Method for configuring a process in a conveying system and method for configuring a conveying system

Abstract

A configuration method of processes in a conveying system and a configuration method of the conveying system, the conveying system comprising a stator track, the configuration method comprising: obtaining a number of processes, and configuring a corresponding number of stations on the stator track, one-to-one correspondence between the processes and the stations configured on the stator track, and generating a single-link process logic diagram and indicating a flow direction of the processes, wherein the single-link process logic diagram comprises position information of the stations and a correspondence between the processes and the stations, and the flow direction is established between adjacent processes to form a single-link logical control sequence. The configuration method fully configures the stations and the processes on the stator track in a simple and convenient manner; and by generating a process logic diagram and indicating a flow direction of the processes, the correspondence between the processes and the stations and the execution logic can be clearly obtained, thereby facilitating the management and regulation of the stations and the processes.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202311566471.4, filed on November 23, 2023. Technical Field

[0002] The embodiments of this disclosure relate to a method for configuring processes in a conveying system and a method for configuring the conveying system. Background Technology

[0003] With the development of precision positioning platforms and magnetic levitation technology, magnetic levitation precision motion platforms are widely used in magnetic levitation trains and the latest lithography machines. Magnetic levitation motion shares many similarities in principle with magnetic bearings and magnetic levitation trains; however, its control is a combination of both: it requires the high-speed, high-load, and stable linear motion of a magnetic levitation train, as well as the high-precision levitation motion of a magnetic bearing, and simultaneously possesses ultra-high linear motion positioning accuracy.

[0004] Currently, maglev transport technology is widely used in transport systems, such as in logistics or manufacturing, to help companies improve the automation level of production. Summary of the Invention

[0005] At least one embodiment of this disclosure provides a method for configuring processes in a conveying system. In the design of automated production lines, the conveying system schedules the movement of the moving parts with the process as the core and interacts with the working equipment. This configuration method is simple, efficient, more intuitive, and highly interactive.

[0006] In the configuration method provided in this embodiment, the conveying system includes a stator track. The configuration method includes: obtaining the number of processes and configuring a corresponding number of workstations on the stator track, corresponding each workstation configured on the stator track to a process, and generating a single-link process logic diagram and indicating the flow direction of the processes. The single-link process logic diagram includes the position information of the workstations and the correspondence between the processes and the workstations, and the flow direction is established between adjacent processes to form a single-link logical control sequence.

[0007] For example, the configuration method provided in this embodiment includes: displaying the single-link process logic diagram and the flow direction of the process graphically on a user interface; adjusting the single-link process logic diagram according to the instructions received by the user interface to form a multi-link process logic diagram and indicating the flow direction of the process to form a multi-link logic control sequence, wherein at least one process in the multi-link process logic diagram includes multiple workstations, or the multi-link process logic diagram includes at least one process group, each process group including multiple processes, or the flow direction of at least some processes in the multi-link process logic diagram is established between non-adjacent processes, and displaying the multi-link process logic diagram and the flow direction of the process graphically on the user interface.

[0008] For example, in the configuration method provided in this embodiment, the multi-link process logic diagram includes at least one process group. Adjusting the single-link process logic diagram and indicating the flow direction of the process includes: grouping at least some processes in the single-link process logic diagram to form at least one process group, wherein each process group includes at least two processes, the execution stations of the at least two processes are adjacent, and updating the flow direction of the processes in the at least one process group, wherein the multi-link process logic diagram includes display information of the at least one process group.

[0009] For example, in the configuration method provided in this embodiment, grouping at least some processes in the single-link process logic diagram to form at least one process group includes: adjusting the distance between the execution stations of the at least two adjacent processes to be formed into a process group according to the instructions received by the user interface, updating the position information of the execution stations of the at least two processes, and grouping the at least two processes to form a process group.

[0010] For example, in the configuration method provided in this disclosure, updating the flow direction of the processes in the at least one process group includes: adjusting or increasing the flow direction of the processes in the at least one process group according to the instructions received by the user interface.

[0011] For example, in the configuration method provided in this embodiment, the multi-link process logic diagram includes multiple process groups. Adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: grouping at least some processes in the single-link process logic diagram to form the multiple process groups, wherein the multiple process groups include adjacent first process groups and second process groups, and updating the flow direction of the processes in the first process group and the second process group, wherein the multi-link process logic diagram includes display information of the multiple process groups.

[0012] For example, in the configuration method provided in this embodiment, at least one process in the multi-link process logic diagram includes multiple workstations. Adjusting the single-link process logic diagram and indicating the flow direction of the process includes: adding workstations to the at least one process to form a multi-workstation process, and updating the flow direction of the multi-workstation process, wherein the multi-link process logic diagram includes display information of the multi-workstation process.

[0013] For example, in the configuration method provided in this embodiment, adding a workstation to the at least one process to form a multi-workstation process includes: adding a workstation to the at least one process according to an instruction received from the user interface, updating the location information of the added workstation and the correspondence between the at least one process and its corresponding workstation, and updating the flow direction of the multi-workstation process, wherein the multi-link process logic diagram includes the display information of the multi-workstation process.

[0014] For example, in the configuration method provided in this disclosure embodiment, the flow direction of at least some processes in the multi-link process logic diagram is established between non-adjacent processes. Adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: modifying or adding the flow direction of at least one process to adjust or add the flow direction of the at least one process to a process that is not adjacent to it.

[0015] At least one embodiment of this disclosure also provides a configuration method for a conveying system, including: configuring a stator track, configuring a step on the stator track, wherein the configuration method provided in the embodiments of this disclosure is used to configure the step, configuring a mover on the stator track, and setting motion parameters of the mover.

[0016] For example, in the configuration method provided in this embodiment, the stator track includes multiple splicable tracks, and the method includes: splicing and combining at least a portion of the semi-circular splicing track, the straight splicing track, the right-angle splicing track, and the V-shaped splicing track according to the instructions received from the user interface to form the stator track.

[0017] For example, the configuration method provided in this embodiment further includes: setting the docking coordinates of the mover on the workstation.

[0018] For example, in the configuration method provided in the embodiments of this disclosure, there are multiple movers, and the motion parameters of the multiple movers between two adjacent workstations are set to be the same. The motion parameters include at least one of the mover's acceleration change law, velocity change law, and mover position change law.

[0019] For example, in the configuration method provided in the embodiments of this disclosure, the number of moving parts is multiple, and the motion parameters of the moving parts are set, including: after the multiple moving parts move to multiple workstations corresponding to the multi-station process, the multiple moving parts leave synchronously.

[0020] For example, in the configuration method provided in the embodiments of this disclosure, the motion parameters also include the safe distance between two adjacent moving parts and the dwell time of the moving part at each workstation.

[0021] For example, the configuration method provided in this disclosure embodiment further includes: simulating the operation of multiple movers on the stator track on a user interface.

[0022] At least one embodiment of this disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the process configuration method of the conveying system described in the embodiments of this disclosure or the planning method of the conveying system described in the embodiments of this disclosure. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0024] Figure 1 A schematic diagram of a conveying system provided in at least one embodiment of this disclosure;

[0025] Figure 2 A flowchart illustrating a method for configuring processes in a conveying system provided in at least one embodiment of this disclosure;

[0026] Figure 3 This is a schematic diagram of the automatic generation process in the configuration method provided in at least one embodiment of the present disclosure;

[0027] Figure 4 This is a schematic diagram of an editing station in a configuration method provided in at least one embodiment of this disclosure;

[0028] Figure 5 A schematic diagram illustrating the configuration method for setting up a multi-station process in at least one embodiment of this disclosure;

[0029] Figure 6 This is a schematic diagram illustrating the process of editing workstation steps on a graphic and grouping at least some steps in a configuration method provided in at least one embodiment of the present disclosure;

[0030] Figure 7 A flowchart illustrating a configuration method for a conveying system provided in at least one embodiment of this disclosure;

[0031] Figure 8 A schematic diagram of a shuttle-type conveyor system provided in at least one embodiment of this disclosure;

[0032] Figures 9A-9C A schematic diagram of various stator tracks for a conveying system provided in at least one embodiment of this disclosure;

[0033] Figures 10A-10D A schematic diagram of the spliced ​​portion of the stator track in a conveying system provided in at least one embodiment of this disclosure;

[0034] Figure 11 A schematic diagram of the user interface of a conveying system provided for at least one embodiment of this disclosure; and

[0035] Figure 12 This is a schematic diagram of a conveying system provided for at least one embodiment of the present disclosure. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0037] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0038] In maglev transportation, due to the diversity of transport tracks, the configuration of workstations and processes is a very complex and cumbersome process, which is usually time-consuming, costly, unusable, and inefficient.

[0039] At least one embodiment of this disclosure provides a method for configuring processes in a conveying system. The conveying system includes a stator track. The configuration method includes: obtaining the number of processes and configuring a corresponding number of workstations on the stator track; mapping the workstations configured on the stator track to the processes one-to-one; and generating a single-link process logic diagram and indicating the flow direction of the processes. The single-link process logic diagram includes the location information of the workstations and the correspondence between the processes and the workstations, and the flow direction is established between adjacent processes to form a single-link logical control sequence.

[0040] At least one embodiment of this disclosure provides a configuration method for a conveying system. The configuration method includes: configuring a stator track, configuring a step on the stator track, wherein the configuration method provided in the embodiments of this disclosure is used to configure a mover on the stator track, and setting motion parameters of the mover.

[0041] In the embodiments of this disclosure, workstations and processes are generated in a one-to-one correspondence (mapping), and the number of processes is the same as the number of workstations. This allows for a simple and convenient way to fully configure the workstations and processes on the stator track, improving the efficiency and flexibility of the conveying system configuration. Furthermore, the single-link process logic diagram is automatically generated, which is fast and efficient. This single-link process logic diagram can also serve as the basis for adjusting the multi-link process logic diagram, facilitating the formation of a multi-link logic control sequence. In addition, by generating the process logic diagram and indicating the flow direction of the processes, the correspondence between processes and workstations, as well as the execution logic, can be clearly obtained, thereby facilitating the management and control of workstations and processes.

[0042] The following describes the configuration method of the process in the conveying system and the configuration method of the conveying system provided in this disclosure through several specific embodiments.

[0043] This disclosure provides at least one embodiment of a method for configuring processes in a conveying system. Figure 1 A schematic diagram of the transportation system is shown. Figure 2 A flowchart illustrating the configuration method of processes in a conveying system is shown. For example... Figure 1 As shown, the conveying system includes a stator track 11, on which multiple stations 12 can be set. Multiple moving parts can move along the stator track 11 to pass through each station 12 and complete the corresponding process at each station 12.

[0044] like Figure 2 As shown, the configuration method of the process includes steps S101-S103.

[0045] Step S101: Obtain the number of processes and configure the corresponding number of workstations on the stator track.

[0046] For example, the number of stations 12 required on the stator track 11 is equal to the number of processes. Therefore, once the number of processes is obtained, the corresponding number of stations 12 can be configured on the stator track 11.

[0047] For example, in Figure 1 In one embodiment, when the number of processes is 10, 10 workstations 12 are configured on the stator track 11 to complete the above 10 processes respectively.

[0048] Step S102: Match the workstations configured on the stator track with the processes one by one.

[0049] For example, the workstations 12 configured on the stator track 11 can be mapped one-to-one with the processes according to the execution order of the processes and the arrangement order of the workstations 12 on the stator track 11. Thus, one workstation corresponds to one process.

[0050] For example, when the workstations 12 configured on the stator track 11 correspond one-to-one with the processes, they can be arranged in a clockwise order ( Figure 1 Alternatively, they can be matched one-to-one in a counter-clockwise order.

[0051] Step S103: Generate a single-link process logic diagram and indicate the flow direction of the process. The single-link process logic diagram includes the location information of the workstations and the correspondence between the process and the workstations. The flow direction is established between adjacent processes to form a single-link logical control sequence.

[0052] For example, after the station 12 configured on the stator track 11 is matched with the process, a single-link process logic diagram is automatically generated. Thus, the process in the single-link process logic diagram is a single-station process, and the flow between processes is established between adjacent processes.

[0053] For example, Figure 3 The diagram shows the process logic generated by corresponding each station 12 on the stator track 11 with a specific process, as shown below. Figure 3 As shown, the arrows represent the flow direction of the process. The mover on the stator track 11 can pass through each station 12 in the order indicated by the arrows to complete the corresponding process. For example, in a single-link process logic diagram, the flow direction of the process can be established in a clockwise or counterclockwise direction.

[0054] In the embodiments of this disclosure, the single-link process logic diagram is suitable for simple production lines. Through the configuration method provided in the embodiments of this disclosure, the workstations and processes on the stator track can be fully configured in a simple and convenient way, thereby improving the efficiency and flexibility of the conveying system configuration. In addition, by generating the process logic diagram and indicating the flow direction of the process, the correspondence between the process and the workstation and the execution logic can be clearly obtained, thereby facilitating the management and control of the workstations and processes.

[0055] For example, in some embodiments, the single-link process logic diagram and the flow of the process can be displayed graphically on the user interface so that users can clearly and intuitively understand the correspondence between the process and the workstation 12 and the execution logic of the process.

[0056] For example, when the production line is so complex that a single-link process logic diagram is insufficient, a multi-link process logic diagram can be formed based on the single-link process logic diagram to meet more complex logic control requirements.

[0057] For example, after a single-link process logic diagram and its flow direction are graphically displayed on the user interface, the single-link process logic diagram can be adjusted according to the instructions received by the user interface, i.e., the instructions entered by the user on the user interface, to form a multi-link process logic diagram and indicate the flow direction of the processes, thereby forming a multi-link logical control sequence. For example, at least one process in the multi-link process logic diagram includes multiple workstations, or the multi-link process logic diagram includes at least one process group, each process group including multiple processes, or the flow direction of at least some processes in the multi-link process logic diagram is established between non-adjacent processes. Then, the multi-link process logic diagram and its flow direction are graphically displayed on the user interface.

[0058] Therefore, in the embodiments of this disclosure, a multi-link process logic diagram can be formed based on the single-link process logic diagram displayed on the user interface, and based on the user's graphical operations on the user interface. This process is simpler and more intuitive. For example, after the system automatically generates a single-link process logic diagram, the user can directly modify or add to it on the user interface to quickly form a multi-link process logic diagram, improving the convenience and flexibility of production line design. Furthermore, by dividing process logic control into single-link control and complex link logic control, different configuration requirements can be met.

[0059] For example, Figure 4 The illustration shows a schematic diagram of editing workstation positions and adding workstations on a user interface in the configuration method provided by an embodiment of this disclosure. For example, the above-mentioned editing of workstation positions and adding of workstations are implemented according to instructions received from the user interface. For example, the user can edit workstations on a graphical track and process relationship diagram on the user interface, such as moving the position of a workstation or adding a workstation at a certain position.

[0060] For example, refer to Figure 4 The user interface can display a workstation editing toolbar. When the workstation editing mode is enabled, the corresponding number of the workstation can be selected directly on the stator track, and the workstation position can be modified by dragging it. At this time, the process logic is not changed.

[0061] For example, the workstation editing toolbar can also have a workstation addition function. For instance, after selecting the workstation addition function, a workstation can be added by clicking on the stator track. Figure 4 The diagram shows the addition of workstations 11, 12, and 13.

[0062] For example, in some embodiments, when some workstations need to wait for multiple actuators to arrive before performing work simultaneously, a multi-workstation process can be set up.

[0063] At this time, at least one process in the multi-link process logic diagram includes multiple workstations. Adjusting the single-link process logic diagram and indicating the flow direction of the process includes: adding workstations to at least one process to form a multi-workstation process, and then updating the flow direction of the multi-workstation process. The multi-link process logic diagram includes display information of the multi-workstation process.

[0064] For example, based on instructions received from the user interface, a workstation can be added to at least one of the above-mentioned processes. The method of adding a workstation can be referred to the above description. Then, the location information of the added workstation and the correspondence between the at least one process and its corresponding workstation are updated. Then, the flow direction of the multi-workstation process is updated. The multi-link process logic diagram includes the display information of the multi-workstation process.

[0065] For example, each multi-station process includes at least two stations (e.g., two, three, four, or more stations) that are adjacent to each other and can be used to perform the same, similar, or interchangeable tasks. In this case, during operation, multiple actuators can sequentially arrive at at least two stations of the multi-station process, and each station operates simultaneously upon the arrival of an actuator. Afterward, the actuators can simultaneously depart to proceed to the next indicated station.

[0066] For example, Figure 5 The diagram illustrates a configuration method provided in this disclosure, in which workstations are added to at least some processes on a user interface to form a multi-workstation process. For example, adding a workstation to a corresponding process is achieved based on instructions received from the user interface; for instance, a user can edit workstations and processes on a graphical track and process logic diagram on the user interface.

[0067] For example, refer to Figure 5In the process of converting station 1 and station 11 into a multi-station operation, since the newly added station 11 does not have any added operation logic, you can drag the icon of station 11 onto operation 1 on the user interface to form a multi-station operation. Alternatively, according to the operation-station correspondence options on the user interface, you can, for example, right-click to add a station in the operation 1 options on the user interface and select station number 11 to add station 11 to operation 1, thus forming a multi-station operation containing station 1 and station 11. Similarly, refer to... Figure 5 In the process of turning station 2 and station 12 into a multi-station operation, you can drag the icon of station 12 to operation 2 on the user interface to form a multi-station operation. Alternatively, according to the operation and station correspondence options on the user interface, you can, for example, right-click to add a station and select station number 12 in the operation 2 options on the user interface to add station 12 to operation 2, so that operation 2 forms a multi-station operation containing station 2 and station 12.

[0068] For example, the flow of a multi-station process can be the same process, such as... Figure 5 The situation is illustrated. In other embodiments, the flow direction of a multi-station process can also be multiple different processes. For example, the flow direction of process 2 can simultaneously include processes 3 and 4. In this case, the mover that completes its work at station 2 and the mover that completes its work at station 12 can go to processes 3 and 4 respectively. In this case, after the multi-station process is formed, it is necessary to further adjust and update the flow direction of the multi-station process.

[0069] For example, in single-link control logic, the processes are generally performed in a clockwise or counterclockwise order. However, in some embodiments, the execution logic of the processes needs to overlap, for example, see reference... Figure 6 After process 3 is completed, process 5 can be executed directly without process 4. Similarly, after process 2 is completed, process 4 can be executed directly without process 3. Alternatively, after process 2 is completed, either process 3 or process 4 can be executed. In this case, the single-link control logic is no longer sufficient. Therefore, the single-link control logic can be modified into a multi-link control logic.

[0070] For example, in a multi-link process logic diagram, the flow of at least some processes is established between non-adjacent processes. In this case, adjusting the single-link process logic diagram and indicating the flow of processes includes modifying or adding the flow of at least one process to adjust or add the flow of at least one process to a non-adjacent process. Thus, the single-link process logic is modified into a complex multi-link process logic.

[0071] For example, in the process of adjusting the flow of processes, refer to Figure 6An arrow can be added to the icon of process 3 pointing to the icon of process 5, or the icon of process 3 can be dragged and dropped onto the icon of process 5, thus establishing a process flow between process 3 and process 5 and updating the process logic diagram. Similarly, an arrow can be added to the icon of process 2 pointing to the icon of process 4, or the icon of process 2 can be dragged and dropped onto the icon of process 4, thus establishing a process flow between process 2 and process 4. The flow adjustments between process 7 and process 9, and between process 8 and process 10, can also be established in this way.

[0072] For example, the flow from process 2 to process 3 is automatically generated, such as when generating a single-link process logic diagram. If the flow after process 2 can also be process 4, it can be dragged directly on the user interface, such as adding an arrow to the icon of process 2 pointing to or dragging it to process 4 to add flow information.

[0073] For example, in other embodiments, the process flow between process 3 and process 5 can be established by sequentially clicking (e.g., single-clicking or double-clicking) the icon of process 3 and the icon of process 5; or, other operation methods can be used to establish the process flow between different processes on the user interface, which is not specifically limited in the embodiments of this disclosure.

[0074] For example, in some embodiments, when some processes can be executed simultaneously, or some processes perform similar tasks, or some processes perform related tasks, the processes can be grouped to form process groups.

[0075] For example, a multi-link process logic diagram includes at least one process group. In this case, adjusting a single-link process logic diagram and indicating the flow direction of the processes includes: grouping at least some processes in the single-link process logic diagram to form at least one process group, wherein each process group includes at least two processes, the execution stations of the at least two processes are adjacent, and updating the flow direction of the processes in the at least one process group, wherein the multi-link process logic diagram includes the display information of the at least one process group.

[0076] For example, in actual operation, the distance between the execution stations of at least two adjacent processes to be formed into a process group can be adjusted to be closer according to the instructions received from the user interface. Then, the position information of the execution stations of at least two processes can be updated. After that, at least two processes can be grouped to form a process group.

[0077] For example, updating the flow of processes in at least one process group includes: adjusting or increasing the flow of processes in the at least one process group according to instructions received from the user interface.

[0078] For example, in some embodiments, the multi-link process logic diagram includes multiple process groups. In this case, adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: grouping at least some processes in the single-link process logic diagram to form multiple process groups, wherein the multiple process groups include adjacent first process groups and second process groups; and then updating the flow direction of the processes in the first process group and the second process group, wherein the multi-link process logic diagram includes display information of multiple process groups.

[0079] For example, Figure 6 The diagram illustrates a configuration method provided in this embodiment, in which at least some processes are grouped. For example, grouping at least some processes is implemented according to instructions received from the user interface. For instance, a user can edit processes on a graphical single-link process logic diagram on the user interface.

[0080] For example, refer to Figure 6 When grouping processes 3 and 4 into a single process group, you can select both processes 3 and 4 simultaneously on the user interface and use the right-click grouping function or grouping options to group them into process group 1. Alternatively, the user interface may display grouping options; in this case, you can select the process numbers of processes 3 and 4 to group them into process group 1. Similarly, refer to... Figure 6 When grouping process 5 and process 6 into a process group, you can select process 5 and process 6 simultaneously on the user interface and use the right-click grouping function or grouping options to group process 5 and process 6 into a process group 2; or, you can select the numbers of process 5 and process 6 in the grouping options on the user interface to group process 5 and process 6 into a process group 2.

[0081] For example, in other embodiments, if it is necessary to group processes 8, 9, and 10 into a process group, processes 8, 9, and 10 can be selected simultaneously, and the right-click grouping function or grouping option can be used to turn processes 8, 9, and 10 into a process group 3.

[0082] For example, the display information of the process groups included in a multi-link process logic diagram can be as follows: Figure 6 The gray box information shown indicates that process 3 and process 4 are grouped into process group 1, process 5 and process 6 are grouped into process group 2, and process 8, process 9, and process 10 are grouped into process group 3. In other embodiments, process groups can also be circled with dashed boxes, or process numbers of the same color can be used to represent process numbers. In this case, processes numbered with the same color are grouped into a process group.

[0083] For example, in some embodiments, to facilitate the formation of process groups, the distance between the execution stations of at least two adjacent processes to be formed into a process group can be adjusted to be closer, see [link to relevant documentation]. Figure 4 The process involves editing the workstation locations, updating the location information of at least two workstations for each process, and then grouping these two processes into a process group. As a result, in the multi-link process logic diagram displayed on the user interface, the processes within each process group are closer together, appearing more like a unified whole, allowing users to quickly and accurately understand the process logic.

[0084] For example, refer to Figure 6 Before grouping processes 3 and 4 into process group 1, the positions of station 5 (involved in process 3) and station 6 (involved in process 4) can be adjusted to be closer together. Then, the position information of station 5 and station 6 is updated, and then process 3 and process 4 are grouped. Similarly, before grouping processes 5 and 6 into process group 2, the positions of station 7 (involved in process 5) and station 8 (involved in process 6) can be adjusted to be closer together. Then, the position information of station 7 and station 8 is updated, and then process 5 and process 6 are grouped. At this point, the user can see the process group information more intuitively on the user interface.

[0085] For example, after forming a process group, the flow direction of the processes within the process group can be updated. This can be achieved by adjusting or adding processes based on instructions received from the user interface. For instance, the flow direction of processes within a process group can be between multiple processes within a single process group, such as the flow from process 8 to process 10 in process group 3. Alternatively, the flow direction can be between processes in different process groups, such as the flow from processes 3 and 4 in process group 1 to processes 5 and 6 in process group 2. It can also be between a process group and a single-station process, such as the flow from process group 3 to process 11. Furthermore, the flow direction can be between a process group and a multi-station process, such as the flow from process 2 to process group 1. This allows for flexible adjustments between processes.

[0086] For example, in Figure 6 In this embodiment, the multi-link process logic diagram formed based on the single-link process logic diagram includes multiple process groups, which include adjacent first process group 1 and second process group 2. Then, the flow direction of the processes in the first process group 1 and second process group 2 can be updated; for example, a flow direction can be established between the processes in the first process group 1 and second process group 2. For example, in... Figure 6In this embodiment, the first process group 1 and the second process group 2 include the same number of processes. In this case, for example, the flow direction of process 3, which is earlier in the first process group 1, can be directed to process 5, which is earlier in the second process group 2, and the flow direction of process 4, which is later in the first process group 1, can be directed to process 8, which is later in the second process group 2. This facilitates the sequential passage of multiple actuators through the first process group 1 and the second process group 2.

[0087] For example, in Figure 6 In this embodiment, multiple process groups include adjacent first process group 1, second process group 2, and third process group 3. The number of processes included in adjacent second process group 2 and third process group 3 is different. In this case, the actuator passing through second process group 2 can first reach process 8 in the third process group 3, which is closest to second process group 2, and then proceed to other processes. For example, flow directions can also be established between the processes in third process group 3. For example, the actuator passing through process 8 can proceed to process 9 or process 10. For example, flow directions can also be established between third process group 3 and its adjacent processes. For example, the flow direction of process 7 is process 8 or process 9, and the flow direction of process 9 is processes 10 and 11.

[0088] Therefore, in the embodiments of this disclosure, the single-link process logic is generated through a one-to-one correspondence (mapping) between workstations and processes, thereby enabling a simple and convenient configuration of the single-link process logic for the workstations and processes on the stator track. In addition, the single-link process logic diagram can be displayed graphically on the user interface, clearly showing the correspondence between processes and workstations and the execution logic. Furthermore, users can edit and adjust the single-link process logic diagram more intuitively and accurately on the user interface according to their needs, forming a multi-link process logic diagram with complex logic, increasing the flexibility and diversity of process configuration.

[0089] At least one embodiment of this disclosure also provides a method for configuring a conveying system. Figure 7 A flowchart of the configuration method is shown, such as Figure 7 As shown, the configuration method includes steps S201-S204.

[0090] Step S201: Configure the stator track.

[0091] For example, the shape, length, and form of the stator track 11 can be configured according to requirements.

[0092] For example, in some embodiments, reference Figure 1 and Figure 8 The stator track 11 can be a shuttle-type stator track. In this case, the stator track 11 is divided into multiple splicable parts 1-10, and a shuttle track 13 is provided on at least one splicable part, for example... Figure 8 The diagram shows that sections 1 and 6 are provided with a transfer track 13, so that sections 1 and 6 can move along the transfer track 13 to transfer between two horizontally arranged stator track rows.

[0093] For example, in some other embodiments, the stator track 11 may also be circular, see reference. Figure 9A The stator track 11 can also be a ring, or as shown in the image. Figure 9B As shown, the stator track 11 can also be a racetrack-shaped ring, or as shown in the figure. Figure 9C As shown, the stator track 11 can also be a rectangular ring, or it can also be a triangle, S-shape or other irregular branch shape, etc. The embodiments of this disclosure do not limit the specific form of the stator track 11.

[0094] For example, the stator track includes multiple combinable tracks. In this case, at least some of the semi-circular, straight, right-angle, and V-shaped combinable tracks can be combined according to the instructions received from the user interface to form the stator track.

[0095] For example, users can configure the stator track on the user interface. The user interface may display track configuration options, and upon accessing these options, the track configuration page may have multiple connectable sections, including but not limited to... Figure 10A The semi-circular ring shown (for example, it can be used to form runway-shaped, circular, and S-shaped stator tracks, etc.) Figure 10B The straight lines shown (e.g., those that can be used to form runway-shaped, rectangular, and straight stator tracks, etc.) are as follows: Figure 10C The right angle shown (e.g., can be used to form rectangles and irregularly shaped stator tracks, etc.) and such Figure 10D The V-shape shown (for example, it can be used to form triangles and irregularly shaped stator tracks, etc.) allows these connectable parts to be spliced ​​together on the user interface to form, for example, Figures 9A-9C as well as Figure 8 Various types of stator tracks are shown and formed to the required dimensions, for example, by increasing or decreasing the length of the track by adding or subtracting the corresponding straight splice sections.

[0096] For example, the track configuration page can also have various forms of shuttle tracks, such as vertical shuttle tracks or planar shuttle tracks, to form shuttle-type stator tracks. For example, vertical shuttle tracks can be arranged vertically in space to transport the splicable parts of the stator track in the vertical direction. Planar shuttle tracks can be arranged in a plane to transport the splicable parts of the stator track in a plane.

[0097] For example, in some embodiments, the stator track can also be combined with other forms of conveyor structures such as belts to form a hybrid track. In this case, icons of other forms of conveyor structures such as belts can also be displayed on the track configuration page for users to select and assemble tracks.

[0098] Step S202: Configure the process on the stator track.

[0099] For example, the configuration method provided in the embodiments of this disclosure can be used to configure the process, thereby generating a one-to-one correspondence between the workstations on the stator track and the process, and displaying the process logic diagram on the user interface in a graphical manner. The correspondence between the process and the workstation and the execution logic can be clearly obtained, and the process logic diagram can be adjusted on the user interface, thereby facilitating the management and control of the workstations and processes.

[0100] For example, Figure 11 A schematic diagram of the user interface is shown, such as... Figure 11 As shown, the user interface graphically displays a simulation diagram of the conveyor line formed by the stator tracks, and also graphically displays the process logic diagram. For example, the user interface also displays the process logic in a list format, that is, the target process after each process is executed. This list corresponds to the process logic diagram, so that users can obtain process logic information in multiple ways.

[0101] Step S203: Configure the mover on the stator track.

[0102] For example, the mover can be configured on the stator track according to the process logic diagram, such as configuring the starting position of the mover and the stopping position of the mover at each station.

[0103] For example, in Figure 1 In one embodiment, the starting position of the mover can be part 1 and / or part 6 of the stator track 11. In this case, multiple movers can be arranged sequentially on part 1 and / or part 6, waiting to be started.

[0104] For example, the number of movers set on the user interface needs to be the same as the number of movers actually set in the transportation system. When the specific position of the movers is not configured, the movers can be randomly arranged on the stator track and displayed on the user interface. After the starting position of the movers is set on the user interface, these movers will move to the corresponding starting position.

[0105] For example, the stopping position of the mover can be set at each station of the stator track 11, such as stopping coordinates. This can be done by selecting the corresponding position on the user interface, for example, by moving the mouse to the corresponding position. Alternatively, the user interface may have a mover stopping position option; after entering the mover stopping position setting page, the stopping coordinates of the mover at each station can be entered to set the mover stopping position. Alternatively, the mover stopping position can be manually set in the conveying system. The embodiments of this disclosure do not limit the method of setting the mover stopping position.

[0106] Step S204: Set the motion parameters of the mover.

[0107] For example, in some embodiments, there are multiple movers, and the motion parameters of the multiple movers between two adjacent workstations can be set to be the same. These motion parameters may include the motion parameters such as the motion parameters of the mover's acceleration variation, velocity variation, and position variation.

[0108] Therefore, multiple movers do not need to interact with the conveying system, and multiple movers can move continuously according to the uniformly set motion parameters. This makes the motion of multiple movers uniform and saves the buffer time of the mover anti-collision design in asynchronous control, thus greatly improving work efficiency. On the other hand, the same motion parameters of multiple movers can reduce the vibration of the conveyor line, effectively reduce mechanical wear, noise, heat generation and other problems, and improve the stability of the system.

[0109] For example, in Figure 12 The user interface shows the maximum velocity and maximum acceleration of the mover as examples. In some embodiments, the user interface can also display more mover motion parameters as needed, such as the mover's motion curve.

[0110] For example, in some embodiments, the motion parameters also include the safe distance between two adjacent movers (i.e., the minimum center-to-center distance between adjacent movers, which is maintained during movement to prevent collisions in congested conditions) and the dwell time of the movers at each station. Thus, the travel pattern of multiple movers along the entire stator track is determined. For example, the safe distance between two adjacent movers can be determined based on the width of the carrier on the mover and the target object being carried.

[0111] For example, in some embodiments, after the above steps are completed, the configuration method may further include: simulating the operation of multiple movers on stator tracks on a user interface.

[0112] For example, each mover stops upon reaching a workstation and then interacts with the external process execution equipment. Once the process execution equipment completes its process, the mover moves to the workstation corresponding to the next process. Before starting the actual operation of the conveyor system, the working logic of the conveyor line and the movers can be simulated on the user interface, i.e., process simulation, to help users demonstrate the working logic, dwell time, etc. of the entire conveyor line in advance on the user interface.

[0113] Therefore, it is possible to review the operation of multiple movers on the stator track 11, the setting of workstations and processes, and whether the execution of the processes of the movers at each workstation meets the requirements. If the requirements are met, the current configuration can be confirmed and the conveying system can be controlled accordingly. If the requirements are not met, adjustments can be made according to the simulation to ensure the safe and reliable execution of the conveying system's processes.

[0114] For example, the simulation steps described above can be selected, such as... Figure 12 As shown, the user interface may have a process simulation option. For example, when using a new configuration for the first time, you can choose to open the process simulation program and simulate working time to review the new configuration; when the configuration being executed is a familiar or well-established configuration, you can choose to close the process simulation program to save time.

[0115] For example, in the embodiments of this disclosure, the execution order of steps S101-S103 and steps S201-S204 can be adjusted. They do not need to be strictly executed in the order of S101-S102-S103 and S201-S202-S203-S204. In some embodiments, at least some steps can be executed simultaneously or in a different order. For example, steps S202 and S203 can be executed simultaneously or step S203 can be executed before step S202, as long as all these steps are executed.

[0116] For example, the configuration method provided in the embodiments of this disclosure can be used in a magnetic levitation transportation system, for example, Figure 12 A schematic diagram of the structure of the maglev transportation system is shown. Figure 12 The illustrated maglev transportation system has a runway-shaped stator track. For example, the transportation system includes a stator track 11, multiple movers 14, a memory, a controller, a hub, and a power supply, among other structures.

[0117] For example, such as Figure 11 As shown, a plurality of movers 14 are arranged on the stator track 11, and the plurality of movers 14 can be driven to move on the stator track 11. For example, each mover 14 may include a carrier such as a pallet, which can be used to carry items to be transported.

[0118] For example, the stator track 11 includes a coil disposed inside the stator track 11 (not shown in the figure). The stator track 11 may also include structures such as guide rails, position monitoring circuits, and drive circuits. For example, the guide rails may cooperate with multiple movers 14 to define the movement trajectories of the multiple movers 14. The position monitoring circuit may interact with the position beacon of the mover 14 (described later) to monitor the movement position of the mover 14. The drive circuit may be controlled (e.g., controlled by a controller) to adjust the current supplied to the coil, thereby controlling the magnitude of the generated alternating magnetic field, and thus controlling the magnitude of the driving force supplied to the mover 14.

[0119] For example, each mover includes a magnetic plate and is configured to move under the influence of an alternating magnetic field generated after the coil is energized. Thus, when the coil of the stator track 11 is energized, the mover 14 is driven to move along the stator track 11 through the interaction between the coil and the magnetic plate. For example, each mover 14 may also include a roller or slider and a position beacon. The roller or slider cooperates with the guide rail of the stator track 11 to enable the mover 14 to move on the guide rail. The position beacon is configured to respond to the magnetic field signal of the position monitoring circuit to determine the position of the mover 14, providing real-time feedback on the operating status of the mover 14.

[0120] For example, the hub is located inside the stator rail 11 and is used to centrally store the wiring of the conveying system, standardize the internal wiring of the system, and simplify the wiring with external equipment, such as by using quick-connect plugs to achieve a quick wiring and installation process.

[0121] For example, the memory is configured to store configuration information obtained by the configuration method provided in the embodiments of this disclosure, and when the system starts, the controller is configured to control multiple actuators to pass through each station sequentially according to the corresponding motion parameters.

[0122] For example, in some embodiments, the memory is further configured to store the relationship between the motion parameters of multiple movers and the magnitude of the current in the coil, and the controller is configured to control the magnitude of the current supplied to the coil, for example, by controlling the magnitude of the current supplied to the coil through a drive circuit, thereby controlling the multiple movers to move according to the motion parameters.

[0123] For example, in some cases, the controller can be a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The central processing unit (CPU) can be based on x86 or ARM architectures, etc.

[0124] For example, the memory may include any combination of one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB storage, flash memory, etc. One or more computer-executable instructions may be stored on the computer-readable storage medium, and the controller may execute these computer-executable instructions to perform corresponding functions.

[0125] For example, the power supply can be a DC filtered power supply used to power the coils of the stator track 11. For example, the DC filtered power supply can filter and convert 220V AC power into 48V or 60V DC power.

[0126] For example, in some embodiments, the conveying system may further include an I / O module configured to convert and transmit user I / O signals to the controller. For example, the I / O may access underlying signals such as "initialize," "reset," "start," "hold," "disable enable," "pause," and "stop," which may be in high or low level form, thereby making the conveying system controllable by the user.

[0127] For example, in some embodiments, the conveying system may also include a JOG debugging module for JOG debugging of the mover, JOG debugging of the ferry track motor, etc.

[0128] For example, in some embodiments, the conveying system may also include a status monitoring module for real-time monitoring and display of the conveyor line's operating status and event information, such as information on the mover, workstation, process, stator track section, controller, etc.

[0129] For example, when the above-mentioned conveying system is running, the user first logs into the system platform, and then configures the system according to the configuration method provided in the embodiments of this disclosure. After the configuration information is determined, the system is started through the IO module, the magnetic levitation conveyor line starts running, the mover reaches the starting position and passes through each station to perform the process. When the mover reaches each station, the station can obtain the mover arrival information through gravity sensing or other means. Then, the station will send an instruction to the corresponding external process execution device. After receiving the instruction, the external process execution device completes the process work.

[0130] Therefore, through the configuration method provided in the embodiments of this disclosure, the delivery system can perform multiple tasks efficiently and orderly, thereby improving work efficiency.

[0131] At least one embodiment of this disclosure provides a non-transitory computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions implement a process configuration method or a planning method for a conveying system provided in the embodiments of this disclosure.

[0132] For example, the storage medium includes the aforementioned memory. One or more computer-executable instructions can be stored non-temporarily on the memory. For example, when executed by a controller, the computer-executable instructions can perform one or more steps in a process configuration method for a conveying system provided according to embodiments of this disclosure, or one or more steps in a planning method for a conveying system provided according to embodiments of this disclosure.

[0133] For example, the description of the storage medium can be found in the description of the memory in the above embodiments, and the repeated parts will not be repeated.

[0134] The following points also need to be explained:

[0135] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0136] (2) For clarity, the width / thickness of some structures or regions in the drawings used to describe embodiments of the present disclosure are enlarged or reduced, i.e., these drawings are not drawn to actual scale.

[0137] (3) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0138] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. The scope of protection of this disclosure shall be determined by the scope of the claims.

Claims

1. A method for configuring processes in a conveying system, wherein, The conveying system includes a stator track, and the configuration method includes: The number of processes is obtained, and a corresponding number of workstations are configured on the stator track. The workstations configured on the stator track are matched one-to-one with the process steps. A single-link process logic diagram is generated and the flow direction of the process is indicated. The single-link process logic diagram includes the location information of the workstations and the correspondence between the processes and the workstations. The flow direction is established between adjacent processes to form a single-link logical control sequence. The single-link process logic diagram and the flow direction of the process are displayed graphically on the user interface. Based on the instructions received from the user interface, the single-link process logic diagram is adjusted to form a multi-link process logic diagram and the flow direction of the processes is indicated to form a multi-link logical control sequence. At least one process in the multi-link process logic diagram includes multiple workstations. The step of adjusting the single-link process logic diagram and indicating the flow direction of the process includes: Based on the instructions received from the user interface, add workstations to the at least one process to form a multi-workstation process. Update the location information of the added workstations and the correspondence between the at least one process and its corresponding workstation, and Update the flow direction of the multi-station process, where the flow direction of the multi-station process consists of multiple different processes. The multi-link process logic diagram includes the display information of the multi-station process; The multi-link process logic diagram includes at least one process group, and each process group includes multiple processes. Adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: At least some of the processes in the single-link process logic diagram are grouped to form at least one process group, wherein each process group includes at least two processes, and the execution stations of the at least two processes are adjacent. Update the flow direction of the processes in at least one process group. The multi-link process logic diagram includes display information for at least one process group.

2. The configuration method according to claim 1, wherein, At least some of the processes in the multi-link process logic diagram have their flow directions established between non-adjacent processes, and The multi-link process logic diagram and the flow of the process are displayed graphically on the user interface.

3. The configuration method according to claim 1, wherein, At least some of the processes in the single-link process logic diagram are grouped to form at least one process group, including: Based on the instructions received from the user interface, the distance between the execution stations of at least two adjacent processes to be formed into a process group is adjusted to be closer. Update the location information of the execution stations for the at least two processes, and The at least two processes are grouped together to form a process group.

4. The configuration method according to claim 3, wherein, Updating the flow direction of processes in at least one process group includes: Based on the instructions received from the user interface, the flow direction of the processes in the at least one process group can be adjusted or increased.

5. The configuration method according to claim 1, wherein, The multi-link process logic diagram includes multiple process groups. Adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: At least some of the processes in the single-link process logic diagram are grouped to form the plurality of process groups, wherein the plurality of process groups include adjacent first process groups and second process groups, and Update the flow direction of processes in the first process group and the second process group. The multi-link process logic diagram includes display information for the multiple process groups.

6. The configuration method according to claim 2, wherein, The flow direction of at least some processes in the multi-link process logic diagram is established between non-adjacent processes. Adjusting the single-link process logic diagram and indicating the flow direction of the processes includes: Modify or add the flow direction of at least one process to adjust or add the flow direction of the at least one process to a process that is not adjacent to it.

7. A method for configuring a conveying system, comprising: Configure stator track, The process of configuring the stator track is carried out using the configuration method described in any one of claims 1-6. A mover is arranged on the stator track, and Set the motion parameters of the mover.

8. The configuration method according to claim 7, wherein, The stator track includes multiple connectable tracks, and the method includes: According to the instructions received from the user interface, at least some of the semi-circular splicing track, straight splicing track, right-angle splicing track and V-shaped splicing track are spliced ​​together to form the stator track.

9. A non-transitory computer-readable storage medium, wherein, The non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the configuration method of the process in the conveying system according to any one of claims 1-6 or the configuration method of the conveying system according to any one of claims 7-8.

Images