be switched to the motor corresponding to the driven gear, and the previously operating motors can stop operating, thereby keeping each gear stationary when it is not meshing with the rack.

[0019] The moving carrier can engage with the gear corresponding to a motor that is not a drive source, driving the gear to rotate during movement. After the moving carrier separates from the gear, leaving it idle, the idle gear remains stationary, thus maintaining the distribution and orientation of the gear teeth in the state they were in when the carrier and gear separated—that is, maintaining the optimal state for engagement with the carrier. In this way, when the rack moves in the opposite direction and re-engages with the idle gear, the carrier can smoothly re-engage with the gear, which is still in the optimal engagement state, reducing the occurrence of rack and gear tooth collisions and improving the smoothness of carrier plate transport. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the processing system in an embodiment of this application.

[0021] Figure 2 This is a schematic diagram of the transmission device in the embodiments of this application.

[0022] Figure 3 yes Figure 2 Enlarged view of section III.

[0023] Figure 4 This is a system schematic diagram of the transmission device in the embodiments of this application.

[0024] Figure 5 This is the first flowchart of the transmission control method in the embodiments of this application.

[0025] Figure 6 This is a flowchart of the first triggering process in the embodiments of this application.

[0026] Figure 7 This is the second flowchart of the transmission control method in the embodiments of this application.

[0027] Figure 8 This is a flowchart of the second triggering process in the embodiments of this application.

[0028] Explanation of main component symbols

[0029] Transmission equipment 100

[0030] First chamber 200

[0031] Second chamber 300

[0032] Guide rail 10

[0033] Mounting rack 11

[0034] Carrier 20

[0035] Bearing section 21

[0036] rack 22

[0037] Mounting section 23

[0038] 30 pulley blocks

[0039] First gear 41

[0040] Second gear 42

[0041] Third gear 43

[0042] Fourth gear 44

[0043] First Motor 51

[0044] Second motor 52

[0045] Third motor 53

[0046] Fourth motor 54

[0047] Processor 60

[0048] First inspection item 71

[0049] Second inspection item 72 Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0051] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0052] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0053] Please see Figure 1 and Figure 2 , Figure 1 and Figure 2 An embodiment of the present application is shown.

[0054] In one embodiment, the processing system may include a transfer device 100, a first chamber 200, and a second chamber 300. The first chamber 200 and the second chamber 300 are arranged side by side and communicate with each other. Part of the structure of the transfer device 100 is disposed in the first chamber 200, and the remaining structure is disposed in the second chamber 300.

[0055] It is understood that the transmission device 100 can realize the transmission of a vertical carrier plate (not shown) between two chambers. In the embodiments of this application, there is no specific limitation on the material carried by the carrier plate. For example, the carrier plate can carry silicon wafers used in photovoltaic cells.

[0056] It is understood that the processing system can perform different processing on the material loaded on the carrier plate in two chambers respectively, or process the material in one chamber and collect and load the material in the other chamber. In the embodiments of this application, the type of processing is not specifically limited. For example, the processing performed in the two chambers can be, but is not limited to, cleaning processing, coating processing, etc.

[0057] For example, the processing system can be a Catalytic Chemical Vapor Deposition (CAT-CVD) system. The transport device 100 can transport the carrier plate carrying the silicon wafers. When the carrier plate is in the second chamber 300, the processing system can perform coating processing on the silicon wafers on the carrier plate; when the carrier plate is in the first chamber 200, operators can collect and load the silicon wafers.

[0058] In some embodiments, the transmission device 100 may include a guide rail 10, a carrier frame 20, a plurality of pulley sets 30, a plurality of gears, and a plurality of motors. The guide rail 10 extends in a direction parallel to the first chamber 200 and the second chamber 300, and is fixedly connected to the inner walls of the first chamber 200 and the second chamber 300. The plurality of pulley sets 30 are fixedly mounted on the bottom of the guide rail 10, and are spaced apart along the length of the guide rail 10. The axial direction of the pulley in each pulley set 30 is perpendicular to the length direction of the guide rail 10.

[0059] Please refer to the following: Figure 3 The carrier frame 20 may include a support portion 21, a rack 22, and a hanging portion 23. The support portion 21 may be supported on at least two pulley sets 30, with at least one pulley in each pulley set 30 capable of rolling engagement with the support portion 21. The rack 22 is fixedly mounted on one side of the support portion 21. The rack 22 may be supported on at least two pulley sets 30, with at least one pulley in each pulley set 30 capable of rolling engagement with the rack 22. The hanging portion 23 is fixedly mounted on the bottom end of the support portion 21. The carrier plate may be suspended in the hanging portion 23. The support portion 21 may move in a direction parallel to the first chamber 200 and the second chamber 300, so that the carrier plate connected to the carrier frame 20 moves synchronously.

[0060] Multiple mounting brackets 11 are fixedly mounted on the guide rail 10, and the mounting brackets 11 are spaced apart along the length of the guide rail 10. Each mounting bracket 11 corresponds to a gear, and each gear corresponds to a motor. Each gear is rotatably connected to its corresponding mounting bracket 11. Each motor is fixed relative to the guide rail 10, and the mover of each motor is coaxially fixedly connected to its corresponding gear. Each motor can drive its corresponding gear to rotate. A rack 22 can mesh with at least one gear. The length of the rack 22 is greater than or equal to the distance between any two adjacent gears, and less than the distance between the two ends of any three adjacent gears. Gear rotation can drive the rack 22 to move along the length of the guide rail 10, thereby driving the carrier 20 and the carrier plate to move from the first chamber 200 to the second chamber 300, or from the second chamber 300 to the first chamber 200.

[0061] It can be understood that the distance between two gears refers to the straight-line distance between the centers of the two gears. In the embodiments of this application, the length of the rack 22 is greater than or equal to the distance between any two adjacent gears, so that the rack 22 can mesh with one or two gears simultaneously; the length of the rack 22 is less than the distance between the gears located at both ends of any three adjacent gears, so that the rack 22 meshes with at most two adjacent gears.

[0062] In the embodiments of this application, there is no specific limitation on the number of carrier plates that each carrier 20 can carry. For example, as Figure 1 and Figure 2As shown, each carrier 20 has two mounting spaces, which are spaced apart along the height of the carrier 20, and each mounting space is used to accommodate one carrier plate.

[0063] In the embodiments of this application, the fixing method for fixed installation and fixed connection is not specifically limited. For example, the fixing method may include, but is not limited to, screw fixing, welding fixing, snap-fit ​​fixing, key connection fixing, etc.

[0064] It is understood that a rotatable connection can be achieved through a rotating connector. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, a rotating connector may include, but is not limited to, pins, couplings, bearings, etc.

[0065] For example, each mounting bracket 11 is rotatably connected to a pin via a bearing, each pin is coaxially fixed to a corresponding gear, and the mover of each motor is coaxially fixed to a corresponding pin.

[0066] In the embodiments of this application, the installation position of each motor is not specifically limited. For example, each motor can be fixedly installed on the inner wall of the first chamber 200 and the second chamber 300.

[0067] Please refer to the following: Figure 4 In some embodiments, the transmission device 100 may further include a processor 60. The processor 60 is communicatively connected to each motor. The processor 60 can trigger each motor to start and stop, thereby controlling the movement and stopping of the carrier 20.

[0068] In the embodiments of this application, the type of processor 60 is not specifically limited. For example, processor 60 may be, but is not limited to, a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the above-described program.

[0069] It is understood that the processor 60 can also communicate with an electronic device (not shown). The electronic device can be a device with human-computer interaction, information processing, and communication functions. Operators can operate the electronic device to send trigger commands to the processor 60. After receiving the trigger command, the processor 60 can trigger the corresponding motor to operate, thereby initiating the transfer of the carrier 20 and carrier plate to the first chamber 200 or the second chamber 300.

[0070] In the embodiments of this application, the type of electronic device is not specifically limited. For example, the electronic device may be, but is not limited to, industrial computers, personal computers, etc.

[0071] It is understood that the communication connection can be a wired communication connection implemented through devices such as a bus, or a wireless communication connection implemented through technologies such as wireless local area network, Bluetooth, 3G, 4G, 5G, etc. The embodiments of this application do not limit this.

[0072] In some embodiments, the transmission device 100 may further include a plurality of position detection elements. The plurality of position detection elements may be spaced apart in the first chamber 200 and the second chamber 300. Each position detection element has a corresponding detection area, and each position detection element is used to detect whether the carrier plate has passed through the corresponding detection area.

[0073] The processor 60 is communicatively connected to each position detection element. The processor 60 can receive the detection results of each position detection element, thereby determining the position of the carrier plate and the carrier frame 20 in the first chamber 200 and the second chamber 300.

[0074] In the embodiments of this application, the type of position detection device is not specifically limited. For example, the position detection device may be, but is not limited to, a photoelectric sensor, an infrared sensor, a metal proximity switch, etc.

[0075] For example, multiple position detection elements may include two first detection elements 71 and two second detection elements 72. The first detection elements 71 and the second detection elements 72 may be position detection elements of the same type. The two first detection elements 71 are disposed within the first chamber 200, with one first detection element 71 located on the side of the first chamber 200 away from the second chamber 300 and spaced apart from the inner wall of the side of the first chamber 200 away from the second chamber 300; the other first detection element 71 is located on the side of the aforementioned first detection element 71 facing the second chamber 300. The two first detection elements 71 are spaced apart, and the distance between the two second detection elements 72 is less than the length of the carrier plate in the length direction of the guide rail 10.

[0076] Two second detection elements 72 are disposed within the second chamber 300. One second detection element 72 is located on the side of the second chamber 300 away from the first chamber 200 and is spaced apart from the inner wall of the side of the second chamber 300 away from the first chamber 200. The other second detection element 72 is located on the side of the aforementioned second detection element 72 facing the first chamber 200. The two second detection elements 72 are spaced apart, and the distance between the two second detection elements 72 is less than the length of the carrier plate in the length direction of the guide rail 10.

[0077] Thus, after the carrier plate moves from the second chamber 300 to the first chamber 200 and completely enters the first chamber 200, the carrier plate simultaneously enters the detection area of ​​the two first detection elements 71, that is, the two first detection elements 71 simultaneously detect the passage of the carrier plate; after the processor 60 receives the detection results of the two first detection elements 71, it can determine that the carrier plate has completely entered the first chamber 200, and then the processor 60 can stop the motor that drives the carrier frame 20 to move, thereby stopping the transmission between the carrier frame 20 and the carrier plate and reducing the probability of the carrier frame 20 colliding with the side wall of the first chamber 200.

[0078] After the carrier plate moves from the first chamber 200 to the second chamber 300 and completely enters the second chamber 300, the carrier plate simultaneously enters the detection area of ​​the two second detection elements 72, that is, the two second detection elements 72 simultaneously detect the passage of the carrier plate; after the processor 60 receives the detection results of the two second detection elements 72, it can determine that the carrier plate has completely entered the second chamber 300. Then the processor 60 can stop the motor that drives the carrier frame 20 to move, thereby stopping the transmission between the carrier frame 20 and the carrier plate and reducing the probability of the carrier frame 20 colliding with the side wall of the second chamber 300.

[0079] In the embodiments of this application, when two first detection elements 71 can simultaneously detect the carrier plate, the position of the carrier plate can be defined as a first cutoff position; when two second detection elements 72 can simultaneously detect the carrier plate, the position of the carrier plate can be defined as a second cutoff position. It can be understood that the first cutoff position is completely located within the first chamber 200, and the second cutoff position is completely located within the second chamber 300.

[0080] It is understood that after the processor 60 stops the motor that drives the carrier 20 to move, the carrier plate remains stationary in the first chamber 200 or the second chamber 300. At this time, the operator can close the closed door between the first chamber 200 and the second chamber 300 and process the material on the carrier plate in the first chamber 200 or the second chamber 300.

[0081] In the embodiments of this application, the number of motors and gears is not specifically limited. The number of motors, gears, and mounting brackets 11 is defined as M, where M is a positive integer greater than 1. Simultaneously, the M motors are defined as follows: arranged sequentially from the first chamber 200 to the second chamber 300, namely, first motor 51, second motor 52, ..., the Mth motor; and the M gears are defined as follows: arranged sequentially from the first chamber 200 to the second chamber 300, namely, first gear 41, second gear 42, ..., the Mth gear. Each motor corresponding to a specific number drives the gear corresponding to the same number to rotate, with the first gear 41 located on the side of the first chamber 200 away from the second chamber 300, and the Mth gear located on the side of the second chamber 300 away from the first chamber 200.

[0082] For example, such as Figure 1 and Figure 2 As shown, M can be 4, meaning there are 4 motors, 4 gears, and 4 mounting brackets 11. The 4 motors are arranged in the order of first motor 51, second motor 52, third motor 53, and fourth motor 54 in the direction from the first chamber 200 to the second chamber 300. The corresponding 4 gears are first gear 41, second gear 42, third gear 43, and fourth gear 44.

[0083] The first motor 51, the second motor 52, the first gear 41, and the second gear 42 are located in the first chamber 200, and the third motor 53, the fourth motor 54, the third gear 43, and the fourth gear 44 are located in the second chamber 300. When the carrier plate is in the first cutoff position, the first gear 41 and the second gear 42 mesh with the rack 22; when the carrier plate is in the second cutoff position, the third gear 43 and the fourth gear 44 mesh with the rack 22.

[0084] It is understood that, along the length of the guide rail 10, one first detection element 71 can be located on the side of the first gear 41 away from the second gear 42, and the other first detection element 71 can be located on the side of the second gear 42 away from the first gear 41. Similarly, along the length of the guide rail 10, one second detection element 72 can be located on the side of the M-th gear away from the (M-1)-th gear, and the other first detection element 71 can be located on the side of the (M-1)-th gear away from the M-th gear.

[0085] In other embodiments, the number of gears and mounting brackets 11 is M+2, and the number of motors can be M. The first gear 41 and the M+2th gear are not connected to any motor, and the remaining M-2 gears correspond one-to-one with the M-2 motors. A damping element is provided between the first gear 41 and its corresponding pin, and a damping element is also provided between the M+2th gear and its corresponding pin.

[0086] Thus, when not meshing with rack 22, or meshing with rack 22 but the carrier 20 remains stationary, the first gear 41 and the M+2 gear can remain stationary, thereby reducing the probability of gear collision and improving the stability of carrier plate transmission.

[0087] Please refer to the following: Figure 5 , Figure 5An embodiment of this application provides a transmission control method. The transmission control method can be applied to the processor 60 in the transmission device 100. The transmission control method can control the operation of the transmission device 100 so that only one motor operates during the process of the transmission device 100 driving the carrier plate to move. This reduces the continuous rotation of idle gears not engaged with the rack 22, and reduces the situation where the convex teeth on the rack 22 cannot mesh with the tooth grooves on the gear due to the continuous rotation of the idle gears when the rack 22 approaches the control gear, i.e., reduces the occurrence of rack 22 colliding with gear teeth.

[0088] The transmission control method may include the following steps S51 to S56, and the processor 60 may execute steps S51 to S56 to move the carrier plate from the first chamber 200 to the second chamber 300.

[0089] Step S51: In response to receiving the first trigger command, determine whether the transmission device 100 meets the first start condition.

[0090] It is understood that staff can operate the electronic device to output a first trigger command to the processor 60, causing the processor 60 to execute step S51. The first trigger command can instruct the transmission device 100 to transfer the carrier board from the first chamber 200 to the second chamber 300.

[0091] In the embodiments of this application, the content of the first starting condition is not specifically limited. The first starting condition may be related to whether the transmission device 100 has fault alarm information, whether it is equipped with a specified number of operators, and / or whether each component is in a specified position.

[0092] In some embodiments, the first starting condition may include: the carrier 20 is located at a first cutoff position. When the processor 60 executes step S51, it can determine whether both first detection elements 71 have detected the carrier plate. If both first detection elements 71 have detected the carrier plate, it can be determined that the transmission device 100 meets the first starting condition; if at least one of the two first detection elements 71 has not detected the carrier plate, it can be determined that the transmission device 100 does not meet the first starting condition.

[0093] It is understood that after step S51 is executed, in response to the transmission device 100 not meeting the first starting condition, step S52 is entered; in response to the transmission device 100 meeting the first starting condition, step S53 is entered.

[0094] Step S52: Output a reminder message to the electronic device.

[0095] It is understandable that when the carrier plate is not in the first cutoff position, there may be a situation where the carrier 20 is not in position or the carrier plate is not mounted on the carrier 20. At this time, the processor 60 can output a reminder message to the electronic equipment to remind the staff to check the position of the carrier 20 and the loading status of the carrier plate.

[0096] Step S53: Trigger the first motor 51 to work.

[0097] It can be understood that after the processor 60 triggers the first motor 51 to work, the first motor 51 drives the first gear 41 to rotate, thereby driving the carrier 20 to move towards the second chamber 300. During the movement of the carrier 20, the rack 22 simultaneously meshes with the second gear 42 and pushes the second gear 42 to rotate, thereby driving the mover of the second motor 52 to rotate. At this time, the coil in the second motor 52 is not energized, that is, the second motor 52 does not participate in driving the movement of the carrier 20.

[0098] Step S54: Execute the first triggering process sequentially for the second motor 52 to the Mth motor.

[0099] Please see Figure 6 In some embodiments, Figure 6 The flowchart shows the process when processor 60 executes the first triggering procedure for the Nth motor. Here, N is any positive integer from 2 to M.

[0100] like Figure 6 As shown, the first triggering process may include the following steps S61 to S63.

[0101] Step S61: In response to the operation of the (N-1)th motor, determine whether the Nth gear is rotating.

[0102] It is understood that during step S54, the second motor 52 to the Mth motor sequentially execute the first triggering process. Therefore, when the processor 60 determines whether the rotor of the Nth motor is rotating, the (N-1)th motor should be in a working state. If N is greater than 2, then the processor 60 has completed the execution of the first triggering process for the (N-1)th motor. For example, after the first motor 51 starts working, the processor 60 begins to execute the first triggering process for the second motor 52; after the processor 60 finishes executing the first triggering process for the second motor 52 and the second motor 52 starts working, the processor 60 executes the first triggering process for the third motor 53; and so on, until the processor 60 completes the execution of the first triggering process for the Mth motor, at which point step S54 ends.

[0103] It is understandable that when the (N-1)th motor is working, the carrier 20 moves, and the Nth motor is not working. After the moving carrier 20 meshes with the Nth gear, it can drive the Nth gear to rotate synchronously.

[0104] In the embodiments of this application, the method by which the processor 60 determines whether the Nth gear is rotating is not specifically limited. For example, each gear may be provided with a corresponding rotation detection element, each rotation detection element being used to detect whether the corresponding gear is rotating, and the processor 60 is communicatively connected to each rotation detection element. The processor 60 can receive the detection result of each rotation detection element to determine whether the corresponding gear is rotating.

[0105] For example, each motor has the function of self-detecting whether the mover is rotating. The processor 60 can determine whether the mover of each motor is rotating through the self-detection function of each motor that is not in operation, thereby determining whether the corresponding gear is rotating.

[0106] In the embodiments of this application, the method of self-detection of whether the motor's rotor is rotating is not specifically limited. For example, a rotation detection device (not shown) can be installed between the motor's rotor and stator, and the rotation detection device can be communicatively connected to the processor 60; the rotation detection device can detect whether the rotor is rotating and transmit the detection result to the processor 60. As another example, the motor can detect the current change in its own stator coil. When the motor's stator coil is not powered, the rotation of the rotor can generate current in the stator coil through the principle of magnetoelectricity; the motor can transmit the change in the stator coil current to the processor 60.

[0107] It is understood that when the Nth gear rotates, step S62 can be executed; when the Nth gear does not rotate, the process returns to step S61 to continue determining whether the Nth gear rotates.

[0108] Step S62: Determine whether the Nth motor meets the triggering conditions.

[0109] In the embodiments of this application, the content of the triggering condition is not specifically limited. For example, the triggering condition may be that the running time of the Nth motor reaches a triggering time threshold. Another example is that the triggering condition may be that the rotational stroke of the Nth motor's mover reaches a trigger formation threshold. Yet another example is that the triggering condition may be that both the running time of the Nth motor and the rotational stroke of the Nth motor's mover reach a trigger formation threshold.

[0110] It is understood that the trigger time threshold and the trigger travel threshold can be thresholds preset by the operator before the transmission control method runs. In the embodiments of this application, the trigger time threshold and the trigger travel threshold are not specifically limited. For example, the trigger time threshold can be 3 seconds, and the trigger travel threshold can be 0.3 meters.

[0111] It is understood that when the Nth motor meets the trigger condition, the process proceeds to step S63; when the Nth motor does not meet the trigger condition, the process returns to step S62 to re-determine whether the Nth motor meets the trigger condition.

[0112] Step S63: Trigger the Nth motor to start working and trigger the (N-1)th motor to stop working.

[0113] It is understandable that after the Nth motor's mover and the Nth gear are driven by the rack 22 and rotate for a period of time or stroke, the number of teeth on the rack 22 meshing with the tooth grooves of the Nth gear increases, that is, the tightness of the connection between the carrier 20 and the Nth gear increases. At this time, the processor 60 can stop the operation of the N-1th motor and switch to the Nth motor as the drive source to drive the carrier 20 to continue moving, realizing the switching of the drive source for the movement of the carrier 20 and the carrier plate. After the rack 22 separates from the N-1th gear, the N-1th gear can remain stationary because the N-1th motor stops working. When the carrier 20 moves in the opposite direction, that is, during the process of moving from the second chamber 300 to the first chamber 200, when the rack 22 abuts against the N-1th gear again, since the N-1th gear always remains stationary, the distribution and orientation of the tooth grooves on the N-1th gear have not changed, and the rack 22 can mesh with the N-1th gear. In this way, the probability of the N-1th gear colliding with the rack 22 can be reduced, thus improving the stability of the carrier plate transmission.

[0114] It is understandable that after the processor 60 executes the first triggering process on all motors from the second motor 52 to the Mth motor, it proceeds to step S55.

[0115] Please continue reading. Figure 5 Step S55: Determine whether the transmission device 100 meets the first termination condition.

[0116] In the embodiments of this application, the content of the first termination condition is not specifically limited.

[0117] For example, in some cases, the first termination condition may be: the running time of the Mth motor reaches a first time threshold, and / or the rotor rotation stroke of the Mth motor reaches a first stroke threshold.

[0118] It is understandable that workers can experimentally determine the moving speed of the carrier 20 during the operation of the Mth motor, and the ratio of the rotational stroke of the Mth motor's rotor to the moving distance of the carrier 20. Then, workers can determine the moving distance of the carrier 20 from the start of the Mth motor's operation to its arrival at a designated position within the second chamber 300 when the carrier plate is being processed in the second chamber 300, and calculate the corresponding working time and rotor rotational stroke of the Mth motor based on the obtained moving distance. Workers can use the calculated working time as a first time threshold and the calculated rotor rotational stroke as a first stroke threshold.

[0119] It is understood that when the first termination condition includes the above two conditions, the processor 60 determines that the transmission device 100 satisfies one of the conditions, and thus determines that the transmission device 100 satisfies the first termination condition.

[0120] For example, in other cases, the first termination condition can be: the carrier plate is located at the second termination position.

[0121] It is understandable that when the carrier plate is in the second cutoff position, both the carrier plate and the carrier frame 20 are completely located in the second chamber 300. At this time, the staff can close the second chamber 300 and process the material on the carrier plate.

[0122] For example, in other cases, the first termination condition may include: the carrier plate being in the second cutoff position, and at least one of the following conditions: the running time of the Mth motor reaching a first time threshold and the movement stroke of the Mth motor reaching a first stroke threshold.

[0123] It is understood that when the first termination condition includes two or three of the above conditions, the processor 60 determines that the transmission device 100 meets one of the conditions, thus confirming that the transmission device 100 meets the first termination condition. In this way, when the first detection element 71 malfunctions, the processor 60 can stop moving based on the operating status of the Mth motor, reducing the probability of damage to the carrier plate caused by collision between the carrier 20 and the inner wall of the second chamber 300.

[0124] It is understood that when the transmission device 100 meets the first termination condition, the process proceeds to step S56; when the transmission device 100 does not meet the first termination condition, the process returns to step S55 to re-determine whether the transmission device 100 meets the first termination condition.

[0125] Step S56: Trigger the Mth motor to stop working.

[0126] It is understandable that when the Mth motor stops working, the carrier plate and the carrier frame 20 stop moving. At this time, the carrier frame 20 and the carrier plate are completely located in the second chamber 300, and the staff can close the second chamber 300 and process the materials on the carrier plate.

[0127] It is understood that after steps S51 to S56 are executed, each motor stops working, and each gear remains stationary. The layout and orientation of the tooth slots on each vacant gear remain unchanged, i.e., maintained in the state when the rack 22 is separated from the gear. Thus, with the rack 22 fixedly mounted on the carrier 20 and the carrier 20 connected to the guide rail 10, during the reverse movement of the carrier 20 (moving from the second chamber 300 to the first chamber 200), when the rack 22 moves close to the vacant pair of gears, the protruding teeth on the rack 22 can re-enter the corresponding tooth slot according to the state when they were removed from the corresponding tooth slot, thereby achieving meshing between the rack 22 and the gear. This reduces the probability of tooth collision between the rack 22 and the gear, and improves the smoothness of the movement of the carrier 20 and the carrier plate.

[0128] In other embodiments, when the number of gears and mounting brackets 11 is M+2, and the number of motors is M, wherein the first gear 41 and the Mth gear are not connected to a motor, the first motor 51 can correspond to the second gear 42, the Mth motor can correspond to the (M+1)th gear, that is, the Nth motor can correspond to the (N+1)th gear. Thus, the processor 60 can perform the following operations on the M motors: Figure 5 Steps S51 to S56 are shown.

[0129] Please refer to the following: Figure 7 In some embodiments, the transmission control method may further include steps S71 to S76. The processor 60 may execute steps S71 to S76 to move the carrier plate from the second chamber 300 to the first chamber 200.

[0130] Step S71: In response to receiving the second trigger command, determine whether the transmission device 100 meets the second start condition.

[0131] It is understood that the operator can operate the electronic device to output a second trigger command to the processor 60, so that the processor 60 executes step S71. The second trigger command can instruct the transmission device 100 to transfer the carrier board from the second chamber 300 to the first chamber 200.

[0132] In the embodiments of this application, the content of the second starting condition is not specifically limited.

[0133] In some embodiments, the second starting condition may include: the carrier 20 is located in the second cutoff position. The principle by which the processor 60 executes step S71 is similar to the principle by which it executes step S51; details can be found in [reference needed]. Figure 5 The details and related descriptions will not be repeated here.

[0134] It is understood that after step S71 is executed, in response to the transmission device 100 not meeting the second starting condition, step S72 is entered; in response to the transmission device 100 meeting the second starting condition, step S73 is entered.

[0135] Step S72: Output a reminder message to the electronic device.

[0136] It is understandable that when the carrier plate is not in the second cutoff position, there may be a situation where the carrier 20 is not in position or the carrier plate is not mounted on the carrier 20. At this time, the processor 60 can output a reminder message to the electronic equipment to remind the staff to check the position of the carrier 20 and the loading status of the carrier plate.

[0137] Step S73: Trigger the operation of the Mth motor.

[0138] It can be understood that after the processor 60 triggers the Mth motor to operate, the Mth motor drives the Mth gear to rotate, thereby driving the carrier 20 to move towards the first chamber 200. During the movement of the carrier 20, the rack 22 simultaneously meshes with the (M-1)th gear and pushes the (M-1)th gear to rotate, thereby driving the mover of the (M-1)th motor to rotate. At this time, the coil in the (M-1)th motor is not energized, that is, the (M-1)th motor does not participate in driving the movement of the carrier 20.

[0139] For example, when M is 4, the fourth motor 54 drives the fourth gear 44 to rotate, thereby driving the carrier 20 to move toward the first chamber 200. During the movement of the carrier 20, the rack 22 simultaneously meshes with the third gear 43 and pushes the third gear 43 to rotate, thereby driving the mover of the third motor 53 to rotate. At this time, the coil in the third motor 53 is not energized, that is, the third motor 53 does not participate in driving the movement of the carrier 20.

[0140] Step S74: Execute the second triggering process sequentially for motors M-1 to the first motor 51.

[0141] Please see Figure 8 In some embodiments, Figure 8 The flowchart shows the process when processor 60 executes the first triggering procedure for the (N-1)th motor. Here, N is any positive integer from 2 to M.

[0142] like Figure 8 As shown, the second triggering process may include the following steps S81 to S83.

[0143] Step S81: In response to the operation of the Nth motor, determine whether the (N-1)th gear is rotating.

[0144] It is understood that during step S74, the second triggering process is executed sequentially from the (M-1)th motor to the first motor 51. Therefore, when the processor 60 determines whether the (N-1)th gear is rotating, the Nth motor should be in a working state. If N is less than M, then the processor 60 has completed the execution of the first triggering process for the Nth motor. For example, after the fourth motor 54 starts working, the processor 60 begins to execute the second triggering process for the third motor 53; after the processor 60 finishes executing the second triggering process for the third motor 53 and the third motor 53 starts working, the processor 60 executes the second triggering process for the second motor 52; and so on, until the processor 60 completes the execution of the second triggering process for the first motor 51, at which point step S74 ends.

[0145] It is understandable that the way processor 60 determines whether the (N-1)th gear rotates is the same as or similar to the way processor 60 determines whether the Nth gear rotates when executing step S61. For details, please refer to... Figure 6 The details and related descriptions will not be repeated here.

[0146] It is understood that when the (N-1)th gear rotates, step S82 can be executed; when the (N-1)th gear does not rotate, the process returns to step S81 to continue determining whether the (N-1)th gear rotates.

[0147] Step S82: Determine whether the (N-1)th motor meets the triggering conditions.

[0148] The triggering condition in step S82 can be the same as or similar to the triggering condition in step S62, as detailed in the reference. Figure 6 The details and related descriptions will not be repeated here.

[0149] It is understood that when the (N-1)th motor meets the triggering condition, the process proceeds to step S83; when the (N-1)th motor does not meet the triggering condition, the process returns to step S82 to re-determine whether the (N-1)th motor meets the triggering condition.

[0150] Step S83: Trigger the (N-1)th motor to start working, and trigger the Nth motor to stop working.

[0151] It is understandable that after the (N-1)th motor's mover and the (N-1)th gear are driven by the rack 22 and rotate for a period of time or stroke, the number of teeth on the rack 22 meshing with the tooth grooves of the (N-1)th gear increases, meaning the tightness of the connection between the carrier 20 and the (N-1)th gear increases. At this point, the processor 60 can stop the operation of the Nth motor and switch to using the (N-1)th motor as the drive source to continue moving the carrier 20, thus switching the drive source for the movement of the carrier 20 and the carrier plate. After the rack 22 separates from the Nth gear, the Nth gear can remain stationary because the Nth motor has stopped working. When the carrier 20 moves from the first chamber 200 to the second chamber 300, and the rack 22 abuts against the Nth gear again, since the Nth gear remains stationary, the distribution and orientation of the tooth grooves on the Nth gear have not changed, allowing the rack 22 to mesh with the Nth gear. This reduces the probability of tooth collision between the Nth gear and the rack 22, improving the stability of the carrier plate transmission.

[0152] It is understandable that after the processor 60 executes the second triggering process on all motors from the M-1th motor to the first motor 51, it proceeds to step S75.

[0153] Please continue reading. Figure 7 Step S75: Determine whether the transmission device 100 meets the second termination condition.

[0154] In the embodiments of this application, the content of the second termination condition is not specifically limited.

[0155] For example, in some cases, the second termination condition may be: the running time of the first motor 51 reaches a second time threshold, and / or the rotation stroke of the first motor 51 reaches a second stroke threshold.

[0156] It is understandable that the principles by which staff determine the second time threshold and the second travel threshold can be the same as or similar to those used to determine the first time threshold and the first travel threshold. For details, please refer to... Figure 5 The details and its textual description will not be repeated here.

[0157] It is understood that when the second termination condition includes the above two conditions, the processor 60 determines that the transmission device 100 satisfies one of the conditions, and thus determines that the transmission device 100 satisfies the second termination condition.

[0158] For example, in other cases, the second termination condition can be: the carrier plate is located at the first termination position.

[0159] It is understandable that when the carrier plate is in the first cutoff position, both the carrier plate and the carrier frame 20 are completely located in the first chamber 200. At this time, the staff can close the first chamber 200 and process or collect the materials on the carrier plate.

[0160] For example, in other cases, the second termination condition may include: the carrier plate being in the first cutoff position, and at least one of the following conditions: the running time of the first motor 51 reaching a second time threshold and the rotation stroke of the first motor 51 reaching a second stroke threshold.

[0161] It is understood that when the second termination condition includes two or three of the above conditions, the processor 60 determines that the transmission device 100 meets one of the conditions, thus confirming that the transmission device 100 meets the second termination condition. In this way, when the second detection element 72 malfunctions, the processor 60 can stop moving based on the operating status of the first motor 51, reducing the probability of damage to the carrier plate caused by collision between the carrier 20 and the inner wall of the first chamber 200.

[0162] It is understood that when the transmission device 100 meets the second termination condition, the process proceeds to step S76; when the transmission device 100 does not meet the second termination condition, the process returns to step S75 to re-determine whether the transmission device 100 meets the second termination condition.

[0163] Step S76: Trigger the first motor 51 to stop working.

[0164] It is understandable that when the first motor 51 stops working, the carrier plate and the carrier frame 20 stop moving. At this time, the carrier frame 20 and the carrier plate are completely located in the first chamber 200, and the staff can close the second chamber 300 and process or collect the materials on the carrier plate.

[0165] It is understood that after steps S71 to S76 are executed, each motor stops working, and each gear remains stationary. The layout and orientation of the tooth slots on each vacant gear remain unchanged, i.e., maintained in the state when the rack 22 is separated from the gear. Thus, with the rack 22 fixedly mounted on the carrier 20 and the carrier 20 connected to the guide rail 10, as the carrier 20 moves from the first chamber 200 to the second chamber 300, when the rack 22 moves close to the vacant gear pair, the protruding teeth on the rack 22 can re-enter the corresponding tooth slot according to the state when it was removed from the corresponding tooth slot, thereby achieving meshing between the rack 22 and the gear. This reduces the probability of tooth collision between the rack 22 and the gear, and improves the smoothness of movement of the carrier 20 and the carrier plate.

[0166] In other embodiments, when the number of gears and mounting brackets 11 is M+2, and the number of motors is M, wherein the first gear 41 and the Mth gear are not connected to a motor, the first motor 51 can correspond to the second gear 42, the Mth motor can correspond to the (M+1)th gear, that is, the Nth motor can correspond to the (N+1)th gear. Thus, the processor 60 can perform the following operations on the M motors: Figure 7 Steps S71 to S76 are shown.

[0167] Understandable, in such cases Figure 5 Before steps S51 to S56 are executed, and as shown Figure 7 Before performing steps S71 to S76, the operator can manually drag the carrier 20 back and forth between the first chamber 200 and the second chamber 300 once to determine whether the rack 22 can mesh with each gear, and adjust the placement angle of any gears that cannot mesh. This improves the smoothness of the meshing between the rack 22 and the gears when the transmission equipment 100 performs steps S51 to S56 and steps S71 to S76.

[0168] The processing system and transmission control method provided by the embodiments of this application allow only one motor among multiple motors to operate as the driving source for the movement of the carrier 20 and the carrier plate at a time, while the other motors remain inactive. When the gear corresponding to a motor that was not originally a driving source is driven and rotates for a period of time or a certain distance, the processor 60 can switch the driving source of the carrier plate to the motor corresponding to the driven gear and stop the operation of the preceding or following motor. This keeps each gear stationary when it is not engaged with the rack 22, maintaining the distribution and orientation of the tooth grooves on each unused gear in a state where the gear is separated from the rack 22. In this way, when the rack 22 abuts against an unused gear, the rack 22 can smoothly engage with the gear, reducing the occurrence of rack 22 colliding with gear teeth and thus improving the smoothness of carrier plate transmission.

[0169] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A transmission control method, applied to a transmission device, characterized in that, The transmission device includes a carrier frame, M gears, and M motors that correspond one-to-one with the M gears, where M is a positive integer greater than 1. The M gears are arranged sequentially and spaced apart. The carrier frame is used to hang the carrier plate and cooperates with at least one of the M gears. Each of the M motors is used to drive the corresponding gear to rotate, and each gear is used to drive the carrier frame to move when rotating. The transmission control method includes: In response to the Nth gear being driven to rotate by the carrier and the Nth motor meeting the triggering condition, the Nth motor is triggered to work and the (N-1)th motor is triggered to stop working, where N is any positive integer from 2 to M; or the Nth motor is triggered to work and the (N+1)th motor is triggered to stop working, where N is any positive integer from 1 to M-1.

2. The transmission control method as described in claim 1, characterized in that, The triggering conditions include: The motor's operating time reaches the trigger time threshold; and / or The motor's rotor rotation stroke reaches the trigger stroke threshold.

3. The transmission control method as described in claim 1, characterized in that, The transmission control method further includes: In response to receiving a first trigger command and when the transmission device meets a first start condition, the first motor is triggered to operate, thereby driving the first gear to rotate. The rotation of the first gear drives the carrier to move closer to the Mth gear.

4. The transmission control method as described in claim 3, characterized in that, The transmission control method further includes: When the transmission device meets the first termination condition, the Mth motor is triggered to stop working, so that the Mth gear stops rotating and the carrier stops moving.

5. The transmission control method as described in claim 4, characterized in that, The first termination condition includes: The running time of the Mth motor reaches the first time threshold; and / or The rotor of the Mth motor reaches the first stroke threshold.

6. The transmission control method as described in claim 4, characterized in that, The transmission device is disposed in a connected first chamber and a second chamber. The first gear is located on the side of the first chamber away from the second chamber, and the Mth gear is located on the side of the second chamber away from the first chamber. The transmission device also includes a position detection element for detecting the position of the carrier plate. The first starting condition includes: the carrier plate is located at a first cutoff position, wherein the first cutoff position is located within the first cavity; The first termination condition includes: the carrier plate is located at the second cutoff position, wherein the second cutoff position is located within the second cavity.

7. The transmission control method as described in claim 1, characterized in that, The transmission control method further includes: In response to receiving a second trigger command and when the transmission device meets a second start condition, the Mth motor is triggered to operate, thereby driving the Mth gear to rotate. The rotation of the Mth gear drives the carrier to move closer to the first gear.

8. The transmission control method as described in claim 7, characterized in that, The transmission control method further includes: When the second termination condition is met, the first motor is triggered to stop working, so that the first gear stops rotating and the carrier stops moving.

9. The transmission control method as described in claim 8, characterized in that, The second termination condition includes: The first motor's operating time reaches the second time threshold; and / or The first motor's rotor rotation stroke reaches the second stroke threshold.

10. The transmission control method as described in claim 8, characterized in that, The transmission device is disposed in a connected first chamber and a second chamber. The first gear is located on the side of the first chamber away from the second chamber, and the Mth gear is located on the side of the second chamber away from the first chamber. The transmission device also includes a position detection element for detecting the position of the carrier plate. The second starting condition includes: the carrier plate is located at the second cutoff position, wherein the second cutoff position is located within the second cavity; The second termination condition includes: the carrier plate is located at the first cutoff position, wherein the first cutoff position is located within the second cavity.

11. A transmission device, characterized in that, include: There are M gears, where M is a positive integer greater than 1, and the M gears are arranged sequentially and spaced apart. A carrier frame for hanging a carrier plate and engaging with at least one of the M gears; There are M motors, each corresponding to one of the M gears. Each of the M motors drives the corresponding gear to rotate, and each gear drives the carrier to move when rotating. A processor, connected to each of the motors, is configured to perform the transmission control method as described in any one of claims 1 to 10.

12. The transmission device as described in claim 11, characterized in that, The carrier includes a rack that meshes with at least one of the M gears. The length direction of the rack is the same as the spacing direction of the M gears. The length of the rack is greater than or equal to the distance between any two adjacent gears in the M gears, and less than the distance between the gears located at both ends in any three adjacent gears in the M gears.

13. A processing system for processing materials, characterized in that, The processing system includes: Two chambers, which are connected to each other; The conveying device as described in claim 11 or 12, wherein the conveying device is disposed within the two chambers, and the conveying device is used to drive the material to move within the two chambers.

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