A hybrid power transmission line control method

Abstract

The present invention relates to the technical field of conveyor lines, and specifically to a hybrid conveyor line control method, comprising the following steps: Step 1, when the controller of the conveyor line reads that the previous station has a pallet, it determines whether the next station has a pallet; when the next station feedbacks that there is a pallet, it waits until feedback indicates that there is no pallet; when the next station feedbacks that there is no pallet, it controls itself to prepare to receive the pallet and simultaneously controls the previous station to drive the pallet away at an accelerated speed; Step 2, when the controller of the conveyor line reads that the next station has a pallet, it determines whether the previous station has a pallet; when the previous station feedbacks that there is a pallet, it waits until feedback indicates that there is no pallet; when the previous station feedbacks that there is no pallet, it controls itself to prepare to receive the pallet and simultaneously controls the next station to drive the pallet away at an accelerated speed. The control method provided by the present invention can effectively improve the conveying efficiency and conveying accuracy of the hybrid conveyor line.

Description

Technical Field

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

[0002] Existing high-speed conveyor lines generally use high-speed roller conveying or magnetic levitation drive conveying. Conveyor lines that use rollers alone consume a lot of energy when starting and stopping quickly during the conveying process and are subject to the friction between the rollers and the pallet. The acceleration and deceleration cannot be very large, resulting in relatively low conveying efficiency and conveying accuracy. Conveyor lines that use magnetic levitation drive alone usually also require the use of expensive air guides, which increases the cost of use. Summary of the Invention

[0003] (1) The present invention provides a hybrid power transmission line control method to alleviate the technical problems of low transmission efficiency and transmission accuracy of transmission lines in the prior art.

[0004] (2) Technical solution

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a hybrid power conveyor line control method for a conveyor line composed of a roller and magnetic levitation drive hybrid power, wherein the conveyor line is provided with a plurality of workstations along the conveying direction;

[0006] When two adjacent workstations along the conveying direction use the hybrid power conveyor line control method, the method includes the following steps:

[0007] Step 1: When the controller of the conveyor line reads that there is a pallet at the previous station, it determines whether there is a pallet at the next station;

[0008] When the next station reports that there is a pallet, the system waits until the station reports that there is no pallet.

[0009] When the latter station reports that there is no pallet, it is controlled to prepare to receive the pallet, and at the same time the former station is controlled to drive the pallet to move away at an accelerated speed;

[0010] Step 2: When the controller of the conveyor line reads that there is a pallet at the next station, it determines whether there is a pallet at the previous station;

[0011] When the previous station reports that there is a pallet, the system waits until the station reports that there is no pallet.

[0012] When the previous station feeds back that there is no pallet, it is controlled to prepare to receive the pallet, and at the same time the next station is controlled to drive the pallet to accelerate and move away.

[0013] Furthermore, in step 1 and step 2, the motor of the workstation is controlled to operate first, and then an acceleration and departure signal is sent to the magnetic levitation drive, and the magnetic levitation drive assists in accelerating the transport of the pallet to the previous workstation.

[0014] Furthermore, the magnetic levitation drive first provides power to the pallet, and when its speed is consistent with the speed of the roller, the magnetic levitation drive provides acceleration, and cooperates with the roller to control the pallet to accelerate away from the workstation. When the encoder of the magnetic levitation drive detects that the workstation has lost the pallet, it stops accelerating.

[0015] Furthermore, when the conveyor line is annular and has multiple bends, the controller of the conveyor line reads whether there is a pallet at the station at the bend;

[0016] When the station at the bend reports that there is no pallet, the motor at the station at the bend is controlled to drive, and at the same time, the next station is controlled to drive the pallet to move away at an accelerated speed;

[0017] When the station at the bend reports that there is a pallet, it is determined whether there is a pallet at the previous station;

[0018] When the previous station feedback indicates that there is a pallet, the motor driving of the station at the bend is stopped, and the process waits until feedback indicates that there is no pallet;

[0019] When the previous station feeds back that there is no tray, it is controlled to prepare to receive the tray, and the station at the bend is controlled to transport the tray to the previous station.

[0020] Furthermore, when the workstation is delivering a pallet to the previous workstation, the controller reads that the previous workstation has a pallet, and then determines whether the previous workstation has a pallet;

[0021] When there is no pallet at the previous station, it is controlled to prepare to receive the pallet, and at the same time the next station is controlled to drive the pallet to move away at an accelerated speed;

[0022] When there is a pallet at the previous workstation, the motor drive is stopped and the magnetic suspension drive is controlled to decelerate.

[0023] Furthermore, when the conveyor line is provided with a positioning station that has precise requirements for the stopping position of the pallet, the controller reads that there is a pallet at the adjacent station behind the positioning station, sends a feeding request to the two adjacent positioning stations, and determines whether there are pallets at the two positioning stations;

[0024] When both of the two positioning stations report that there is a pallet, a waiting signal is fed back to the adjacent station behind;

[0025] When both of the positioning stations feedback that there is no pallet or the positioning station adjacent to the rear station feedbacks that there is no pallet, an enable signal is fed back to the adjacent station behind, and the positioning station adjacent to the rear station is controlled to prepare to receive the tray.

[0026] Furthermore, when the latter positioning station feeds back that the pallet has entered, it controls the pallet to accelerate and move away, and transport it to the former positioning station.

[0027] Furthermore, when the feedback permission signal is given, the adjacent workstation at the rear is controlled to drive the tray to accelerate and move away, and transport it to the adjacent positioning workstation.

[0028] Furthermore, when the latter positioning station feeds back that it has entered the pallet, it controls the drive pallet to accelerate and move away, and transport it to the former positioning station, and controls the magnetic levitation drive to assist in stopping the transport of the pallet. When the latter positioning station feeds back that it has entered the pallet again, it controls the magnetic levitation drive to decelerate and assist in stopping the transport of the pallet.

[0029] Furthermore, each of the workstations is provided with a photoelectric switch, the photoelectric switch is signal-connected to the controller, and the controller is electrically connected to the roller and the magnetic suspension drive.

[0030] Beneficial effects of the present invention:

[0031] The present invention provides a hybrid power conveyor line control method for a conveyor line composed of a roller and magnetic levitation drive hybrid power, wherein the conveyor line is provided with a plurality of workstations along the conveying direction. By using this control method, when the first workstation of two adjacent workstations along the conveying direction has a pallet, it can be judged whether the second workstation has a pallet, and the feedback is given to the controller of the conveyor line, thereby controlling the second workstation to wait or drive the pallet to accelerate away. Then, when the second workstation has a pallet, it can be judged whether the first workstation has a pallet, and the feedback is given to the controller of the conveyor line, thereby controlling the first workstation to wait or drive the pallet to accelerate away. The entire conveyor line is controlled by the above method, and the overall structure is simple, the integration is high, and the stability is strong, thereby greatly improving the conveying efficiency and conveying accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1A schematic diagram of a looped conveyor line according to a hybrid power conveyor line control method provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of a conveyor line with a positioning station 104 according to a hybrid power conveyor line control method provided in an embodiment of the present invention.

[0035] icon:

[0036] 100-tray; 101-magnetic drive stator; 102-photoelectric switch; 103-workstation; 104-positioning station. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "upper," "lower," "front," and "rear," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or they can refer to connections between the internal parts of two components. A person of ordinary skill in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0040] The present invention provides a hybrid power conveyor line control method for a conveyor line composed of a roller and a magnetic levitation drive hybrid power, wherein the conveyor line is provided with a plurality of workstations 103 along the conveying direction; when two adjacent workstations 103 along the conveying direction use the hybrid power conveyor line control method, the method comprises the following steps: Step 1, when the controller of the conveyor line reads that the previous workstation 103 has a pallet 100, it determines whether the next workstation 103 has a pallet 100; when the next workstation 103 feedbacks that there is a pallet 100, it waits until feedback indicates that there is no .... 03 feedback that there is no pallet 100, it controls it to prepare to receive pallet 100, and controls the previous station 103 to drive pallet 100 to accelerate and move away; step 2, when the controller of the conveyor line reads that there is a pallet 103 at the next station 103, it determines whether there is a pallet 100 at the previous station 103; when the previous station 103 feedbacks that there is a pallet 100, it waits until there is feedback that there is no pallet 100; when the previous station 103 feedbacks that there is no pallet 100, it controls it to prepare to receive pallet 100, and controls the next station 103 to drive pallet 100 to accelerate and move away.

[0041] In this embodiment, a conveyor line composed of a hybrid power of rollers and magnetic levitation drives is used, wherein a plurality of workstations 103 are provided along the conveying direction. By using this control method, when the first workstation 103 of two adjacent workstations 103 along the conveying direction has a pallet 100, it can be judged whether the second workstation 103 has a pallet 100, and the feedback is sent to the controller of the conveyor line, thereby controlling the second workstation 103 to wait or drive the pallet 100 to accelerate and leave. When the second workstation 103 has a pallet 100, it can be judged whether the first workstation 103 has a pallet 100, and the feedback is sent to the controller of the conveyor line, thereby controlling the first workstation 103 to wait or drive the pallet 100 to accelerate and leave. The entire conveyor line is controlled by the above method, and the overall structure is simple, the integration is high, and the stability is strong, thereby greatly improving the conveying efficiency and conveying accuracy.

[0042] Among them, preferably, each workstation 103 is provided with a photoelectric switch 102, the photoelectric switch 102 is connected to the controller signal, the controller is electrically connected to the roller and the magnetic levitation drive, the controller is a PLC controller, and the magnetic levitation drive includes a magnetic drive stator 101, which is electrically connected to the controller through the magnetic drive stator 101, and controls the magnetic drive stator 101 to assist the roller in synchronously driving the pallet 100 to accelerate and decelerate, so as to ensure that the pallet 100 can obtain good acceleration and deceleration performance, thereby ensuring the efficiency and accuracy of transportation.

[0043] When the controller reads the photoelectric signal feedback of the previous station 103 and indicates that there is a pallet 100, it determines whether the photoelectric feedback signal of the next station 103 has a pallet 100. When the feedback signal of the next station 103 indicates that there is a pallet 100, the controller waits and continues to determine the photoelectric signal feedback of the previous station 103 until a signal indicating that there is no pallet 100 is received. When the photoelectric feedback signal of the next station 103 indicates that there is no pallet 100, the brushless motor of the next station 103 is operated to drive the roller to rotate. At the same time, the magnetic levitation drive of the next station 103 sends a signal to accelerate and leave, and prepares to receive the subsequent pallet 100 to be transported. Then, the brushless motor of the previous station 103 is started to operate. At the same time, the magnetic levitation drive of the previous station 103 controls the pallet 100 to accelerate and leave, and generates thrust by the magnetic drive stator 101 to assist in transporting the pallet 100 to the subsequent station 103. When the controller reads the photoelectric signal feedback of the next station 103 and indicates that there is a pallet 100, it determines whether the photoelectric feedback signal of the previous station 103 contains a pallet 100. If the feedback signal of the previous station 103 indicates that there is a pallet 100, the controller waits and continuously determines the photoelectric signal feedback of the previous station 103 until a signal indicating that there is no pallet 100 is received. If the photoelectric feedback signal of the previous station 103 indicates that there is no pallet 100, the brushless motor of the previous station 103 is operated to drive the roller to rotate. At the same time, the magnetic levitation drive of the previous station 103 sends a signal to accelerate and leave, and prepares to receive the subsequent pallet 100 to be transported. Then, the brushless motor of the next station 103 is started to operate. At the same time, the magnetic levitation drive of the next station 103 controls the pallet 100 to accelerate and leave, and generates thrust through the magnetic drive stator 101 to assist in transporting the pallet 100 to the previous station 103. Then, all stations 103 of the entire conveyor line are controlled according to the above method, and the overall conveying efficiency and conveying accuracy are greatly improved.

[0044] According to an embodiment provided by the present invention, in step 1 and step 2, the motor of the workstation 103 is first controlled to operate, and then an acceleration and departure signal is sent to the magnetic levitation drive, which assists in accelerating the pallet 100 to the previous workstation 103.

[0045] Furthermore, the magnetic levitation drive first provides power to the tray 100. When its speed is consistent with the roller speed, the magnetic levitation drive provides acceleration and cooperates with the roller to control the tray 100 to accelerate away from the workstation 103. When the encoder of the magnetic levitation drive detects that the workstation 103 has lost the tray 100, it stops accelerating.

[0046] In this embodiment, when the driving tray 100 accelerates to leave the workstation 103, in order to cooperate with the operation pace of the roller, the magnetic drive stator 101 of the workstation 103 will accelerate the tray 100 in sections. In the first stage, the magnetic drive stator 101 will give the tray 100 a fixed power through a constant current method, and start the second stage when the speed of the tray 100 approaches the roller speed; in the second stage, the magnetic drive stator 101 starts the speed loop, and cooperates with the roller to control the tray 100 to leave the workstation 103 at a uniform speed. When the encoder loses the position of the tray 100, the acceleration control is stopped, thereby completing the driving of the tray 100 to accelerate away from the workstation 103.

[0047] According to an embodiment provided by the present invention, Figure 1 As shown, when the conveyor line is circular and has multiple bends, the controller of the conveyor line reads whether there is a pallet 100 at the station 103 at the bend; when the station 103 at the bend feeds back that there is no pallet 100, the motor of the station 103 at the bend is controlled to drive, and at the same time, the next station 103 is controlled to drive the pallet 100 to accelerate and move away; when the station 103 at the bend feeds back that there is a pallet 100, it is determined whether there is a pallet 100 at the previous station 103; when the previous station 103 feeds back that there is a pallet 100, the motor drive of the station 103 at the bend is stopped, and the process waits until there is feedback that there is no pallet 100; when the previous station 103 feeds back that there is no pallet 100, it is controlled to prepare to receive the pallet, and the station 103 at the bend is controlled to transport the pallet 100 to the previous station 103.

[0048] In this embodiment, the station 103 located at the bend has no magnetic drive stator 101, and the controller only needs to control the start and stop of the brushless motor. The controller first reads the photoelectric signal feedback from the station 103 located at the bend to determine whether there is a tray 100. When it feedbacks that there is no tray 100, it can operate its brushless motor and at the same time operate the brushless motor of the next station 103, and then send an acceleration and departure signal to the magnetic levitation drive of the next station 103, so that its magnetic drive stator 101 generates thrust to assist in transporting the tray 100 to the station 103 located at the bend; when the station 103 located at the bend feedbacks the photoelectric signal, the controller can operate the brushless motor and at the same time operate the brushless motor of the next station 103, and then send an acceleration and departure signal to the magnetic levitation drive of the next station 103, so that the ... at the same time When the signal indicates that there is a pallet 100, determine whether the previous station 103 has a pallet 100. When the previous station 103 feedback indicates that there is a pallet 100, stop the brushless motor of the station 103 located at the bend and wait until the photoelectric signal of the previous station 103 feedback indicates that there is no pallet 100. When the previous station 103 feedback indicates that there is no pallet 100, start the brushless motor of the previous station 103 and send an acceleration signal to the magnetic levitation drive to prepare for receiving the pallet. At the same time, start the brushless motor of the station 103 located at the bend to transport the pallet 100 to the previous station 103.

[0049] According to an embodiment provided by the present invention, when a workstation 103 is conveying a pallet 100 to the previous workstation 103, the controller reads that the previous workstation 103 has a pallet 100, and then determines whether the next previous workstation 103 has a pallet 100; when the next previous workstation 103 does not have a pallet 100, it controls it to prepare to receive the pallet 100, and at the same time controls the next workstation 103 to drive the pallet 100 to accelerate and move away; when the next previous workstation 103 has a pallet 100, its motor drive is stopped, and the magnetic levitation drive is controlled to decelerate.

[0050] In this embodiment, when the workstation 103 is conveying the pallet 100 to the previous workstation 103, the controller reads the photoelectric signal feedback of the previous workstation 103 and the feedback is that there is a pallet 100, then it continues to judge whether the photoelectric signal feedback of the next previous workstation 103 has a pallet 100. When the next previous workstation 103 feedbacks that there is no pallet 100, its brushless motor is started, and at the same time, an acceleration signal is sent to the magnetic levitation drive to prepare for receiving the pallet, and then the brushless motor of the adjacent workstation 103 behind it is started, and the magnetic drive stator 101 is controlled to generate thrust to assist the pallet 100 in conveying; when the next previous workstation 103 feedbacks that there is a pallet 100, its brushless motor is stopped, and at the same time, a brake deceleration signal is sent to the magnetic drive stator 101 of the rear workstation 103, and the control state machine is started to enter the brake ready state.

[0051] Among them, the deceleration braking principle is that when the magnetic drive stator 101 receives the deceleration braking signal, the motor control state machine is set to enter the brake ready state. When the encoder detects the tray 100, it monitors the collected signal in real time to see if it is in a stable state. After the signal is stable, the FOC three-loop control is immediately started to brake and position the tray 100. The error is allowed to be 50um. After 5000 cumulative times, the braking is considered to be completed. At this time, the FOC three-loop control is completed and the tray 100 stops smoothly.

[0052] According to an embodiment provided by the present invention, Figure 2 As shown, when the conveyor line is provided with a positioning station 104 that has precise requirements for the stopping position of the pallet 100, when the controller reads that the adjacent station 103 behind the positioning station 104 has a pallet 100, it sends a feeding request to the two adjacent positioning stations 104, and determines whether the two positioning stations 104 have pallets 100; when both positioning stations 104 feedback that there are pallets 100, a waiting signal is fed back to the adjacent station 103 behind; when both positioning stations 104 feedback that there are no pallets 100 or the positioning station 104 adjacent to the rear station 103 feedbacks that there is no pallet 100, a permission signal is fed back to the adjacent station 103 behind, and at the same time, the positioning station 104 adjacent to the rear station 103 is controlled to prepare to receive the pallet.

[0053] In this embodiment, when the controller reads that the adjacent station 103 behind the positioning station 104 has a pallet 100, it sends a feed request to the two adjacent positioning stations 104 in front. After receiving the signal, the positioning station 104 determines whether it has a pallet 100. When both positioning stations 104 have pallets 100, a rejection signal is fed back, and the station 103 behind is controlled to wait until a permission signal is received; when both positioning stations 104 feedback that there is no pallet 100 or the positioning station 104 adjacent to the rear station 103 feedback that there is no pallet 100, a permission signal is fed back to the rear station 103, and at the same time, the brushless motor of the adjacent positioning station 104 is operated to prepare for receiving the pallet.

[0054] When the signal is enabled, the brushless motor of the station 103 is operated, and the magnetic drive stator 101 is controlled to generate thrust to assist in transporting the tray 100 to the positioning station 104 .

[0055] According to an embodiment provided by the present invention, when the subsequent positioning station 104 receives feedback that the tray 100 has entered, it is controlled to drive the tray 100 to accelerate and move away, and then transport it to the previous positioning station 104 .

[0056] In this embodiment, when the next positioning station 104 feeds back that it has entered the tray 100, its magnetic drive stator 101 is controlled to generate thrust to assist the tray 100 to pass through it and enter the previous adjacent positioning station 104. When the previous positioning station 104 feeds back that it has entered the disk, a deceleration braking signal is sent to the magnetic levitation drive, so that the magnetic drive stator 101 generates suction to assist in stopping the tray 100. When the next positioning station 104 feeds back that it has entered the disk again, similarly, the magnetic drive stator 101 is controlled to generate suction to assist the tray 100 to stop, thereby achieving the effect of precise positioning and improving the conveying accuracy.

[0057] The distance at which the positioning station 104 stops the pallet 100 is that after the encoder detects the pallet 100, it monitors the collected signal in real time to see if it is in a stable state and starts the positioning module control state machine. After the signal is stable, the FOC three-loop control is immediately started to brake and position the pallet 100. The error is allowed to be 50um. The positioning is considered to be completed after 10,000 consecutive times. At this time, the FOC three-loop control is completed and the pallet 100 stops at the positioning position.

[0058] According to an embodiment provided by the present invention, when a permission signal is fed back, the adjacent workstation 103 at the rear is controlled to drive the tray 100 to accelerate and move away, and transport it to the adjacent positioning workstation 104 .

[0059] Furthermore, when the next positioning station 104 feedbacks that it has entered the pallet 100, it is controlled to drive the pallet 100 to accelerate and move away, and transport it to the previous positioning station 104, and the magnetic levitation drive is controlled to assist in stopping the transportation of the pallet 100. When the next positioning station 104 feedbacks that it has entered the pallet 100 again, the magnetic levitation drive is controlled to decelerate and assist in stopping the transportation of the pallet 100.

[0060] In this embodiment, when the feedback signal is allowed, the brushless motor of the adjacent workstation 103 at the rear is operated, and at the same time, the magnetic drive stator 101 is controlled to generate thrust to assist in transporting the tray 100 to the next positioning workstation 104. The adjacent workstation 103 behind the workstation 103 is detected to determine whether there is a tray 100 at the workstation 103 behind its positioning workstation 104. When the feedback signal is that there is no tray 100, the tray 100 is transported forward. When the workstation 103 behind the positioning workstation 104 detects the entry of the tray, a brake deceleration signal is sent to the magnetic levitation drive, so that the magnetic drive stator 101 generates suction to assist the tray 100 to stop, and then it is determined whether there is a tray 100 at the next positioning workstation 104. When the feedback is that there is a tray 100, wait until the feedback is that there is no tray 100. When the feedback is that there is no tray 100, repeat the above request and wait for feedback.

[0061] like Figure 2 As shown, when the positioning station 104 needs to discharge materials, a discharge request is sent to the front station 103. After receiving the request, the front station 103 feeds back a photoelectric signal. The controller determines whether there is a pallet 100. When the front station 103 feeds back that there is a pallet 100, a rejection signal is fed back to the positioning station 104. When the front station 103 feeds back that there is no pallet 100, a permission signal is fed back to the positioning station 104, and at the same time, the brushless motor of the front station 103 is operated, and an acceleration signal is sent to its magnetic levitation drive to prepare for receiving the pallet. Then, the positioning station 104 judges the signal. When the signal is a rejection, the request is continuously sent until a permission signal is received. When the signal is a permission, the brushless motor of the positioning station 104 is controlled to run, and at the same time, the magnetic drive stator 101 is controlled to generate thrust to assist in transporting the pallet 100 to the front station 103. After an interval of 100ms, the positioning station 104 behind the positioning station 104 is controlled to operate the brushless motor, and the magnetic drive stator 101 is controlled to generate thrust to assist in transporting the tray 100 to the previous positioning station 104. Then, the tray 100 is transported to the front station 103 according to the same principle. When the photoelectric signal of the front station 103 feedbacks that a tray has been fed in, the brushless motor of the next previous station 103 is controlled to operate, and at the same time, an acceleration and departure signal is sent to the magnetic levitation drive of the next previous station 103. After the tray 100 is transported into place, the brushless motor of the station 103 in front of the positioning station 104 continues to operate. When the positioning station 104 receives another tray, it operates the brushless motor and controls the magnetic drive stator 101 to generate thrust to assist in transporting the tray 100 to the front station 103.

[0062] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hybrid power transmission line control method, characterized in that: A conveyor line composed of a roller and magnetic levitation drive hybrid power, wherein the conveyor line is provided with a plurality of workstations (103) along the conveying direction; When two adjacent workstations (103) along a conveying direction use the hybrid power conveying line control method, the method comprises the following steps: Step 1: When the controller of the conveyor line reads that the previous station (103) has a tray (100), it determines whether the next station (103) has a tray (100); When the latter station (103) feedbacks that there is a tray (100), the process waits until feedback indicates that there is no tray (100); When the latter station (103) feedbacks that there is no tray (100), it controls the drive of the brushless motor to prepare to receive the tray (100), and at the same time controls the drive stator of the magnetic suspension system of the former station (103) to assist the tray (100) to accelerate and move away; Step 2, when the controller of the conveyor line reads that the next workstation (103) has a tray (100), it determines whether the previous workstation (103) has a tray (100); When the previous station (103) feedbacks that there is a tray (100), waiting is performed until feedback indicates that there is no tray (100); When the previous workstation (103) feeds back that there is no tray (100), the brushless motor is controlled to drive the brushless motor to prepare to receive the tray (100), and the driving stator of the magnetic suspension system of the next workstation (103) is controlled to accelerate the tray (100) away.

2. A hybrid power transmission line control method according to claim 1, characterized in that: In step 1 and step 2, the motor of the workstation (103) is first controlled to operate, and then an acceleration departure signal is sent to the magnetic levitation drive, and the magnetic levitation drive assists in accelerating the pallet (100) to the previous workstation (103).

3. A hybrid power transmission line control method according to claim 2, characterized in that: The magnetic levitation drive first provides power to the tray (100), and when its speed is consistent with the speed of the roller, the magnetic levitation drive provides acceleration, and cooperates with the roller to control the tray (100) to accelerate away from the work station (103). When the encoder of the magnetic levitation drive detects that the work station (103) has lost the tray (100), the acceleration is stopped.

4. A hybrid power transmission line control method according to claim 1, characterized in that: When the conveyor line is annular and has multiple bends, the controller of the conveyor line reads whether there is a tray (100) at the station (103) at the bend; When the station (103) at the bend reports that there is no tray (100), the motor at the station (103) at the bend is controlled to drive, and at the same time, the next station (103) is controlled to drive the tray (100) to accelerate and move away; When the station (103) at the bend reports that there is a tray (100), determining whether there is a tray (100) at the previous station (103); When the previous station (103) feedbacks that there is a tray (100), the motor drive of the station (103) at the bend is stopped, and the process waits until feedback that there is no tray (100); When the previous workstation (103) feeds back that there is no tray (100), it is controlled to prepare to receive the tray, and the workstation (103) at the bend is controlled to transport the tray (100) to the previous workstation (103).

5. A hybrid power transmission line control method according to claim 1, characterized in that: When the workstation (103) is delivering a pallet (100) to the previous workstation (103), the controller reads that the previous workstation (103) has a pallet (100), and then determines whether the previous workstation (103) has a pallet (100); When there is no pallet (100) at the preceding workstation (103), it is controlled to prepare to receive the pallet (100), and at the same time, the following workstation (103) is controlled to drive the pallet (100) to accelerate and move away; When a tray (100) is present at the preceding workstation (103), the motor drive is stopped and the magnetic suspension drive is controlled to decelerate.

6. A hybrid power transmission line control method according to claim 1, characterized in that: When the conveyor line is provided with a positioning station (104) that has precise requirements for the stopping position of the pallet (100), the controller reads that the adjacent station (103) behind the positioning station (104) has a pallet (100), sends a feeding request to the two adjacent positioning stations (104), and determines whether the two positioning stations (104) have a pallet (100); When both of the positioning stations (104) have fed back a tray (100), a waiting signal is fed back to the adjacent station (103) at the rear; When both of the positioning stations (104) feedback that there is no tray (100) or the positioning station (104) adjacent to the rear station (103) feedbacks that there is no tray (100), a permission signal is fed back to the adjacent rear station (103), and at the same time, the positioning station (104) adjacent to the rear station (103) is controlled to prepare to receive the tray.

7. A hybrid power transmission line control method according to claim 6, characterized in that: When the feedback permission signal is given, the adjacent workstation (103) at the rear is controlled to drive the tray (100) to accelerate and move away, and transport it to the adjacent positioning workstation (104).

8. A hybrid power transmission line control method according to claim 6, characterized in that: When the feedback permission signal is given, the next positioning station (104) feeds back that it has entered the tray (100), controls the tray (100) to accelerate and move away, and transports it to the previous positioning station (104), and controls the magnetic levitation drive to assist the tray (100) to stop at the previous positioning station (104). When the next positioning station (104) feeds back that it has entered the tray (100) again, controls the magnetic levitation drive to decelerate, and assists the tray (100) to stop at the next positioning station (104), so as to stop the tray (100) at the precisely required stop position.

9. A hybrid power transmission line control method according to any one of claims 1 to 8, characterized in that: Each workstation (103) is provided with a photoelectric switch (102), the photoelectric switch (102) is signal-connected to the controller, and the controller is electrically connected to the roller and the magnetic suspension drive.

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