Magnetic drive conveying system, control method and related equipment

Abstract

The magnetic drive conveying system, control method and related equipment proposed in the embodiments of the present application, the system includes: a conveying plane, at least one processing area is set on the conveying plane, and a reflux component channel is set corresponding to at least one processing area; the conveying plane is mainly composed of a plurality of stators, each stator is wound with a coil, and the coil is connected to a current controller; a mover; an image acquisition component, the image acquisition component is used to collect image data of the workpiece carried by the mover in the processing area after the mover enters the processing area from the entry port; a controller, which is communicatively connected with the image acquisition component and the current controller to receive the processing image data, and when the processing image data does not match the preset standard image, the controller is used to control the current controller to drive the mover from the reflux port through the reflux component channel to the entry port, thereby effectively improving the reliability of reprocessing of the mover.

Description

Technical Field

[0001] The present application relates to the field of industrial motion transportation, and in particular to a magnetic drive transportation system, a control method and related equipment. Background Art

[0002] The magnetic drive conveyor line is a new type of conveyor line. It adopts a modular design and can be flexibly configured according to different needs. It has the characteristics of high precision, high reliability, and low maintenance. It has broad application prospects in the field of industrial automation. In addition, the magnetic drive conveyor line can effectively improve the processing efficiency of the workpiece processing flow by performing multi-step automated processing operations on the workpieces transported by the mover. In addition, in order to improve the processing reliability of the processing flow, it is also necessary to perform corresponding repair operations on the movers corresponding to the workpieces that are missed or poorly processed.

[0003] In the related art, in the conveying process, the movers corresponding to the workpieces that are missed or poorly processed are usually intercepted at the end of the magnetic drive conveyor line and moved to the missed or poorly processed process for reprocessing. Because there are some processing processes, after the subsequent processing process, the workpieces on the movers cannot be re-processed by the missed processing process, making it unreliable to reprocess the movers through this solution. Summary of the invention

[0004] The embodiments of the present application provide a magnetic drive conveying system, a control method and related equipment, which can improve the reliability of reprocessing the workpiece on the mover on the magnetic drive conveying line.

[0005] To achieve the above objectives, a first aspect of an embodiment of the present application provides a magnetic drive conveying system, comprising:

[0006] A conveying plane, wherein at least one processing area is arranged on the conveying plane, and at least one processing area is correspondingly provided with a reflux component channel, wherein the processing area comprises an entry port, an exit port and a reflux port, and the reflux component channel comprises a reflux inlet and a reflux outlet, wherein the reflux inlet is connected to the reflux port, and the reflux outlet is connected to the entry port;

[0007] The conveying plane is mainly composed of a plurality of stators, each of which is wound with a coil, and the coil is connected to a current controller, and the current controller is used to control the current direction and current magnitude of the coil;

[0008] A mover, wherein a permanent magnet is disposed on the mover, and when the coil is energized, the permanent magnet and the coil jointly drive the mover to move on the conveying plane;

[0009] An image acquisition component, the image acquisition component is used to collect processing image data of the workpiece carried by the mover in the processing area after the mover enters the processing area from the entry port;

[0010] A controller is communicatively connected with the image acquisition component and the current controller, receives the processed image data, and compares the processed image data with a preset standard image. When the processed image data and the preset standard image do not match, the controller is used to control the current controller to adjust the current phase and current magnitude of the coil to drive the mover from the return port through the return component channel to the entry port. When the processed image data and the preset standard image match, the mover is driven to leave the processing area from the exit port.

[0011] In some embodiments, the system further comprises:

[0012] A position sensor, the position sensor is used to detect and obtain the position parameters of the mover;

[0013] The position sensor is communicatively connected to the controller, and the controller is further configured to receive the position parameter.

[0014] In some embodiments, when the processed image data does not match the preset standard image, the controller controls the current controller to adjust the current direction and current magnitude of the coil, the execution steps of the controller include:

[0015] Taking the stator between the return port and the exit port as a first control stator, determining a deviation angle between the first control stator and the return port, determining a first magnetic field adjustment direction based on the deviation angle, and determining a first current adjustment phase based on the first magnetic field adjustment direction;

[0016] Acquire the return channel speed of the return component channel, acquire the running speed of the mover, and determine the first current adjustment magnitude according to the difference between the running speed and the return channel speed;

[0017] When the position parameter of the mover reaches the stator position corresponding to the first control stator, the current controller is controlled to adjust the current phase and current magnitude of the coil of the first control stator according to the first current adjustment phase and the first current adjustment magnitude.

[0018] In some embodiments, the system further includes a processing device corresponding to each of the processing areas, and the processing device is used to process a workpiece carried by the mover running in the processing area.

[0019] In some embodiments, the processing area corresponds to a plurality of processing devices, the controller is in communication connection with the position sensor, and the processing devices are arranged in sequence;

[0020] When there are multiple movers, the controller is also used to select the processing equipment corresponding to each mover, and the controller is also used to adjust the current phase and current size in the coil on the stator between the position parameter of the mover and the fixed position of the processing equipment, and drive the mover to run to the processing equipment to process the workpiece. The fixed position is the position where the processing equipment processes the workpiece on the processing area.

[0021] In some embodiments, when the controller selects the processing equipment corresponding to each of the movers, the execution steps of the controller include:

[0022] Taking the movers as target movers one by one, determining the fixed position where the mover does not exist based on the position parameters of other movers, and determining the corresponding processing equipment as idle processing equipment;

[0023] A target processing device corresponding to the target mover is selected from the idle processing devices.

[0024] In some embodiments, when the controller selects the processing equipment corresponding to each of the movers, the execution steps of the controller include:

[0025] taking the movers as target movers one by one;

[0026] Based on the position parameters of the other movers, when there are other movers in the fixed position, obtaining the start time of the mover entering the fixed position, and determining the waiting time for the mover to leave the fixed position based on the processing time and the start time;

[0027] Acquire the current running speed of the target mover, and determine the running time to reach the fixed position based on the current position parameter of the target mover;

[0028] When the waiting time is less than the running time, the processing equipment corresponding to the fixed position is used as an idle processing equipment;

[0029] A target processing device corresponding to the target mover is selected from the idle processing devices.

[0030] In some embodiments, the processing area includes a running area and an operating area that are interconnected, wherein the operating area is composed of a plurality of the fixed positions, and the running area does not have any fixed positions.

[0031] In some embodiments, when the controller adjusts the current direction and current magnitude in the coil on the stator between the position parameter of the mover and the fixed position of the processing equipment, the controller executes the steps including:

[0032] The stator corresponding to the intersection of the first direction in which the mover operates on the position parameter and the second direction of the fixed position is used as a second control stator, wherein the second direction is perpendicular to the operating area;

[0033] Determining a second magnetic field adjustment direction based on an angle between the first direction and the second direction, and determining a second current adjustment phase based on the second magnetic field adjustment direction;

[0034] Obtaining a processing speed requirement of the processing equipment, and determining a second current adjustment magnitude based on a difference between the current operating speed and the processing speed requirement;

[0035] When the position parameter of the mover reaches the stator position corresponding to the second control stator, the current controller is controlled to adjust the current phase and current magnitude of the coil of the second control stator according to the second current adjustment phase and the second current adjustment direction.

[0036] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application proposes a control method for a magnetic drive conveying system, which is applied to the magnetic drive control system described in the first aspect, and the method comprises:

[0037] After the mover enters the processing area from the entry port, processing image data of the workpiece carried by the mover after the workpiece is processed in the processing area is obtained;

[0038] Comparing the processed image data with a preset standard image, when the processed image data and the preset standard image do not match, controlling the current controller to adjust the current direction and current magnitude of the coil of the first control stator, so as to drive the mover from the return port through the return component channel to the entry port, and re-enter the processing area to process the workpiece;

[0039] When the processed image data matches the preset standard image, the mover is driven to leave the processing area from the exit port.

[0040] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the control method of the magnetic drive conveying system as described in the second aspect.

[0041] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the control method of the magnetic drive conveying system described in the second aspect is implemented.

[0042] The magnetic drive conveying system, control method and related equipment proposed in the embodiment of the present application, the system includes: a conveying plane, at least one processing area is set on the conveying plane, at least one processing area is correspondingly set with a return component channel, the processing area includes an entry port, an exit port and a return port, the return component channel includes a return inlet and a return outlet, the return inlet is connected to the return port, and the return outlet is connected to the entry port; the conveying plane is mainly composed of a plurality of stators, each stator is wound with a coil, the coil is connected to a current controller, and the current controller is used to control the current direction and current size of the coil; a mover, a permanent magnet is provided on the mover, and when the coil is energized, the permanent magnet and the coil Together, they drive the mover to move on the conveying plane; an image acquisition component, which is used to collect image data of the workpiece carried by the mover in the processing area after the mover enters the processing area from the entry port; a controller, which is communicated with the image acquisition component and the current controller, receives processing image data, and compares the processing image data with a preset standard image. When the processing image data does not match the preset standard image, the controller is used to control the current controller to adjust the current phase and current size of the coil to drive the mover from the reflux port through the reflux component channel to the entry port. When the processing image data matches the preset standard image, the mover is driven to leave the processing area from the exit port. In the embodiment of the present application, a reflux component channel is provided at the processing area corresponding to the processing flow of the magnetic drive conveyor line, and an image acquisition component and a controller that are communicatively connected to each other are provided on the magnetic drive conveyor line. The image acquisition component sends the image data of the real-time operation of the mover in the processing area to the controller. The controller determines whether the workpiece on the mover is qualified by the processing equipment corresponding to the processing area through the image data. When it is found that the workpiece carried by the mover is unqualified after being processed by the processing equipment corresponding to the processing area, the mover is controlled to return to the entrance port of the processing area through the reflux component channel, so that the mover can reflow in time to reprocess the workpiece it carries, thereby effectively improving the reliability of reprocessing the workpiece on the mover, and further improving the reliability and effectiveness of processing the workpiece on the mover in the magnetic drive conveying system.

[0043] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the process of processing a multifunctional module of a conveying plane provided in one embodiment of the present application.

[0045] Figure 2 It is a structural schematic diagram of a magnetic drive conveying system provided in yet another embodiment of the present application.

[0046] Figure 3 It is a structural schematic diagram of a magnetic drive conveying system provided with a controller provided in another embodiment of the present application.

[0047] Figure 4 This is a schematic structural diagram of a mover provided in yet another embodiment of the present application.

[0048] Figure 5 It is a structural schematic diagram of a magnetic drive conveying system carrying a position sensor provided in yet another embodiment of the present application.

[0049] Figure 6 This is a schematic diagram of determining a first control stator provided in yet another embodiment of the present application.

[0050] Figure 7 This is a schematic diagram of the setting of a processing equipment provided in another embodiment of the present application.

[0051] Figure 8 This is a schematic diagram of determining idle processing equipment provided by another embodiment of the present application.

[0052] Fig. 9 This is a schematic diagram of an operating area and a running area within a processing area provided by the present application as an embodiment.

[0053] Fig.10 This is a schematic diagram of a processing area provided with a waiting area provided in an embodiment of the present application.

[0054] Fig.11 This is a flow chart of a control method for a magnetic drive conveying system provided in yet another embodiment of the present application.

[0055] Fig.12 This is a schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0059] The magnetic drive conveyor line is a new type of conveyor line. It adopts a modular design and can be flexibly configured according to different needs. It has the characteristics of high precision, high reliability, and low maintenance. It has broad application prospects in the field of industrial automation. In addition, the magnetic drive conveyor line can effectively improve the processing efficiency of the workpiece processing flow by performing multi-step automated processing operations on the workpieces transported by the mover. In addition, in order to improve the processing reliability of the processing flow, it is also necessary to perform corresponding repair operations on the movers corresponding to the workpieces that are missed or poorly processed.

[0060] In the related art, in the conveying process, the movers corresponding to the workpieces that are missed or poorly processed are usually intercepted at the end of the magnetic drive conveyor line and moved to the missed or poorly processed process for reprocessing. Because there are some processing processes, after the subsequent processing process, the workpieces on the movers cannot be re-processed by the missed processing process, making it unreliable to reprocess the movers through this solution.

[0061] In order to improve the reliability of reprocessing of the workpiece on the mover on the magnetic drive conveyor line, the embodiment of the present application is provided with a reflux component channel at the processing area corresponding to the processing flow of the magnetic drive conveyor line, and an image acquisition component and a controller that are communicatively connected to each other are provided on the magnetic drive conveyor line. The image acquisition component sends the image data of the mover running in the processing area in real time to the controller. The controller determines whether the workpiece on the mover is qualified by the processing equipment corresponding to the processing area through the image data. When it is found that the workpiece carried by the mover is unqualified after being processed by the processing equipment corresponding to the processing area, the mover is controlled to return to the entrance port of the processing area through the reflux component channel, so that the mover can be reflowed in time, thereby effectively improving the reliability of reprocessing of the mover, and further improving the reliability and effectiveness of mover processing on the magnetic drive conveying system.

[0062] The magnetic drive conveying system, control method and related equipment provided by the embodiments of the present application will be further described below. First, the magnetic drive conveying system provided by the present application is described. The magnetic drive conveying system provided by the present application is implemented based on planar motor technology. The planar motor (Planar Motor) is composed of a stator, a rotor and a supporting component. Under the restriction of the supporting component and the action of the electromagnetic force, the mover of the planar motor can drive the load to produce two-dimensional planar motion. The planar motor directly uses electromagnetic energy to produce planar motion, and has the characteristics of high output density, low heat consumption and high precision. Because the intermediate conversion device from rotational motion to linear motion and then to planar motion is omitted, the control object and the motor can be made into an integrated structure, which has the advantages of fast response, high sensitivity, good follow-up and simple structure.

[0063] Based on the planar motor technology, multiple processing function modules can be set on a conveying plane according to processing requirements, and by pre-setting the current frequency, current phase and current size of multiple stators on the conveying plane, the movers on the conveying plane can be driven to pass through the processing function modules in sequence according to the conveying path realized by the current parameters of the multiple stators, so as to process the workpieces carried by the movers in sequence, thereby realizing an automated and efficient workpiece processing process.

[0064] Reference Figure 1 , is a schematic diagram of a process flow of a multifunctional module processing of a conveying plane provided in an embodiment of the present application. Figure 1 On the conveying plane, the area where the multiple stators are located is divided into multiple processing functional modules. This embodiment takes the loading station, buffer station, labeling station, vibration table, indexing station, sealing station and unloading station as examples, and takes the workpiece carried by the mover as a cosmetic bottle as an example.

[0065] Among them, Figure 1 The processing flow diagram of the multifunctional module shown is specifically described as follows.

[0066] The loading station is the starting point of the conveyor track. The cosmetic bottles are loaded on the mover with a fixed bottle fixture through an external robot or external mechanical equipment. After the trolley arrives at the loading station, it waits for a specified time or completes an external instruction before going to the buffer station.

[0067] The function of the buffer station is to adjust the flow of movers to adapt to the process rhythm of the next functional station. The buffer station sorts the movers coming from the loading station, waits for the label station to send the process instructions, and then drives the movers to the label station in sequence, thereby reducing the production bottleneck caused by process mismatch.

[0068] After the mover arrives at the labeling station, the mover is aligned with the label pasting processing equipment, and performs auxiliary label pasting actions such as spinning according to the set angular velocity, and drives the mover to the vibration table after labeling.

[0069] When the mover reaches the vibration table, it mixes the liquid in the bottle through vibration at this station. The mover can ensure the uniformity of product quality in the cosmetic bottle through its own rapid shaking and movement in multiple degrees of freedom, and drives the mover to the indexing station after the shaking movement.

[0070] After the movers arrive at the indexing station, they are sorted at this station, and then form a mover group, and then drive the mover group to the sealing station in batches. The indexing station can improve the organization and efficiency of the mover flow.

[0071] After the actuator group arrives at the sealing station, it aligns with the external capping machine at this station, and completes the installation of the bottle cap by performing auxiliary actions such as spinning according to the set angular velocity, and drives the actuator to the unloading station after installation.

[0072] The unloading station is the end point of the conveyor track. The mover is tilted sideways at a certain angle at this station, and cooperates with external mechanical equipment to achieve automatic unloading of the carried cosmetic bottles.

[0073] Based on Figure 1 After the schematic diagram of the process of multifunctional module processing on the conveying plane shown, the present application proposes a magnetic drive conveying system, which can effectively improve the reliability of reprocessing the workpiece on the mover on the magnetic drive conveying line, thereby improving the conveying efficiency and processing completion rate on the conveying plane. Figure 2 , is a schematic diagram of the structure of a magnetic drive conveying system provided in an embodiment of the present application. Figure 2 As shown, the magnetic drive conveying system 100 includes a conveying plane 110 and a mover 150 running on the conveying plane 110. Among them, a plurality of processing areas 130 (similar to the example shown in FIG. 1 ) are arranged on the conveying plane 110 according to the processing flow requirements. Figure 1), and a conveying path 120 is planned, which includes a starting area 121 and an ending area 122 of the mover. The mover 150 carrying the workpiece 151 enters the conveying path 120 from the starting area 121, and after passing through a plurality of processing areas 130 in sequence, leaves the conveying path 120 from the ending area 122, thereby realizing the process of processing the workpiece carried by the mover. In addition, each processing area 130 is provided with an entry port 131 and an exit port 133. The mover 150 enters the processing area 130 from the entry port 131 in sequence according to the conveying direction, and processes the workpiece 151 carried by the mover 150 in the processing area 130, thereby improving the neatness and organization of processing the workpiece 151 carried by the mover 150 on the magnetic drive conveying system 100.

[0074] In order to improve the reliability of reprocessing the workpiece on the mover in the magnetic drive conveying system 100, as Figure 2 As shown, a reflux component channel 140 is correspondingly arranged at each processing area 130 where the workpiece 151 on the mover 150 may need to be reprocessed (i.e., there may be processing omissions or processing defects), wherein the reflux component channel 140 includes a reflux inlet 141 and a reflux outlet 142, and a reflux port 132 is also arranged next to the exit port 133 on the processing area 130, and the reflux inlet 141 of the reflux component channel 140 is connected to the reflux port 132 of the processing area 130, and the reflux outlet 142 of the reflux component channel 140 is connected to the entrance port 131 of the processing area 130.

[0075] In addition, the magnetic drive conveying system 100 is further provided with an image acquisition component 160 and a controller 170, wherein the image acquisition component 160 is used to acquire images of the mover 150 on the processing area 130, so as to acquire image data of the workpiece 151 carried by the mover 150 being processed in the processing area 130. The image acquisition component 160 is in communication connection with the controller 170, and the controller 170 is used to receive the image data acquired by the image acquisition component 160.

[0076] It is understandable that the image acquisition component 160 can be an image acquisition device such as a 3D camera, and the number can be one or more, which is used to capture the processing status of the workpiece 151 of the mover 150 at various positions on the conveying plane 110 (including the processing area 130).

[0077] The controller 170 also stores a preset standard image of the workpiece 151 after the workpiece 151 is processed in the processing area 130. After the controller 170 receives the image data of the workpiece 151 processed on the real-time mover 150, the image data is compared with the preset standard image. When the processed image data and the preset standard image do not match, then at this time, the workpiece 151 on the mover 150 may have problems such as processing omissions or processing defects after the workpiece 151 on the mover 150 is processed in the processing area 130. At this time, the controller 170 is used to drive the mover 150 to enter the return component channel 140 through the return port 132 to reprocess the workpiece in the processing area 130. When the processed image data and the preset standard image match, it means that the workpiece 151 on the mover 150 meets the regular processing standard after being processed in the processing area. At this time, the controller 170 is used to start the mover 150 to leave the processing area 130 from the exit port 133 and go to the next processing area 130 for the next processing process.

[0078] In order to further improve the accuracy of detection, after the controller 170 obtains the processed image data, the collected processed image data can be converted into a digital model, and noise filtering and feature extraction can be performed to obtain image data features (such as size, shape, position, etc. on the workpiece 151), and then these image data features are compared with the standard image data features of the preset standard image to obtain a matching result.

[0079] Therefore, after the mover 150 has passed through the processing area 130 to process the workpiece, when it is found that the workpiece 151 on the mover 150 needs to be reprocessed (that is, when there is omission or processing defect of the workpiece 151 on the mover 150), the mover 150 can be driven from the reflux port 132 of the processing area 130, enter the reflux component channel 140 through the connected reflux inlet 141, and rejoin the processing area 130 from the entry port 131 of the processing area 130 connected to the reflux outlet 142, so that the workpiece 151 on the mover 150 can be processed again, thereby effectively improving the reliability of reprocessing of the workpiece 151 on the mover 150 on the magnetic drive conveying system 100.

[0080] In addition, in order to further improve the reliability of reprocessing the workpiece 151 on the mover 150 in the magnetic drive conveying system 100, it is necessary to improve the accuracy of controlling the mover 150. Figure 3 , is a schematic diagram of the structure of a magnetic drive conveying system provided with a controller according to an embodiment of the present application. Figure 3As shown, the conveying plane 110 is mainly composed of a plurality of stators 111, each of which is wound with a coil 112. The conveying plane 110 is also provided with a current controller 113, and the current controller 113 is in communication connection with the coil 112 of each stator 111. The current controller 113 is used to control the current phase, current frequency and current magnitude of the coil 112 of each stator 111, so that each stator 111 can generate an independent magnetic field after the coil 112 of each stator 111 is energized. In addition, referring to Figure 4 , is a schematic diagram of the structure of a mover provided in an embodiment of the present application. Figure 4 As shown, the mover 150 carries a workpiece 151 and is provided with a permanent magnet 152; when the mover 150 runs on the energized conveying plane 110, an independent magnetic field can be generated between the stator 111, so that the mover 150 is induced by the independent magnetic field generated by the permanent magnet 152 and the stator 111, thereby driving the mover 150 to flexibly run on the conveying plane 110 according to the planned parameters. In addition, combined with Figure 3 As shown in the figure, the controller 170 is communicated with the current controller 113. When the coils 112 of multiple independent stators 111 on the conveying plane 110 are energized, the controller 170 can independently control the current parameters (such as current frequency, current phase and current magnitude) of the coils 112 on each stator 111 through the current controller 113, so that on each stator 111, independent magnetic fields are generated according to the input control instructions of the controller 170, so that the mover 150 loaded with permanent magnets 152 can independently change the motion state according to different magnetic fields when passing through different stators 111, so as to realize pre-control of the current parameters of the coils 112 on different stators 111, so as to pre-plan a conveying path 120 on the conveying plane 110, and control the real-time motion states of different movers 150 on the conveying path 120 in real time.

[0081] In addition, it can be understood that the current controller 113 of the conveying plane 110 can be a single current controller 113 in the conveying plane 110 for controlling the overall current controller 113 of the coils 112 on all stators 111, or it can be a separate small current controller 113 in each stator 111, which is used to control the current controller 113 of the coils 112 of the stator 111 alone.

[0082] Reference Figure 5 , is a schematic diagram of the structure of a magnetic drive conveying system with a position sensor provided in an embodiment of the present application. Figure 5As shown in , the magnetic drive conveying system 100 is also provided with a position sensor 180, which is communicatively connected to the controller 170. The position sensor 180 is used to collect the position parameters of the mover 150 in the magnetic drive conveying system 100, and send the position parameters of the mover 150 to the controller 170, so that the controller 170 can determine the real-time position of the mover 150 on the conveying plane 110 in real time, so that the controller 170 can timely control the movement state of each mover 150 through the current controller 113.

[0083] It is understandable that the position sensor 180 may be an image acquisition device such as a Hall effect sensor or an inductive sensor, and the number of the position sensor 180 may be one or more, and is used to acquire the position parameters of each mover 150 on the conveying plane 110 .

[0084] In some embodiments, based on the magnetic drive conveying system 100, when the controller 170 determines that a certain mover 150 passes through a certain processing area 130 to process a workpiece and the acquired processing image data does not match the preset standard image, the controller 170 uses the stator 111 between the exit port 133 and the return port 132 in the processing area 130 corresponding to the mover running direction of the mover 150 as the first control stator. Figure 6 , is a schematic diagram of determining a first control stator provided in an embodiment of the present application. Figure 6 As shown in FIG. 1 , the running direction of the mover 150 (eg Figure 6 The stator 111 between the corresponding exit port 133 and the return port 132 in the horizontal rightward movement is used as the first control stator. Then, the deviation angle between the first control stator and the return port 132 is determined (such as Figure 6 90 degrees shown in FIG), and determine the first magnetic field adjustment direction based on the deviation angle. Figure 6Taking the mover in as an example, it can be understood that the first magnetic field adjustment direction is used to adjust the running direction of the mover 150 from horizontal to right at the first control stator to the vertical downward running direction so that the mover 150 can enter the return port 132. Next, the first current adjustment phase is determined based on the first magnetic field adjustment direction. It can be understood that by adopting relevant technologies on the coil 112 of the stator 111, such as a three-phase winding setting, and then by changing the phase and phase sequence of the three-phase current on the coil 112, the direction of the magnetic field can be adjusted, so that the current phase can be adjusted to the first current adjustment phase to adjust the magnetic field direction to the first magnetic field adjustment direction. In addition, by adjusting the amplitude and phase of the three-star current, the strength and rotation speed of the magnetic field can be further adjusted; and by adjusting the current size, the strength of the magnetic field can also be effectively adjusted to indirectly control the running speed of the mover through the magnetic field. Therefore, the return channel speed of the return component channel 140 corresponding to the processing area 130 can be further obtained, and the current operating speed of the mover 150 can be obtained, and the first current adjustment size can be determined according to the difference between the operating speed and the return channel speed; next, when the position parameter of the mover 150 reaches the stator position corresponding to the first control stator, the current controller 113 is controlled to adjust the current phase and current size of the coil 112 of the first control stator according to the first current adjustment phase and the first current adjustment size, so that at the first control stator, the operating state of the mover 150 is changed to the return channel speed, and the operating direction is turned to the return port 132. Thereby effectively improving the reliability of reprocessing the workpiece 151 on the mover 150 in the magnetic drive conveying system 100.

[0085] In some embodiments, in the magnetic drive conveying system 100, at least one processing device 190 corresponding to the processing area 130 is provided in each processing area 130, and the processing device 190 exists in a fixed position corresponding to the processing area 130; the processing device 190 is used to process the workpiece 151 carried by the mover 150 at the fixed position in the processing area 130, thereby effectively improving the reliability of processing the workpiece 151 carried by the mover 150.

[0086] Reference Figure 7 , is a schematic diagram of the setting of a processing device provided in an embodiment of the present application. Figure 7 As shown in , taking a certain processing area 130 as an example, a plurality of processing devices 190 are arranged on both sides of the processing area 130 , and these processing devices 190 are arranged in sequence.

[0087] When there are multiple movers 150 in the processing area 130, the controller 170 is also used to select the processing equipment 190 corresponding to each mover 150, so as to drive the mover 150 to the corresponding processing equipment 190 for workpiece processing. In addition, the controller 170 is also used to adjust the current phase and current magnitude of the coil 112 on the stator 111 between the position parameters corresponding to the mover 150 and the fixed position of the processing equipment 190 when driving the mover 150 to the corresponding processing equipment 190, so as to adjust the operating state of the mover 150 in real time, so as to drive the mover 150 to the fixed position of the processing equipment for workpiece processing.

[0088] In some embodiments, when the controller 170 selects the processing equipment 190 corresponding to each mover 150, the controller 170 will use each mover 150 as a target mover for matching the processing equipment 190 one by one, and then determine the fixed position of the processing equipment 190 where there is no mover based on the position parameters of all other movers 150 in the processing area 130, that is, it can be determined that the processing equipment 190 is in an idle state, and the processing equipment corresponding to the fixed position is used as an idle processing equipment; next, any one processing equipment is selected from all the idle processing equipment in the processing area 130 as the target processing equipment corresponding to the target mover, and by adjusting the current position information of the target mover and the current parameters of the coil 112 of the stator 111 between the fixed positions of the target processing equipment, the target mover is driven to the fixed position corresponding to the target processing equipment to process the workpiece, thereby effectively improving the reliability, neatness and flexibility of workpiece processing on the workpiece carried by the mover in the magnetic drive conveying system.

[0089] In some embodiments, when the controller 170 selects the processing equipment 190 corresponding to each mover 150, in order to further improve the working efficiency of the processing equipment 190, so as to improve the processing efficiency of the workpiece 151 carried by the mover 150 in the magnetic drive conveying system. When the controller 170 selects each mover 150 as the target mover for matching the processing equipment 190 one by one, it also determines the idle processing equipment by other methods. Figure 8 , is a schematic diagram of determining idle processing equipment provided by an embodiment of the present application. Figure 8As shown, after determining the target mover, based on the position parameters of all other movers 150 in the processing area 130, when there are other movers 150 at the fixed position corresponding to a certain processing device 190, it means that the processing device 190 is processing the workpiece 151 on the mover 150 at this time. Next, the processing time required for the processing device 190 to process the workpiece is obtained, and combined with the start time of the mover 150 entering the fixed position obtained by the position sensor 180, the processing time of the mover 150 processed by the processing device 190 can be obtained by the difference between the start time and the current time, and then based on the difference between the processing time and the processed time, the waiting time for the processing device 190 to process the mover 150 can be obtained. Then, the current running speed of the target mover is obtained, and based on the current position parameters of the target mover, the running time corresponding to the running path from the position parameters of the target mover to the fixed position of the processing equipment is determined. Then, when the running time is greater than the waiting time, it means that when the target mover runs to the fixed position corresponding to the processing equipment 190, the processing equipment 190 has completed the processing of the workpiece 151 carried by the other movers 150, and the other movers 150 have left the fixed position. At this time, the processing equipment 190 is idle for the target mover, that is, it is an idle processing equipment. Next, any processing equipment is selected from the idle processing equipment corresponding to the target mover as the target processing equipment corresponding to the target stator. Furthermore, by adjusting the current position information of the target mover and the current parameters of the coil 112 of the stator 111 between the fixed positions of the target processing equipment, the target mover is driven to the fixed position corresponding to the target processing equipment to process the workpiece, thereby effectively improving the processing efficiency, reliability, neatness and flexibility of the workpiece processing carried by the mover in the magnetic drive conveying system.

[0090] In some embodiments, after determining multiple idle processing equipment corresponding to the target mover, the processing equipment closest to the target mover in the running direction can be selected as the target processing equipment corresponding to the target mover, thereby further improving the processing efficiency of workpiece processing on the workpiece carried by the mover in the magnetic drive conveying system.

[0091] Reference Fig. 9 , is a schematic diagram of an operation area and a running area within a processing area provided in an embodiment of the present application. Fig. 9As shown, there are fixed positions corresponding to multiple processing devices 190 on one or both sides of the processing area 130, and these fixed positions constitute an operation area for processing the workpiece 151 carried by the mover 150. There is no middle part with fixed positions in the processing area 130, which is the operation area for the normal operation of the mover 150. Except for entering the fixed position to process the workpiece, the rest of the operation of the mover 150 is carried out in the operation area.

[0092] Based on Fig. 9 In the running area and operation area shown, when the controller 170 controls the mover 150 to go to the corresponding fixed position of the corresponding processing equipment 190 to process the workpiece, the stator 111 corresponding to the intersection of the first direction (i.e., the mover running direction) of the mover 150 running at the current position parameter and the second direction of the fixed position corresponding to the processing equipment 190 is used as the second control stator, wherein the second direction is perpendicular to the operation area. Then, similar to the above-mentioned determination of the current adjustment of the first control stator, the second magnetic field adjustment direction is first determined based on the angle between the first direction and the second direction, and the second current adjustment phase is determined based on the second magnetic field adjustment direction; and the required processing speed of the mover 150 at the fixed position when the processing equipment 190 processes the workpiece 151 is obtained, and the second current adjustment size is determined based on the difference between the current running speed of the mover 150 at the current position parameter and the processing required speed. Then, when the position parameter of the mover 150 reaches the stator position corresponding to the second control stator, the controller 170 controls the current controller 113 to adjust the current phase and current magnitude of the coil 112 of the second control stator according to the second current adjustment phase and the second current adjustment direction. Thus, at the second control stator, the running state of the mover 150 is changed to the processing required speed, and the running direction is turned to the fixed position of the processing equipment 190. Thus, the reliability of the workpiece processing of the workpiece 151 on the mover 150 in the magnetic drive conveying system 100 is effectively improved.

[0093] Reference Fig.10 , is a schematic diagram of a processing area provided with a waiting area provided in an embodiment of the present application. Fig.10 As shown in the figure, there is a situation in which at a certain moment in a certain processing area 130, there are movers 150 at the fixed positions corresponding to all the processing equipment 190. At this time, a waiting area is planned in the operating area, and the movers 150 that have not yet processed the workpiece can wait in the waiting area until there is an idle processing equipment 190. The controller 170 then dispatches the waiting movers 150 to the idle processing equipment 190 for workpiece processing, thereby further improving the reliability of workpiece processing of the workpiece 151 on the mover 150 in the magnetic drive conveying system 100.

[0094] In addition, a mechanical support structure is also provided in the magnetic drive conveying system 100 for supporting the conveying plane 110 and fixing the entire magnetic drive conveying system 100 , so as to improve the reliability of workpiece processing on the workpiece carried on the mover in the magnetic drive conveying system.

[0095] The present application also provides a control method for a magnetic drive conveying system, which is applied to the control 170 in the magnetic drive conveying system 100. Fig.11 As shown, the method includes the following steps 1101 to 1103.

[0096] Step 1101: After the mover enters the processing area from the entry port, processing image data of the workpiece carried by the mover after the workpiece is processed in the processing area is obtained.

[0097] Step 1102: Compare the processing image data with the preset standard image. When the processing image data and the preset standard image do not match, the control current controller adjusts the current direction and current magnitude of the coil of the first control stator to drive the mover from the return port through the return component channel to the entry port and re-enter the processing area to process the workpiece.

[0098] Step 1103: When the processed image data matches the preset standard image, the mover is driven to leave the processing area from the exit port.

[0099] In the above embodiment, the specific implementation of the control method of the magnetic drive conveying system is basically consistent with the specific implementation of the above magnetic drive conveying system and its beneficial effects, which will not be repeated here.

[0100] The present application also provides an electronic device, including:

[0101] at least one memory;

[0102] at least one processor;

[0103] at least one program;

[0104] The program is stored in the memory, and the processor executes the at least one program to implement the control method of the magnetic drive conveying system implemented in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0105] See also Fig.12 , Fig.12 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0106] The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0107] The memory 1202 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1202 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1202, and the processor 1201 calls and executes the control method of the magnetic drive conveying system of the embodiment of the present application;

[0108] Input / output interface 1203, used to implement information input and output;

[0109] The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0110] A bus 1205 that transmits information between various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204);

[0111] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0112] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the control method of the magnetic drive conveying system is implemented.

[0113] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0114] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0115] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0116] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0118] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0119] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0120] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0124] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A magnetic drive conveying system, characterized in that: include: A conveying plane, wherein at least one processing area is arranged on the conveying plane, and a reflux component channel is arranged corresponding to at least one of the processing areas, wherein the processing area includes an entry port, an exit port, and a reflux port, and the reflux component channel includes a reflux inlet and a reflux outlet, wherein the reflux inlet is connected to the reflux port, and the reflux outlet is connected to the entry port, and a conveying path passing through at least one of the processing areas is planned on the conveying plane; The conveying plane is mainly composed of a plurality of stators, each of which is wound with a coil, and the coil is connected to a current controller, and the current controller is used to control the current direction and current magnitude of the coil; A mover, wherein a permanent magnet is disposed on the mover, and when the coil is energized, the permanent magnet and the coil jointly drive the mover to move on the conveying plane, and the conveying path includes a starting area and an ending area of ​​the mover; An image acquisition component, the image acquisition component is used to collect processing image data of the workpiece carried by the mover in the processing area after the mover enters the processing area from the entry port; a controller, which is in communication with the image acquisition component and the current controller, receives the processed image data, and compares the processed image data with a preset standard image; when the processed image data does not match the preset standard image, the controller is used to control the current controller to adjust the current phase and current magnitude of the coil to drive the mover from the return port through the return component channel to the entry port; when the processed image data matches the preset standard image, the mover is driven to leave the processing area from the exit port; The magnetic drive conveying system is constructed based on planar motor technology; The system also includes processing equipment corresponding to each of the processing areas; When there are multiple movers, the controller is further used to select the processing equipment corresponding to each mover; When the controller selects the processing equipment corresponding to each of the movers, the execution steps of the controller include: The movers are taken as target movers one by one, and based on the position parameters of the other movers, a fixed position where the mover does not exist is determined, and the corresponding processing equipment is determined as an idle processing equipment, wherein the fixed position is a position where the processing equipment processes the workpiece on the processing area; When there are other movers at the fixed position, obtaining the start time of the mover entering the fixed position, and determining the waiting time for the mover to leave the fixed position based on the processing time and the start time; Acquire the current running speed of the target mover, and determine the running time to reach the fixed position based on the current position parameter of the target mover; When the waiting time is less than the running time, the processing equipment corresponding to the fixed position is used as an idle processing equipment; A target processing device corresponding to the target mover is selected from the idle processing devices.

2. The magnetic drive conveying system according to claim 1, characterized in that: The system further comprises: A position sensor, the position sensor is used to detect and obtain the position parameters of the mover; The position sensor is communicatively connected to the controller, and the controller is further configured to receive the position parameter.

3. The magnetic drive conveying system according to claim 2, characterized in that: When the processed image data does not match the preset standard image, the controller controls the current controller to adjust the current direction and current magnitude of the coil, the execution steps of the controller include: Taking the stator between the return port and the exit port as a first control stator, determining a deviation angle between the first control stator and the return port, determining a first magnetic field adjustment direction based on the deviation angle, and determining a first current adjustment phase based on the first magnetic field adjustment direction; Acquire the return channel speed of the return component channel, acquire the running speed of the mover, and determine the first current adjustment magnitude according to the difference between the running speed and the return channel speed; When the position parameter of the mover reaches the stator position corresponding to the first control stator, the current controller is controlled to adjust the current phase and current magnitude of the coil of the first control stator according to the first current adjustment phase and the first current adjustment magnitude.

4. The magnetic drive conveying system according to claim 2, characterized in that: The processing equipment is used to process the workpiece carried by the mover running in the processing area.

5. The magnetic drive conveying system according to claim 4, characterized in that: include: The number of processing equipment corresponding to the processing area is multiple, and the processing equipment is arranged in sequence; The controller is also used to adjust the current phase and current magnitude in the coil on the stator between the position parameter of the mover and the fixed position of the processing equipment, and drive the mover to run to the processing equipment to process the workpiece.

6. The magnetic drive conveying system according to claim 5, characterized in that: The processing area includes a running area and an operating area which are interconnected, wherein the operating area is composed of a plurality of the fixed positions, and the running area does not have any fixed positions.

7. The magnetic drive conveying system according to claim 6, characterized in that: When the controller adjusts the current direction and current magnitude in the coil on the stator between the position parameter of the mover and the fixed position of the processing equipment, the controller executes the steps including: The stator corresponding to the intersection of the first direction in which the mover moves on the position parameter and the second direction of the fixed position is used as a second control stator, wherein the second direction is perpendicular to the operating area; Determining a second magnetic field adjustment direction based on an angle between the first direction and the second direction, and determining a second current adjustment phase based on the second magnetic field adjustment direction; Obtaining a processing speed requirement of the processing equipment, and determining a second current adjustment magnitude based on a difference between the current operating speed and the processing speed requirement; When the position parameter of the mover reaches the stator position corresponding to the second control stator, the current controller is controlled to adjust the current phase and current magnitude of the coil of the second control stator according to the second current adjustment phase and the second current adjustment direction.

8. A control method for a magnetic drive conveying system, characterized in that: The method is applied to the magnetic drive conveying system according to any one of claims 1 to 7, and the method comprises: After the mover enters the processing area from the entry port, processing image data of the workpiece carried by the mover after the workpiece is processed in the processing area is obtained; Comparing the processed image data with a preset standard image, when the processed image data and the preset standard image do not match, controlling the current controller to adjust the current direction and current magnitude of the coil of the first control stator, so as to drive the mover from the return port through the return component channel to the entry port, and re-enter the processing area to process the workpiece; When the processed image data matches the preset standard image, the mover is driven to leave the processing area from the exit port.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that the control method of the magnetic drive conveying system according to claim 8 is implemented when the processor executes the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the magnetic drive conveying system according to claim 8 is implemented.

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