Production system, motor control apparatus, linear motor apparatus and control method thereof

Abstract

The invention relates to a production system, a motor control device, a linear motor device and a control method thereof. The linear motor equipment comprises a stator wire body and a plurality of mover modules movably arranged on the stator wire body, and the mover modules are used for carrying a carrier to move. The control method comprises the following steps: determining a target mover module in a plurality of mover modules, and acquiring carrier deviation information of the target mover module; the target mover module is a mover module determining to run to the operation equipment for interaction, and the carrier deviation information is the measured position deviation degree of the carrier. And according to the carrier deviation information, correcting the movement stroke of the target rotor module, so that the carrier is located at the operation target position when the target stator module moves to interact with the target operation equipment. Thus, under the condition that the machining precision requirement and the assembling precision requirement of linear motor equipment are not improved, the adverse operation result caused by the transportation deviation of the target mover module can be eliminated, the cost is low, and the operability is high.

Description

Technical Field

[0001] The present application relates to the technical field of linear motors, and in particular to a production system, a motor control device, a linear motor device and a control method thereof. Background Art

[0002] In linear motor equipment, the mover module can be driven by the stator line and move along the stator line. Therefore, linear motor equipment can be applied to material transportation scenarios. During material transportation, there are situations where the mover module needs to interact with the operating equipment (loading, unloading, processing, etc.).

[0003] However, in the process of the mover module transporting materials, the operating equipment may fail to operate (such as the operating equipment fails to place the material on the carrier, the operating equipment fails to obtain the material from the carrier, the operating equipment fails to successfully process the material, etc.).

[0004] One reason for the failure of the operating equipment is the transportation deviation of the mover module, which may be caused by the inconsistency of the linear motor equipment during the production and assembly process.

[0005] Therefore, how to eliminate the transportation deviation of the mover module is an urgent problem to be solved in this field. Summary of the invention

[0006] The present application provides a production system, a motor control device, a linear motor device and a control method thereof to solve at least part of the problems in the related art.

[0007] In a first aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0008] Determine a target mover module among multiple mover modules, and obtain the load deviation information of the target mover module, wherein the target mover module is a mover module determined to interact with the operating device, and the load deviation information is the position deviation degree of the load obtained by measurement;

[0009] According to the object deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the target operating device, the object is at the operating target position.

[0010] In a second aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0011] In response to the correction control instruction, the load deviation information of the target mover module is obtained; the target mover module is the mover module that is determined to interact with the operating device;

[0012] Based on the load deviation information of the target mover module, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the target operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load.

[0013] In a third aspect, an embodiment of the present application provides a control method for a linear motor device, wherein the linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; the control method comprises:

[0014] Obtaining the load deviation information of the target mover module; the target mover module is the mover module that is determined to interact with the operating device;

[0015] Generating a correction control instruction based on the load deviation information of the target mover module;

[0016] The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the target operating device, the carrier is in the operating target position; wherein the carrier deviation information is the measured position deviation degree of the carrier.

[0017] In a fourth aspect, an embodiment of the present application provides a motor control device, including:

[0018] processor;

[0019] A memory, configured to store executable instructions of the processor;

[0020] The processor is configured to execute any one of the control method described in the first aspect, the control method described in the second aspect, and the control method described in the third aspect.

[0021] In a fifth aspect, an embodiment of the present application provides a linear motor device comprising:

[0022] stator wire body;

[0023] A plurality of mover modules movably arranged on the stator wire body, wherein the mover modules carry a load;

[0024] A local control device, wherein the local control device is configured to execute the control method described in the first aspect or the control method described in the second aspect.

[0025] In a sixth aspect, an embodiment of the present application provides a production system, including:

[0026] The motor control device according to the fourth aspect;

[0027] A linear motor device comprises a stator line body, a plurality of mover modules movably arranged on the stator line body, and a control device, wherein the mover modules are used to carry a load and move;

[0028] An operating device is used to interact with the target mover module.

[0029] Through the above technical solution, the moving stroke of the target mover module is corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, improve the operation success rate of the operating device, and have stronger operability and higher deviation correction efficiency. In addition, without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, it can also eliminate the adverse operation results caused by the transportation deviation of the target mover module, and the implementation cost is low. Therefore, the technical solution of this application can take into account both improving the operation success rate of the operating device and controlling the implementation cost.

[0030] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0032] Figure 1 and Figure 2 Schematic diagram of the structure of a linear motor device shown in the related art.

[0033] Figure 3 and Figure 4 It is a structural schematic diagram of a linear motor device using the control method of the present application.

[0034] Figure 5 It is a flowchart of a control method of a linear motor device of the present application in an exemplary embodiment.

[0035] Figure 6 is a flow chart of a control method of a linear motor device of the present application in another exemplary embodiment.

[0036] Figure 7It is a structural schematic diagram of the linear motor device of the present application in the device debugging stage in an exemplary embodiment.

[0037] Figure 8 is a flowchart of a control method of a linear motor device of the present application in yet another exemplary embodiment.

[0038] Fig. 9 is a flowchart of a control method of a linear motor device of the present application in yet another exemplary embodiment.

[0039] Fig.10 is a flowchart of a control method of a linear motor device of the present application in yet another exemplary embodiment.

[0040] Fig.11 and Fig.12 Schematic diagram of a structure in which a linear motor device of the present application includes a mechanical positioning assembly in an exemplary embodiment.

[0041] Fig.13 and Fig.14 It is a schematic structural diagram of an exemplary embodiment in which the carrier of the linear motor device of the present application includes a carrier and a material.

[0042] Fig.15 It is a flowchart of a control method of a linear motor device on the local control device side of the present application in an exemplary embodiment.

[0043] Fig.16 It is a flowchart of a control method of a linear motor device on the host computer side of the present application in an exemplary embodiment.

[0044] Fig.17 It is a control logic relationship diagram of static deviation correction of the control method of the linear motor device of the present application in an exemplary embodiment.

[0045] Fig.18 It is a schematic diagram of the control logic relationship of the dynamic deviation correction of the control method of the linear motor device of the present application in an exemplary embodiment.

[0046] Fig.19 1 is a schematic diagram of control logic relationships of dynamic deviation correction of a control method for a linear motor device of the present application in another exemplary embodiment. DETAILED DESCRIPTION

[0047] In the related technology, in the process of transporting materials in the mover module, the operating equipment may fail to operate. One reason for the operation failure is the transportation deviation of the mover module, which may be caused by the inconsistency of the linear motor equipment in the production and assembly process. For example, there are processing errors in the parts of the linear motor equipment, assembly errors in the process of assembling the mover module, assembly errors in the process of assembling the stator line, assembly errors when installing the mover module and the stator line, and assembly errors when installing between the mover module and the carrier.

[0048] For example, Figure 1 As shown, the mover module 91 is equipped with a carrier 93. In theory, the stator line 90 should drive the mover module 91 to a position corresponding to the operating device 92 ( Figure 1 However, the actual position of the mover module is as shown by the solid line, that is, there is a transportation deviation of the mover module 91, resulting in the failure of the carrier to accurately correspond to the operating equipment.

[0049] For example, Figure 2 , the mover module 91 is equipped with a carrier 93. It is assumed that the stator line 90 drives the mover module 91 to a position corresponding to the operating device 92. However, due to the assembly error of the position of the carrier 93 (the actual position of the carrier is as shown in FIG. Figure 2 As shown in the implementation, the theoretical position is shown by the dotted line), resulting in the carrier 93 failing to accurately correspond to the operating device 92.

[0050] In order to solve the above problems, the present application provides a production system, a motor control device, a linear motor device and a control method thereof to solve at least some of the problems in the related art. The production system, the motor control device, the linear motor device and a control method thereof of the present application are introduced below in conjunction with the accompanying drawings.

[0051] The present application provides a control method for a linear motor device. Figure 3 and Figure 4 As shown, the linear motor device includes a stator line body 10 and a plurality of mover modules 20 movably arranged on the stator line body 10, and the mover module 20 is used to carry and move a load 30. It should be noted that the load can be a carrier installed on the mover module 20, or a material loaded on the carrier, which will be described in detail below.

[0052] See also Figure 5 As shown, the control method may include:

[0053] Step S10, determining a target mover module among multiple mover modules 20, and obtaining the load deviation information of the target mover module, wherein the target mover module is the mover module 20 determined to interact with the operating device, and the load deviation information is the measured position deviation degree of the load 30.

[0054] Step S20, according to the load deviation information, the moving stroke of the target mover module is corrected so that when the target mover module moves to interact with the target operating device 40, the load 30 is in the operating target position, which can be understood as the position of the load 30 corresponds to the operating position of the operating device.

[0055] After determining the moving stroke of the target mover module (such as moving a distance x, or moving to position point A), according to the load deviation information corresponding to the target mover module, if the deviation value of the load deviation information is determined to be a (a may be zero or non-zero), then based on the deviation value a, the moving stroke of the target mover module is corrected for deviation (such as moving a distance x+a, or offsetting a relative to position point A, and the offset direction is determined according to the positive or negative value of a). Figure 3 and Figure 4 As shown, assuming Figure 3 There is a transportation deviation in the target mover module. Figure 4 There is an assembly error in the position of the load 30. Through the above method, after the target mover module moves and performs stroke correction according to the deviation value a of the load deviation information, the load 30 is located at the operation target position.

[0056] Among them, according to the carrier deviation information, the moving stroke of the target mover module is corrected, which may refer to correcting at least one of the moving distance, moving direction, moving speed, acceleration, and deceleration of the target mover module. That is, after the deviation correction is performed on the moving stroke of the target mover module, the moving state of the mover module is adjusted (such as controlling the acceleration or deceleration of the mover) according to the corrected moving stroke, the current speed of the mover module (instantaneous speed, acceleration, etc.) and the speed-related requirements (instantaneous speed requirements, acceleration requirements, etc.) when the mover module corresponds to the operating device, so that the speed of the mover module when the moving device corresponds to the operating device meets the requirements. It can be understood that the moving stroke of the mover module is related to the control instruction, and the control instruction may include various control parameters. For example, the control instruction may include at least the stroke parameter of the mover module, and may also include the speed parameter, acceleration parameter, moving direction and other parameters of the mover module.

[0057] For example, combined with Figure 3 As shown in FIG. 1 , since the target moving submodule needs to move a further distance after correction, in the moving stroke after correction, in order to ensure that the target moving submodule can accurately stop at Figure 3The dotted line position in the figure can control the deceleration time of the target moving submodule to be delayed compared with the deceleration time indicated by the original control parameter, or the acceleration of the target moving submodule can be controlled to be reduced compared with the acceleration indicated by the original control parameter, so that the target moving submodule is located at Figure 3 The dotted line position in .

[0058] Through the above technical solution, the moving stroke of the target mover module is corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, improve the operation success rate of the operating device, and have stronger operability and higher deviation correction efficiency. In addition, without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, it can also eliminate the adverse operation results caused by the transportation deviation of the target mover module, and the implementation cost is low. Therefore, the technical solution of this application can take into account both improving the operation success rate of the operating device and controlling the implementation cost.

[0059] The technical solution of this application does not need to reduce the processing error and assembly error of the linear motor equipment. Instead, it uses the carrier deviation information to correct the deviation of the moving stroke of the mover module, eliminate the adverse operating results caused by the transportation deviation of the mover module, and ensure that the load can accurately correspond to the operating equipment. It is more operable and can improve the efficiency of deviation correction. In addition, since the transportation deviation of the load is compensated, the transportation accuracy of the linear motor equipment is improved, so that the linear motor equipment can be used in transportation scenarios with higher precision requirements (such as transportation scenarios in the fields of lithium batteries, 3c, semiconductors, etc.).

[0060] It is understandable that the stator wire can be obtained by splicing multiple stator modules. The shape of the stator wire formed by splicing the stator modules along the moving direction of the moving submodule can be a straight line shape, an arc shape, or a combination of the two. For ease of understanding, the straight line shape part of the stator wire is intercepted for description in the embodiments of the present application. Other shape parts of the stator wire, or stator wires with other shapes can be obtained by analogy with the description of the embodiments of the present application.

[0061] In some optional embodiments, before obtaining the load deviation information of the target movable sub-module, the following may also be included: Step S11, performing movement control on each movable sub-module to determine the deviation between the actual position and the target position of the load carried by each movable sub-module, thereby obtaining the load deviation information corresponding to each movable sub-module, that is, the position deviation degree of the load corresponding to each movable sub-module.

[0062] In practical applications, the correlation between the mover module and the load deviation information can be established through the correspondence between the identity information of the mover module (information used to distinguish the mover module) and the load deviation information. For example, each mover module has its own identity information, and the load deviation information corresponding to each mover module is established with the identity information of each mover module and stored in the storage module. In this way, after the target mover module is determined, the corresponding load deviation information can be obtained by reading the identification information of the target mover module.

[0063] Among them, the load deviation information corresponding to each mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the efficiency of deviation correction (hereinafter referred to as static deviation correction). In the operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read. It is also possible to calculate and determine the load deviation information corresponding to the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0064] join Figure 6 As shown, combined with Figure 7 In some optional implementations, each mover module is controlled to move so as to determine the deviation between the actual position and the target position of the load carried by each mover module, and obtain the load deviation information corresponding to each mover module. The static deviation correction method may include:

[0065] Step S111, in the equipment debugging stage, control each mover module 20 to move to a first designated position, and the load 30 carried by each mover module 20 has a first target position ( Figure 7 (shown by the dashed line in the middle).

[0066] Step S112, obtaining the first actual position ( Figure 7 (shown by the solid line in the middle).

[0067] Step S113, according to the deviation between the first actual position and the first target position, determine the deviation information of the load corresponding to each mover module 20, that is, the position deviation degree of the load 30 corresponding to the mover module 20, such as Figure 7 The deviation value a is shown in .

[0068] It is understandable that in the equipment debugging stage, that is, before formal operation, the above steps S111-S113 can be performed on all the mover modules to obtain the load deviation information corresponding to each mover module. In this way, in the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly obtained.

[0069] Optionally, in step S113, after the load deviation information corresponding to each mover module is determined according to the deviation between the first actual position and the first target position, the load deviation information of each mover module can be stored in a non-volatile storage module. During the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly obtained from the non-volatile storage module.

[0070] It is understandable that during the equipment debugging stage, that is, before the formal operation, the load deviation information corresponding to each mover module can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the mover module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module external to the linear motor device. In this way, during the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0071] join Figure 8 As shown, in some optional embodiments, each mover module is controlled to move so as to determine the deviation between the actual position and the target position of the load carried by each mover module, and the load deviation information corresponding to each mover module is obtained. The dynamic deviation correction method may include:

[0072] Step S114, during the equipment operation stage, control each mover module to move to a second designated position, and the second designated position is located before the target operating device. The loads carried by each mover module have a second target position corresponding to the second designated position. It should be noted that the second designated position is located before the target operating device, which refers to, for example, any position passed before reaching the interactive area for interacting with the operating device along the moving direction of the mover module. Furthermore, the second designated position may also be a prior position set according to the interactive area of ​​the target mover module.

[0073] Step S115, obtaining a second actual position of the carried object when each moving submodule moves to the second designated position.

[0074] Step S116: determining the supported object deviation information corresponding to each mover module according to the deviation between the second actual position and the second target position.

[0075] It is understandable that during the operation of the equipment, the above steps S114-S116 can be performed on all the moving submodules during the movement of the moving submodules, so as to obtain the load deviation information corresponding to each moving submodule. In this way, when the target moving submodule is determined, the load deviation information corresponding to the target moving submodule can be directly obtained.

[0076] Optionally, after determining the load deviation information corresponding to each mover module according to the deviation between the second actual position and the second target position, the load deviation information of each mover module can be stored in a random read-write storage module. When the target mover module is determined, the load deviation information of the target mover module can be directly obtained from the random read-write storage module.

[0077] It can be understood that, during the operation stage of the equipment, each mover module can be controlled to move first, and the load deviation information corresponding to each mover module can be obtained through the above steps S114-S116, and stored in random read-write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read-write storage hardware will be continuously refreshed, the information can be updated after obtaining new load deviation information. The data read from the random read-write storage hardware may be updated data, so the deviation correction performed on the mover module is dynamic deviation correction. The random read-write storage hardware can be a random read-write storage module included in the linear motor device, or it can be a random read-write storage module external to the linear motor device. In this way, during the operation stage of the equipment, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0078] It should be noted that the stator line can be annular, and the target mover module may pass through the second designated position again during its movement. Alternatively, the movement of the target mover module is a return type, and it may pass through the second designated position again.

[0079] In the moving stroke of the target mover module, when the target mover module passes through the second designated position again, the second actual position of the load carried by the target mover module can be re-acquired through the above step S115. Then through the above step S116, the load deviation information of the target mover module is re-determined according to the deviation between the re-acquired second actual position and the second target position, and updated to the random read-write storage module. In this way, the correction accuracy of the target mover module in the subsequent moving stroke is improved by continuously refreshing the measured load deviation information.

[0080] In this way, for the same mover module, the corresponding load-bearing object deviation information can be updated each time it is in the second specified position. The load-bearing object deviation information is changeable, more flexible, and more accurate in correction effect, which is more conducive to re-assembly (the mover module is reinstalled on the stator line after maintenance, the carrier is replaced, etc.).

[0081] In some optional embodiments, in a scenario using dynamic deviation correction, the above step S10, determining the target mover module among multiple mover modules, may include: determining the mover module that interacts with the target operating device from the multiple mover modules that pass through the second specified position as the target mover module. In this way, in the subsequent movement of the target mover module, the travel of the target mover module from the second specified position to the interaction area can be corrected according to the deviation information of the carrier corresponding to the target mover module in the random read-write storage module, so that when the target mover module interacts with the target operating device, the carrier is in the operation target position.

[0082] In some optional embodiments, correcting the moving stroke of the target mover module according to the carrier deviation information may include: obtaining a movement control parameter of the target mover module, and correcting the interactive designated position indicated by the movement control parameter according to the carrier deviation information.

[0083] It can be understood that whether it is static deviation correction or dynamic deviation correction, the moving stroke of the target mover module is corrected according to the carrier deviation information, which can be understood as correcting the control parameters of the target mover module, thereby adjusting the position of the target mover module when it finally stops. The interactive specified position indicated by the control parameter can be represented by a distance or a position point. In the case of static deviation correction, the target mover module can be calculated from the last interactive position or starting position. In the case of dynamic deviation correction, it can be the same as static deviation correction, or it can be calculated from the second specified position.

[0084] In some optional embodiments, static deviation correction can be combined with dynamic deviation correction to perform more accurate deviation correction on the target mover module. Specifically, in the process of controlling each mover module to move to the second specified position, preliminary deviation information can be used to perform preliminary correction on the travel of each mover module from the initial position to the second specified position. The preliminary deviation information is the position deviation degree of the load of each mover module measured during the equipment debugging phase using static deviation correction.

[0085] See also Fig. 9 As shown, before controlling each of the mover modules to move to the second specified position, the method of obtaining the preliminary deviation information may include:

[0086] Step S117, during the equipment debugging stage, each mover module is controlled to move to a first designated position, and the load carried by each mover module has a first target position corresponding to the first designated position.

[0087] Step S118, obtaining the first actual position of the carried object when each moving submodule moves to the first designated position.

[0088] Step S119: determining preliminary deviation information corresponding to each mover module according to the deviation between the first actual position and the first target position.

[0089] It can be understood that the method of obtaining preliminary deviation information can be obtained through the above-mentioned static deviation correction method.

[0090] In this way, for the same mover module, the mover module can be controlled to move to the first designated position first, and the primary load deviation information can be obtained through steps S117-S119 as preliminary deviation information to perform preliminary correction on the travel of the mover module from the first designated position to the second designated position. After the mover module reaches the second designated position, the load deviation information of the mover module at this time is obtained according to the dynamic deviation correction method. The load deviation information thus obtained is the secondary load deviation information determined based on the preliminary deviation information of the static deviation correction. After the secondary load deviation information is obtained, the moving travel of the target mover module is subsequently controlled according to the secondary load deviation information, thereby performing more accurate deviation correction on the target mover module.

[0091] See also Fig.10 As shown, in some optional implementations, the above step S10, obtaining the load deviation information of the target mover module, may include:

[0092] Step S120 , selecting a plurality of second designated positions between the starting position of the target moving submodule and the plurality of operating devices, so as to separate a plurality of sub-strokes between the starting position and the plurality of operating devices.

[0093] Step S121 , obtaining sub-stroke control parameters for controlling the target moving sub-module to move from the starting position to each of the operating devices.

[0094] Step S122, obtaining each second actual position of the carried object when the target mover module moves to each second designated position; the carried object carried by the target mover module has a second target position corresponding to each second designated position.

[0095] Step S123, determining the load deviation information corresponding to when the target mover module passes through each second designated position according to the deviation between the second actual position and the corresponding second target position, so that the target mover module can measure a load deviation information in each sub-stroke.

[0096] In this way, during the movement of two adjacent sub-strokes, the target mover module can use the load deviation information measured by the target mover module in the previous sub-stroke to correct the target mover module in the next sub-stroke, so that the target mover module can be corrected when it moves to the stroke that interacts with each operating device. It should be noted that the load carried by the target mover module in each sub-stroke can be the same or different. It can be applied to the situation where the target mover module corresponds to different operating devices and carries the same or different loads, such as transporting different types of objects, sorting objects, assembling objects, and other scenarios.

[0097] Optionally, the above step S123, determining the load deviation information corresponding to when the target mover module passes through each second designated position, so that the target mover module can measure a load deviation information in each sub-stroke, can include: replacing the load deviation information measured by the target mover module in the previous sub-stroke with the load deviation information measured by the target mover module in the next sub-stroke, and storing it in a random read-write storage module. Since the random read-write storage hardware will be continuously refreshed, the information can be updated after obtaining the new load deviation information, and the data read from the random read-write storage hardware may be the updated data, so the deviation correction for the target mover module is more accurate.

[0098] In some optional embodiments, by measuring the position information of a specified part in the carrier, it can be characterized as the measured position information of the carrier, wherein the specified part can be the center point, corner point, etc. of the carrier. Usually, the linear motor equipment is equipped with a position measurement device, such as a magnetic grating sensor or a grating sensor installed along the stator line, which can measure the position information of the mover module. The position measurement of the carrier can be obtained by measuring an additionally configured position measurement device, such as a visual sensor, a laser sensor, an infrared sensor, etc. In this way, by measuring the actual position and the target position of the carrier, the actual position and the target position of the carrier are compared to determine the deviation, thereby determining the degree of position deviation of the carrier, that is, the deviation information of the carrier.

[0099] The above step S11, determining the deviation between the actual position and the target position of the load carried by each of the mover modules, can be achieved in the following ways:

[0100] Method (1): Obtain the position information of the reference object arranged along the stator line as the target position of the object carried by the mover module in the movement control. Then control the mover module to move to the specified position corresponding to the target position of the object carried, and obtain the current position of the object carried as the actual position of the object carried. Among them, the reference object can be a plate (such as a calibration plate) set based on the stator line and having a certain pattern, or it can be a plate (such as a calibration plate) with a certain pattern arranged non-contact with the stator line.

[0101] Method (2): Control the movement of the reference mover module, which is selected from multiple mover modules. Obtain the position information reached when the reference mover module stops moving, which is used as the target position of the object carried by the mover module in the movement control. Then control the mover module to move to a specified position corresponding to the target position of the object carried, and obtain the current position of the object carried as the actual position of the object carried. Among them, the transportation deviation of the mover module used as the reference object is not considered, and the transportation deviation of the remaining mover modules can be understood as the deviation relative to the mover module used as the reference object.

[0102] In actual applications, the position information of the reference mover module when it stops, the position information of the calibration plate, and the actual position of the carrier when it actually stops are all obtained using the same position measurement device. Even if there is a measurement error in the position measurement device, since the above-mentioned position information comes from the same measurement device, the measurement error can be offset when comparing the actual position information of the carrier with the target position information.

[0103] Method (3): Considering that the magnetic coupling relationship between the mover module and the stator wire body has a certain flexibility (that is, the mover module can move slightly relative to the stator wire body under the push of external force), in order to reduce hardware costs, the target position and actual position of the load can also be indirectly obtained by using the linear motor equipment with its own position measurement device and mechanical positioning component.

[0104] Specifically, see Fig.11 As shown, the moving submodule 20 can be controlled to move to a specified position first, and the position of the moving submodule 20 after stopping is used as the actual position of the load 30. Fig.12 As shown, after the extension part of the mechanical limit assembly 50 is extended, the position of the mover module 20 is fine-tuned, and the position of the mover module 20 after fine-tuning, that is, the current position of the mover module 20, is measured as the target position of the load 30. The mechanical positioning assembly 50 can move by lifting, switching, etc., and fine-tune the position of the mover module by means of resistance, contact, etc.

[0105] In some optional embodiments, the carrier may include at least one of a carrier and a material. The carrier is used to load the material and is loaded on the mover module. The carrier deviation information is determined based on at least one of the carrier deviation information of the carrier and the material deviation information of the material. When placing the material into the carrier of the mover module, the placement position of each material may have a certain deviation. The placement position of each carrier relative to the mover module may also have a deviation. Therefore, by simultaneously considering the carrier deviation information of the carrier and the material deviation information of the material as the carrier deviation information, the mover module can be corrected more accurately.

[0106] The carrier deviation information is the measured position deviation degree of the carrier, and the material deviation information is the measured position deviation degree of the material. The position deviation degree of the carrier is determined according to the deviation between the target position and the actual position of the carrier, and the position deviation degree of the material is determined according to the deviation between the target position and the actual position of the material. The target position and actual position of the carrier, and the target position and actual position of the material can be determined by the above methods (1)-(3).

[0107] Specifically, it is divided into the following situations:

[0108] (1) If the carrier does not include material, the carrier deviation information is the carrier deviation information.

[0109] (2) If the carrier includes a carrier and a material, and the material deviation information is determined based on the positional relationship between the material and the stator wire, the carrier deviation information is the material deviation information.

[0110] (3) If the carrier includes a carrier and a material, and the material deviation information is determined based on the positional relationship between the material and the carrier, the carrier deviation information is determined based on the carrier deviation information and the material deviation information.

[0111] It can be understood that, based on the carrier deviation information, the offset a for correcting the target mover module can be determined, and the offset direction is determined according to the positive or negative value of a. Based on the material deviation information, the deviation b of the position between the material and the carrier can be determined, and the deviation direction is determined according to the positive or negative value of b. Based on the sum of the offset a and the deviation b, as the carrier deviation information, the deviation correction is performed on the stroke of the target mover module.

[0112] For example, see Fig.13 As shown, the target position of the material 32 relative to the carrier 31 is the dotted line position, while the actual position is the solid line position, and the direction of the position deviation c between the material and the carrier is to the left. Fig.14As shown, the target position of the carrier 31 is the dotted line position, the actual position is the solid line position, and the direction of the offset d for correcting the target mover module determined according to the carrier deviation information is to the right. Therefore, it is possible that the directions indicated by c and d are opposite, then the carrier deviation information can be determined according to the sum of the offset a and the deviation b. Optionally, when the offset c and the deviation d are equal in size, the offset of the material and the offset of the carrier cancel each other out, and the carrier deviation information is 0.

[0113] It should be noted that the above control method can be executed by one control subject, such as a host computer or a local control device of a linear motor device. It can also be executed by multiple control subjects, for example, the local control device of the linear motor device and the host computer are implemented together, or the local control device of the linear motor device, the position measurement device and the host computer are implemented together, etc. Using one control subject has high integration and small size. Using multiple control subjects can decouple the steps of some control methods, reduce the computing pressure and increase the processing efficiency.

[0114] The moving stroke of the mover module is related to the moving control instruction, which includes at least the stroke parameter of the mover module, and may also include the speed parameter, acceleration parameter, moving direction, etc. of the mover module. When multiple control subjects are used, depending on the number of control subjects, the moving control instruction may be generated by the host computer according to the input operation and sent to the local control device of the linear motor device, or it may be a moving control instruction generated by the local control device according to the input operation.

[0115] Regarding the load deviation information, the host computer may compare the target information and the actual position of the load, or the local control device of the linear motor may compare, or the position measurement device may compare. The load deviation information may be stored in the host computer, or in the local control device, or in a storage module externally connected to the host computer or the local control device (such as a storage module of the position measurement device).

[0116] The embodiment of the present application also provides a motor control device for a linear motor device, the motor control device includes a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the control method of the above-mentioned linear motor device. The motor control device can be a local control device, and the local control device can include a display module and an input and output module; the motor control device can also be a host computer, such as a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0117] In this way, a control subject can be used to execute the control method provided in the embodiment of the present application, and the moving stroke of the target mover module can be corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operating results caused by the transportation deviation of the target mover module can also be eliminated, with low implementation costs and strong operability.

[0118] See again Figure 3 and Figure 4 As shown, the embodiment of the present application further provides a linear motor device, including a stator line body 10, a plurality of mover modules 20 movably arranged on the stator line body 10, and a local control device for executing the control method of the linear motor device, wherein the mover module 20 carries a carrier 30. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0119] In this way, the moving stroke of the target mover module is corrected through the load deviation information to ensure that when the target mover module moves to interact with the operating device, the load can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated, with low implementation costs and strong operability.

[0120] The embodiment of the present application also provides a production system, including: a motor control device, a linear motor device and an operating device. The specific structure, implementation principle, etc. of the motor control device and the linear motor device can refer to the description of the above-mentioned relevant embodiments and implementation methods. The operating device is used to interact with the target mover module. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0121] In this way, the moving stroke of the target mover module is corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated. The implementation cost is low, the operability is strong, and automated production operations can be realized.

[0122] When the control method is executed by multiple control subjects, the subjects for executing each step can be allocated according to the number of control subjects. For example, the multiple control subjects can be implemented by the local control device of the linear motor device and the host computer.

[0123] Taking the local control device side of the linear motor device as an example, the embodiment of the present application also provides a control method for the linear motor device, and the linear motor device can be as follows Figure 3 and Figure 4 shown.

[0124] See also Fig.15 As shown, the control method may include:

[0125] Step S30, in response to the correction control instruction, obtaining the load deviation information of the target mover module. The target mover module is the mover module that is determined to interact with the operating device.

[0126] Step S40, based on the load deviation information of the target mover module, the movement stroke of the target mover module is corrected so that when the target stator module moves to interact with the target operation device, the load is in the operation target position. The load deviation information is the position deviation degree of the load obtained by measurement.

[0127] The correction control instruction may be generated by the host computer and sent to the local control device of the linear motor device. The host computer may also generate a movement control instruction and send it to the local control device of the linear motor device.

[0128] In this way, the local control device of the linear motor equipment corrects the moving stroke of the target mover module according to the correction control instructions issued by the host computer and the carrier deviation information, ensuring that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operation target position, thereby improving the operation success rate of the operating device, and has stronger operability and higher deviation correction efficiency. It can also eliminate the adverse operation results caused by the transportation deviation of the target mover module without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, and the implementation cost is low.

[0129] In some optional embodiments, before obtaining the load deviation information of the target mover module in response to the correction control instruction, the following may be included: Step S31, in response to the movement control instruction, each mover module is moved and controlled to obtain the load deviation information corresponding to each mover module. The load deviation information is used to characterize the deviation between the actual position and the target position of the load carried by the corresponding mover module.

[0130] In practical applications, the correlation between the mover module and the load deviation information can be established through the correspondence between the identity information of the mover module (information used to distinguish the mover module) and the load deviation information. For example, each mover module has its own identity information, and the load deviation information corresponding to each mover module is established with the identity information of each mover module and stored in the storage module. In this way, after the target mover module is determined, the corresponding load deviation information can be obtained by reading the identification information of the target mover module.

[0131] Among them, the load deviation information corresponding to each mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the efficiency of deviation correction (hereinafter referred to as static deviation correction). In the operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read. It is also possible to calculate and determine the load deviation information corresponding to the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0132] In some optional implementations, when static deviation correction is adopted, in response to the movement control instruction, each of the mover modules is controlled to perform movement control, including at least one of the following:

[0133] (1a) During the equipment debugging stage, in response to a first movement control instruction, each of the mover modules is controlled to move to a first specified position, and based on a deviation between a first actual position of a load carried by the mover module and a first target position of the load, the load deviation information corresponding to each of the mover modules is determined.

[0134] (2a) In the equipment debugging stage, in response to the first movement control instruction, each of the moving submodules is controlled to move to a first specified position, so that the first processing device can determine the load deviation information corresponding to each of the moving submodules according to the deviation between the first actual position of the load carried by the moving submodule and the first target position of the load. The first processing device includes at least one of a host computer and a position measurement device.

[0135] It is understandable that during the equipment debugging stage, that is, before the formal operation, the above method (1a) or (2a) can be executed for all the mover modules to obtain the load deviation information corresponding to each mover module. In this way, during the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly obtained.

[0136] The first movement control instruction may be generated by a host computer and sent to a local control device of the linear motor device, and the host computer may also be used to determine the load deviation information corresponding to each of the mover modules. Alternatively, the load deviation information corresponding to each of the mover modules may be determined by a position measurement device.

[0137] In some optional implementations, based on the load deviation information of the target mover module, before correcting the moving stroke of the target mover module, at least one of the following may be included:

[0138] (1b) The load deviation information corresponding to each of the moving submodules is stored in a non-volatile storage module.

[0139] (2b) Sending the load deviation information corresponding to each of the moving submodules to a host computer, so that the host computer stores the load deviation information in a non-volatile storage module.

[0140] Accordingly, in response to the movement control instruction, obtaining the load deviation information of the target mover module may include at least one of the following:

[0141] (1c) acquiring the load deviation information of the target mover module from the non-volatile storage module;

[0142] (2c) Obtaining load deviation information of the target mover module from the movement control instruction.

[0143] It is understandable that during the equipment debugging stage, that is, before the formal operation, the load deviation information corresponding to each mover module can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the mover module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module external to the linear motor device. In this way, during the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0144] It should be noted that, regarding static deviation correction, in this embodiment, the carrier deviation information is stored in a non-volatile storage module. Alternatively, in other embodiments, the carrier deviation information may also be stored in a host computer (or a storage module external to the host computer). During the operation phase, when the host computer issues a movement control instruction, the carrier deviation information and the movement control instruction may be issued together to the local control device of the linear motor device. Alternatively, the carrier deviation information may also be stored in the local control device of the linear motor. During the operation phase, when the host computer issues a movement control instruction, the local control device obtains the carrier deviation information and performs deviation correction in response to the movement control instruction.

[0145] In some optional implementations, when dynamic deviation correction is adopted, in response to the movement control instruction, each of the mover modules is controlled to perform movement control, including at least one of the following:

[0146] (1d) During the equipment operation stage, in response to the second movement control instruction, each of the movable submodules is controlled to move to the second designated position, and the load deviation information corresponding to each of the movable submodules is determined according to the deviation between the second actual position of the load carried by the movable submodule and the second target position of the load. Wherein, the second designated position is located before the target operating device. It should be noted that the second designated position is located before the target operating device, which refers to, for example, any position passed along the moving direction of the movable submodule before reaching the interactive area for interacting with the operating device. Furthermore, the second designated position may also be a prior position set according to the interactive area of ​​the target movable submodule.

[0147] (2d) In the equipment operation stage, in response to the second movement control instruction, each of the moving submodules is controlled to move to a second designated position, so that the first processing device can determine the load deviation information corresponding to each of the moving submodules according to the deviation between the second actual position of the load carried by the moving submodule and the second target position of the load. The second designated position is located before the target operation device, and the first processing device includes at least one of a host computer and a position measurement device.

[0148] It is understandable that during the operation of the equipment, the above (1d) or (2d) can be performed on all the moving submodules during the movement of the moving submodules, so as to obtain the load deviation information corresponding to each moving submodule. In this way, when the target moving submodule is determined, the load deviation information corresponding to the target moving submodule can be directly obtained.

[0149] The second movement control instruction may be generated by a host computer and sent to a local control device of the linear motor device, and the host computer may also be used to determine the load deviation information corresponding to each of the mover modules. Alternatively, the load deviation information corresponding to each of the mover modules may be determined by a position measurement device.

[0150] In some optional implementations, based on the load deviation information of the target mover module, before correcting the moving stroke of the target mover module, at least one of the following is further included:

[0151] (1e) The load deviation information of each of the moving modules is stored in a random read-write storage module.

[0152] (2e) Sending the load deviation information corresponding to each of the moving submodules to a host computer, so that the host computer stores the load deviation information in a random read-write storage module.

[0153] Accordingly, in response to the movement control instruction, the load deviation information of the target mover module is obtained, including at least one of the following:

[0154] (1f) acquiring the load deviation information of the target moving submodule from the random read / write storage module;

[0155] (2f) Obtaining load deviation information of the target mover module from the movement control instruction.

[0156] It can be understood that, during the operation stage of the equipment, each mover module can be controlled to move first, and the load deviation information corresponding to each mover module can be obtained through the above (1d) or (2d), and stored in random read and write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read and write storage hardware will be continuously refreshed, the information can be updated after obtaining new load deviation information. The data read from the random read and write storage hardware may be the updated data, so the deviation correction performed on the mover module is dynamic deviation correction. The random read and write storage hardware can be a random read and write storage module included in the linear motor device, or it can be a random read and write storage module external to the linear motor device. In this way, during the operation stage of the equipment, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0157] It should be noted that, regarding dynamic deviation correction, in the present embodiment, the carrier deviation information is stored in a random read / write storage module. Alternatively, in other embodiments, the carrier deviation information may also be stored in a host computer (or a storage module external to the host computer). During the operation phase, when the host computer issues a movement control instruction, the carrier deviation information and the movement control instruction are sent together to the local control device of the linear motor device. Alternatively, the carrier deviation information may also be stored in the local control device of the linear motor. During the operation phase, when the host computer issues a movement control instruction, the local control device obtains the carrier deviation information and performs deviation correction in response to the movement control instruction.

[0158] In some optional embodiments, the stator line body may be annular, and the target mover module may pass through the second designated position again during its movement. Alternatively, the movement of the target mover module is return-type, and may pass through the second designated position again.

[0159] In the moving stroke of the target mover module, when the target mover module passes through the second designated position again, the second actual position of the load carried by the target mover module can be re-acquired through the above (1d) or (2d). According to the deviation between the re-acquired second actual position and the second target position, the load deviation information of the target mover module is re-determined and updated to the random read-write storage module. In this way, the correction accuracy of the target mover module in the subsequent moving stroke is improved by continuously refreshing the measured load deviation information.

[0160] In this way, for the same mover module, the corresponding load-bearing object deviation information can be updated each time it is in the second specified position. The load-bearing object deviation information is changeable, more flexible, and more accurate in correction effect, which is more conducive to re-assembly (the mover module is reinstalled on the stator line after maintenance, the carrier is replaced, etc.).

[0161] It should be noted that when the control method is executed by multiple control subjects, the method for determining the target actuator module, the combination of static deviation correction and dynamic deviation correction, the measurement method of the actual position and target position of the carrier, and the method for determining the carrier deviation information based on at least one of the carrier deviation information of the carrier and the material deviation information of the material, etc., can all be similar to the steps when the control method is executed by a single control subject, and will not be repeated here.

[0162] In some optional implementations, after the moving stroke of the target mover module is corrected based on the load deviation information of the target mover module, the method may further include any one of the following:

[0163] (1g) Based on the position information of the supported object, it is determined whether the movement stroke of the target mover module is calibrated successfully.

[0164] (2g) Based on the position information of the supported object, determine whether the movement stroke of the target mover module is calibrated successfully, and send the calibration result to the host computer.

[0165] (3g) Based on the correction feedback result of the position measurement device, it is determined whether the movement stroke of the target mover module is successfully corrected.

[0166] (4g) Based on the correction feedback result of the position measurement device, it is determined whether the movement stroke of the target mover module is corrected successfully, and the correction result is sent to the host computer.

[0167] It is understandable that in this embodiment, after the deviation correction is completed, the local control device or position measurement device of the linear motor can confirm whether the deviation correction is successful according to the position information of the carried object, and feedback the correction result information (correction success or failure) to the host computer. Alternatively, in other embodiments, the host computer can also confirm whether the deviation correction is successful according to the position information of the carried object.

[0168] The embodiment of the present application also provides a motor control device for a linear motor device, which is used to execute the control method on the local control device side of the linear motor device, so as to be used as a local control device of the linear motor device. Specifically, the motor control device may include: a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the control method on the local control device side of the linear motor device. The motor control device may be, for example, a local control device with a display module and an input-output module. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0169] In this way, the moving stroke of the target mover module is corrected through the load deviation information to ensure that when the target mover module moves to interact with the operating device, the load can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated, with low implementation costs and strong operability.

[0170] See again Figure 3 and Figure 4As shown, the embodiment of the present application further provides a linear motor device, including a stator line body 10, a plurality of mover modules 20 movably arranged on the stator line body 10, and a local control device for executing the local control device side control method of the linear motor device, wherein the mover module 20 carries a carrier 30. For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0171] The embodiment of the present application also provides a production system, including: a linear motor device, a host computer and an operating device. The linear motor device includes a stator line body, a plurality of movable submodules movably arranged on the stator line body, and a local control device for executing the control method of the local control device side of the above-mentioned linear motor device, wherein the movable submodule is used to carry the carrier to move. The host computer is used to generate correction control instructions and movement control instructions and send them to the local control device of the linear motor device. The operating device is used to interact with the target movable submodule. The host computer can be, for example, a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0172] In this way, the moving stroke of the target mover module is corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated. The implementation cost is low, the operability is strong, and automated production operations can be realized.

[0173] Taking the host computer side as an example, the present application embodiment provides a control method for a linear motor device, which can be as follows: Figure 3 and Figure 4 shown.

[0174] See also Fig.16 As shown, the control method may include:

[0175] Step S50 , obtaining the load deviation information of the target mover module, where the target mover module is the mover module that is determined to be moving toward the operating device for interaction.

[0176] Step S60: generating a correction control instruction based on the load deviation information of the target moving submodule.

[0177] Step S70, sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the target operating device, the load is in the operating target position. The load deviation information is the measured position deviation degree of the load.

[0178] The correction control instruction may be executed by a local control device of the linear motor device, and the host computer may also generate a movement control instruction and send it to the local control device of the linear motor device.

[0179] In this way, the local control device of the linear motor equipment corrects the moving stroke of the target mover module according to the correction control instructions issued by the host computer and the carrier deviation information, ensuring that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operation target position, thereby improving the operation success rate of the operating device, and has stronger operability and higher deviation correction efficiency. It can also eliminate the adverse operation results caused by the transportation deviation of the target mover module without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, and the implementation cost is low.

[0180] In some optional embodiments, based on the load deviation information of the target mover module, before generating the correction control instruction, the following may be included: Step 61, generating a movement control instruction and sending it to the linear motor device to determine the load deviation information corresponding to each mover module; the load deviation information is used to characterize the deviation between the actual position and the target position of the load carried by the corresponding mover module. The movement control instruction may be executed by a local control device of the linear motor device.

[0181] In practical applications, the correlation between the mover module and the load deviation information can be established through the correspondence between the identity information of the mover module (information used to distinguish the mover module) and the load deviation information. For example, each mover module has its own identity information, and the load deviation information corresponding to each mover module is established with the identity information of each mover module and stored in the storage module. In this way, after the target mover module is determined, the corresponding load deviation information can be obtained by reading the identification information of the target mover module.

[0182] Among them, the load deviation information corresponding to each mover module can be obtained in advance to reduce the amount of calculation in the operation stage and improve the efficiency of deviation correction (hereinafter referred to as static deviation correction). In the operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read. It is also possible to calculate and determine the load deviation information corresponding to the target mover module in real time during the operation stage (hereinafter referred to as dynamic deviation correction).

[0183] In some optional embodiments, when static deviation correction is adopted, a movement control instruction is generated and sent to the linear motor device to determine the load deviation information corresponding to each of the mover modules, including at least one of the following:

[0184] (1h) During the equipment debugging stage, a first movement control instruction is generated and sent to the linear motor device to control each of the movable modules to move to a first specified position, and the load deviation information corresponding to each of the movable modules fed back by the second processing device is received; the load deviation information is determined based on the deviation between the first actual position of the load carried by the movable module and the first target position of the load, and the second processing device includes at least one of a linear motor device and a position measurement device.

[0185] (2h) During the equipment debugging stage, a first movement control instruction is generated and sent to the linear motor device to control each of the mover modules to move to a first specified position, and based on the deviation between the first actual position of the load carried by the mover module and the first target position of the load, the load deviation information corresponding to each of the mover modules is determined.

[0186] It is understandable that during the equipment debugging stage, that is, before the formal operation, the above method (1h) or (2h) can be executed for all the mover modules to obtain the load deviation information corresponding to each mover module. In this way, during the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly obtained.

[0187] The first movement control instruction may be executed by a local control device of the linear motor device.

[0188] In some optional implementations, before obtaining the load deviation information of the target mover module, at least one of the following may be included:

[0189] (1i) Storing the load deviation information corresponding to each of the mover modules in a non-volatile storage module.

[0190] (2i) Sending the load deviation information corresponding to each of the mover modules to the linear motor device, so that the linear motor device stores the load deviation information in a non-volatile storage module.

[0191] Accordingly, obtaining the load deviation information of the target mover module may include at least one of the following:

[0192] (1j) acquiring the load deviation information of the target mover module from the non-volatile storage module;

[0193] (2j) Obtaining load deviation information of the target mover module from the linear motor device.

[0194] It is understandable that during the equipment debugging stage, that is, before the formal operation, the load deviation information corresponding to each mover module can be stored in non-volatile storage hardware, such as ROM (Read-Only Memory). Since the non-volatile storage hardware has a power-off retention function, the data read from the non-volatile storage hardware is fixed, and the deviation correction performed on the mover module is a static deviation correction. The non-volatile storage hardware can be a non-volatile storage module included in the linear motor device, or it can be a non-volatile storage module external to the linear motor device. In this way, during the equipment operation stage, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0195] It should be noted that, regarding static deviation correction, in this embodiment, the carrier deviation information is stored in a non-volatile storage module. During the operation stage, when the upper computer issues a movement control instruction, the carrier deviation information and the movement control instruction can be sent together to the local control device of the linear motor device. Alternatively, in other embodiments, the carrier deviation information can also be stored in the local control device of the linear motor (or a storage module external to the local control device of the linear motor). During the operation stage, when the upper computer issues a movement control instruction, the local control device obtains the carrier deviation information and performs deviation correction in response to the movement control instruction.

[0196] In some optional implementations, when dynamic deviation correction is adopted, a movement control instruction is generated and sent to the linear motor device to determine the load deviation information corresponding to each of the mover modules, which may include at least one of the following:

[0197] (1k) During the equipment operation phase, the second movement control instruction is generated and sent to the linear motor device to control each of the mover modules to move to the second designated position, and the load deviation information corresponding to each of the mover modules fed back by the second processing device is received; the load deviation information is determined according to the deviation between the second actual position of the load carried by the mover module and the second target position of the load, and the second processing device includes at least one of a linear motor device and a position measurement device, and the second designated position is located before the target operating device. It should be noted that the second designated position is located before the target operating device, which refers to, for example, any position passed before reaching the interactive area for interacting with the operating device along the moving direction of the mover module. Furthermore, the second designated position may also be a prior position set according to the interactive area of ​​the target mover module.

[0198] (2k) During the equipment operation stage, the second movement control instruction is generated and sent to the linear motor equipment to control each of the movable modules to move to a second designated position, and the load deviation information corresponding to each of the movable modules is determined according to the deviation between the second actual position of the load carried by the movable module and the second target position of the load; the second designated position is located before the target operating device.

[0199] It is understandable that during the operation stage of the equipment, the above (1k) or (2k) can be performed on all the moving submodules during the movement of the moving submodules, so as to obtain the load deviation information corresponding to each moving submodule. In this way, after the target moving submodule is determined, the load deviation information corresponding to the target moving submodule can be directly obtained.

[0200] The second movement control instruction may be executed by a local control device of the linear motor device. The local control device of the linear motor device may also be used to determine the load deviation information corresponding to each of the mover modules. Alternatively, the load deviation information corresponding to each of the mover modules may be determined by a position measurement device.

[0201] In some optional implementations, before obtaining the load deviation information of the target moving submodule, at least one of the following may be included:

[0202] (11) The load deviation information of each of the moving submodules is stored in a random read-write storage module.

[0203] (21) Sending the load deviation information corresponding to each of the mover modules to the linear motor device, so that the linear motor device stores the load deviation information in a random read-write storage module.

[0204] Accordingly, obtaining the load deviation information of the target mover module may include at least one of the following:

[0205] (1m) acquiring the load deviation information of the target moving submodule from the random read / write storage module;

[0206] (2m) Obtaining load deviation information of the target mover module from the linear motor device.

[0207] It can be understood that, during the operation stage of the equipment, each mover module can be controlled to move first, and the load deviation information corresponding to each mover module can be obtained through the above (1k) or (2k), and stored in random read and write storage hardware, such as RAM (Random Access Memory) and flash memory. Since the random read and write storage hardware will be continuously refreshed, the information can be updated after obtaining new load deviation information. The data read from the random read and write storage hardware may be updated data, so the deviation correction performed on the mover module is dynamic deviation correction. The random read and write storage hardware can be a random read and write storage module included in the linear motor device, or it can be a random read and write storage module external to the linear motor device. In this way, during the operation stage of the equipment, after the target mover module is determined, the load deviation information corresponding to the target mover module can be directly read from the non-volatile storage module.

[0208] It should be noted that, regarding dynamic deviation correction, in this embodiment, the carrier deviation information is stored in a random read-write storage module. During the operation stage, when the upper computer issues a movement control instruction, the carrier deviation information and the movement control instruction can be sent together to the local control device of the linear motor device. Alternatively, in other embodiments, the carrier deviation information can also be stored in the local control device of the linear motor (or a storage module external to the local control device of the linear motor). During the operation stage, when the upper computer issues a movement control instruction, the local control device obtains the carrier deviation information and performs deviation correction in response to the movement control instruction.

[0209] In some optional embodiments, the stator line body may be annular, and the target mover module may pass through the second designated position again during its movement. Alternatively, the movement of the target mover module is return-type, and may pass through the second designated position again.

[0210] In the moving stroke of the target mover module, when the target mover module passes through the second designated position again, the second actual position of the load carried by the target mover module can be re-acquired through the above (1k) or (2k). According to the deviation between the re-acquired second actual position and the second target position, the load deviation information of the target mover module is re-determined and updated to the random read-write storage module. In this way, the correction accuracy of the target mover module in the subsequent moving stroke is improved by continuously refreshing the measured load deviation information.

[0211] In this way, for the same mover module, the corresponding load-bearing object deviation information can be updated each time it is in the second specified position. The load-bearing object deviation information is changeable, more flexible, and more accurate in correction effect, which is more conducive to re-assembly (the mover module is reinstalled on the stator line after maintenance, the carrier is replaced, etc.).

[0212] It should be noted that when the control method is executed by multiple control subjects, the method for determining the target actuator module, the combination of static deviation correction and dynamic deviation correction, the measurement method of the actual position and target position of the carrier, and the method for determining the carrier deviation information based on at least one of the carrier deviation information of the carrier and the material deviation information of the material, etc., can all be similar to the steps when the control method is executed by a single control subject, and will not be repeated here.

[0213] In some optional embodiments, after sending the correction control instruction to the linear motor device to correct the moving stroke of the target mover module, the method further includes any one of the following:

[0214] (1n) judging whether the moving stroke of the target mover module is calibrated successfully based on the position information of the supported object;

[0215] (2n) based on the position information of the supported object, determining whether the movement stroke of the target mover module is calibrated successfully, and sending the calibration result to the linear motor device;

[0216] (3n) judging whether the movement stroke of the target mover module is successfully calibrated based on the correction feedback result of the position measurement device;

[0217] (4n) Based on the correction feedback result of the position measurement device, it is determined whether the movement stroke of the target mover module is successfully corrected, and the correction result is sent to the linear motor device.

[0218] It is understandable that in this embodiment, after the deviation correction is completed, the host computer can confirm whether the deviation correction is successful based on the position information of the supported object. Alternatively, in other embodiments, the local control device or position measurement device of the linear motor can confirm whether the deviation correction is successful based on the position information of the supported object, and feedback the correction result information (correction success or failure) to the host computer.

[0219] The embodiment of the present application also provides a motor control device, including: a processor and a memory, the memory is used to store executable instructions of the processor, and the processor is configured to execute the above-mentioned host computer side control method. Optionally, the motor control device can be, for example, a PLC (Programmable Logic Controller) or a PC (Personal Computer). For details, please refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0220] In this way, the moving stroke of the target mover module is corrected through the load deviation information to ensure that when the target mover module moves to interact with the operating device, the load can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated, with low implementation costs and strong operability.

[0221] The embodiment of the present application provides a production system, including: a motor control device, a linear motor device and an operating device for executing the control method on the host computer side. The linear motor device includes a stator line body, a plurality of mover modules movably arranged on the stator line body, and a local control device, the mover module is used to carry the load to move, and the motor control device is used to execute the control method described in any of the above embodiments. The operating device is used to interact with the target mover module. For details, please refer to the description of the relevant parts above, which will not be repeated here.

[0222] In this way, the moving stroke of the target mover module is corrected through the carrier deviation information to ensure that when the target mover module moves to interact with the operating device, the carrier can accurately correspond to the operating target position, thereby improving the operation success rate of the operating device, and the operability is stronger, with higher deviation correction efficiency. Without increasing the processing accuracy requirements and assembly accuracy requirements of the linear motor equipment, the adverse operation results caused by the transportation deviation of the target mover module can also be eliminated. The implementation cost is low, the operability is strong, and automated production operations can be realized.

[0223] See also Fig.17As shown, in one embodiment, a production system adopts static deviation correction when the control method is executed by multiple control subjects.

[0224] During the equipment debugging stage, the host computer generates a movement control instruction, and the local control device of the linear motor device responds to the movement control instruction of the host computer to control each mover module to move to the first specified position. Then, the actual position information and target position information of the load are measured by the position measurement device and uploaded to the host computer. The host computer determines the load deviation information of each mover module based on the difference between the actual position information and the target position information of the load, and then the local control device of the linear motor device stores it in the non-volatile storage module.

[0225] During the equipment operation stage, the host computer generates a correction control instruction (which may include a movement control instruction, or include both the load deviation information and the movement control instruction) and sends it to the local control device of the linear motor equipment. The local control device of the linear motor equipment responds to the correction control instruction of the host computer, controls the movement of the mover module, and reads the load deviation information corresponding to the target mover module from the non-volatile storage module, and performs deviation correction on the movement stroke of the target mover module.

[0226] After the target mover module moves into position, the position measurement device can measure the actual position information of the carrier again and upload it to the host computer. The host computer determines whether the moving stroke of the target mover module is calibrated successfully and sends the calibration result to the linear motor device.

[0227] See also Fig.18 As shown, in one embodiment, a production system adopts dynamic deviation correction when the control method is executed by multiple control subjects.

[0228] During the equipment operation phase, the host computer generates a movement control instruction, and the local control device of the linear motor device responds to the movement control instruction of the host computer to control each mover module to move to the second specified position. The actual position information and target position information of the load are measured by the position measurement device and uploaded to the local control device of the linear motor device. The local control device of the linear motor device determines the load deviation information of each mover module based on the difference between the actual position information and the target position information of the load, and then stores it in the random read storage module.

[0229] The host computer determines the target mover module interacting with the operation module from the mover modules passing the second designated position, and reads the load deviation information corresponding to the target mover module from the randomly read storage module. The host computer generates a correction control instruction including the load deviation information and the movement control instruction, and the local control device of the linear motor device responds to the correction control instruction of the host computer to perform deviation correction on the movement stroke of the target mover module.

[0230] After the target mover module moves into position, the position measurement device can measure the actual position information of the carrier again and upload it to the host computer. The host computer determines whether the moving stroke of the target mover module is calibrated successfully and sends the calibration result to the linear motor device.

[0231] See also Fig.19 As shown, in another embodiment, a production system adopts dynamic deviation correction when the control method is executed by multiple control subjects.

[0232] During the equipment operation phase, the host computer generates a movement control instruction, and the local control device of the linear motor device responds to the movement control instruction of the host computer to control each mover module to move to the second specified position. Then, the actual position information and target position information of the load are measured by the position measurement device, and the load deviation information of each mover module is determined based on the difference between the actual position information and the target position information of the load, and uploaded to the host computer. The host computer stores the load deviation information of each mover module in a random read storage module.

[0233] The host computer determines the target mover module interacting with the operation module from the mover modules passing the second designated position, and reads the load deviation information corresponding to the target mover module from the randomly read storage module. The host computer generates a correction control instruction including the load deviation information and the movement control instruction, and the local control device of the linear motor device responds to the correction control instruction of the host computer to perform deviation correction on the movement stroke of the target mover module.

[0234] After the target mover module moves into position, the position measurement device can measure the actual position information of the carrier again and upload it to the local control device of the linear motor device. The local control device of the linear motor device determines whether the moving stroke of the target mover module is calibrated successfully and sends the calibration result to the host computer.

[0235] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: Determine a target mover module among multiple mover modules, and obtain the load deviation information of the target mover module, wherein the target mover module is a mover module determined to interact with the operating device, and the load deviation information is the position deviation degree of the load obtained by measurement; According to the object deviation information, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the target operating device, the object is at the operating target position.

2. The control method according to claim 1, characterized in that: Before obtaining the load deviation information of the target mover module, the method further includes: The movement of each of the mover modules is controlled to determine the deviation between the actual position and the target position of the load carried by each of the mover modules, and the load deviation information corresponding to each of the mover modules is obtained.

3. The control method according to claim 2, characterized in that: Controlling the movement of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules, and obtaining the load deviation information corresponding to each of the mover modules, including: During the equipment debugging stage, each of the mover modules is controlled to move to a first designated position, and the load carried by each of the mover modules has a first target position corresponding to the first designated position; Acquiring a first actual position of the carried object when each of the mover modules moves to the first designated position; Determine the supported object deviation information corresponding to each of the mover modules according to the deviation between the first actual position and the first target position.

4. The control method according to claim 3, characterized in that: After determining the load deviation information corresponding to each of the mover modules according to the deviation between the first actual position and the first target position, the method further includes: storing the load deviation information of each of the mover modules in a non-volatile storage module; The obtaining of the load deviation information of the target mover module includes: obtaining the load deviation information of the target mover module from the non-volatile storage module.

5. The control method according to claim 2, characterized in that: The moving control of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules, and obtaining the load deviation information corresponding to each of the mover modules, includes: During the equipment operation phase, each of the mover modules is controlled to move to a second designated position, where the second designated position is located in front of the target operating device; the load carried by each of the mover modules has a second target position corresponding to the second designated position; Acquiring a second actual position of the carried object when each of the mover modules moves to the second designated position; According to the deviation between the second actual position and the second target position, the supported object deviation information corresponding to each of the mover modules is determined.

6. The control method according to claim 5, characterized in that: The step of determining a target mover module among a plurality of mover modules comprises: From a plurality of mover modules passing through the second designated position, a mover module that interacts with the target operating device is determined as the target mover module.

7. The control method according to claim 5, characterized in that: After determining the load deviation information corresponding to each of the mover modules according to the deviation between the second actual position and the second target position, the method further includes: storing the load deviation information of each of the mover modules in a random read-write storage module; The obtaining of the load deviation information of the target mover module includes: obtaining the load deviation information of the target mover module from the random read / write storage module.

8. The control method according to claim 5, characterized in that: The correcting the moving stroke of the target mover module according to the load deviation information includes: acquiring a movement control parameter of the target mover module, and correcting the interactive designated position indicated by the movement control parameter according to the load deviation information.

9. The control method according to claim 5, characterized in that: The moving control of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules, and obtaining the load deviation information corresponding to each of the mover modules, includes: During the moving stroke of the target mover module, when the target mover module passes through the second designated position again, reacquiring the second actual position of the object carried by the target mover module; According to the deviation between the re-acquired second actual position and the second target position, the bearing object deviation information of the target mover module is re-determined and updated to the random read and write storage module.

10. The control method according to claim 5, characterized in that: The controlling each of the moving submodules to move to a second designated position comprises: The stroke of each of the mover modules to the second designated position is preliminarily corrected by using the preliminary deviation information of each of the mover modules; the preliminary deviation information is the position deviation degree of the carried object obtained by measurement.

11. The control method according to claim 10, characterized in that: Before controlling each of the moving submodules to move to the second designated position, the method further includes: During the equipment debugging stage, each of the mover modules is controlled to move to a first designated position, and the load carried by each of the mover modules has a first target position corresponding to the first designated position; Acquiring a first actual position of the carried object when each of the mover modules moves to the first designated position; Determining preliminary deviation information corresponding to each of the mover modules according to a deviation between the first actual position and the first target position; The using the preliminary deviation information of each of the mover modules to preliminarily correct the stroke of each of the mover modules moving to the second designated position includes: using the preliminary deviation information to preliminarily correct the stroke of each of the mover modules moving from the first designated position to the second designated position.

12. The control method according to claim 1, characterized in that: The obtaining of the load deviation information of the target mover module includes: Selecting a plurality of second designated positions between the starting position of the target moving submodule and the plurality of operating devices to separate a plurality of sub-strokes between the starting position and the plurality of operating devices; Acquire a sub-stroke control parameter for controlling the target moving sub-module to move from the starting position to each of the operating devices; Acquiring each second actual position of the carried object when the target mover module moves to each second designated position; the carried object carried by the target mover module has a second target position corresponding to each second designated position; Determine the load deviation information corresponding to each second designated position when the target mover module passes through each second designated position according to the deviation between the second actual position and the corresponding second target position, so that the target mover module can measure a load deviation information in each sub-stroke; The method of correcting the moving stroke of the target mover module according to the load deviation information includes: during the movement of the target mover module between two adjacent sub-strokes, using the load deviation information measured by the target mover module in the previous sub-stroke, correcting the target mover module in the next sub-stroke.

13. The control method according to claim 12, characterized in that: Determining the load deviation information corresponding to when the target mover module passes through each second designated position, so that the target mover module can measure a load deviation information in each sub-stroke, including: The load deviation information measured when the target mover module passes through each second designated position is stored in a random read-write storage module in such a way that the load deviation information measured by the target mover module in a subsequent sub-stroke replaces the load deviation information measured by the target mover module in a previous sub-stroke.

14. The control method according to claim 2, characterized in that: Controlling the movement of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules includes: Acquiring position information of a reference object arranged along the stator line as a target position of the carried object in the movement control of the mover module; The moving submodule is controlled to move to a designated position corresponding to a target position of the carried object, and a current position of the carried object is acquired as the actual position.

15. The control method according to claim 2, characterized in that: Controlling the movement of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules includes: Controlling the movement of a reference mover module, wherein the reference mover module is selected from the plurality of mover modules; Acquiring the position information reached by the reference mover module when the movement stops, as the target position of the carried object in the movement control of the mover module; The moving submodule is controlled to move to a designated position corresponding to a target position of the carried object, and a current position of the carried object is acquired as the actual position.

16. The control method according to claim 2, characterized in that: Controlling the movement of each of the mover modules to determine the deviation between the actual position and the target position of the load carried by each of the mover modules includes: Controlling the moving submodule to move to a specified position, and taking the specified position as the actual position; After the extending part of the mechanical limit assembly is controlled to extend, the current position of the mover module is acquired as the target position.

17. The control method according to claim 1, characterized in that: The correcting the moving stroke of the target mover module according to the load deviation information includes: At least one of the movement distance, movement direction, movement speed, acceleration and deceleration of the target mover module is corrected according to the load deviation information.

18. The control method according to any one of claims 1 to 17, characterized in that: The carrier includes at least one of a carrier and a material; the carrier is used to load the material and is loaded on the mover module; the carrier deviation information is determined according to at least one of the carrier deviation information of the carrier and the material deviation information of the material.

19. The control method according to claim 18, characterized in that: The carrier deviation information is the measured position deviation degree of the carrier, and the material deviation information is the measured position deviation degree of the material; If the carrier does not include the material, the carrier deviation information is the carrier deviation information; If the carried object includes the carrier and the material, and the material deviation information is determined based on the positional relationship between the material and the carrier, the carried object deviation information is determined based on the carrier deviation information and the material deviation information; If the carrier includes the carrier and the material, and the material deviation information is determined based on the positional relationship between the material and the stator wire, the carrier deviation information is the material deviation information.

20. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: In response to the correction control instruction, the load deviation information of the target mover module is obtained; the target mover module is the mover module that is determined to interact with the operating device; Based on the load deviation information of the target mover module, the moving stroke of the target mover module is corrected so that when the target stator module moves to interact with the target operating device, the load is in the operating target position; wherein the load deviation information is the measured position deviation degree of the load.

21. The control method according to claim 20, characterized in that: Before obtaining the load deviation information of the target mover module in response to the correction control instruction, the method further includes: In response to the movement control instruction, each of the mover modules is moved and controlled to obtain the load deviation information corresponding to each of the mover modules; the load deviation information is used to characterize the deviation between the actual position and the target position of the load carried by the corresponding mover module.

22. The control method according to claim 21, characterized in that: In response to the movement control instruction, controlling each of the moving submodules to perform movement control includes at least one of the following: In the equipment debugging stage, in response to the first movement control instruction, each of the mover modules is controlled to move to the first specified position, and according to the deviation between the first actual position of the load carried by the mover module and the first target position of the load, the load deviation information corresponding to each of the mover modules is determined; During the equipment debugging stage, in response to the first movement control instruction, each of the movable modules is controlled to move to the first specified position, so that the first processing equipment can determine the load deviation information corresponding to each of the movable modules according to the deviation between the first actual position of the load carried by the movable module and the first target position of the load; wherein, the first processing equipment includes at least one of a host computer and a position measurement device.

23. The control method according to claim 21, characterized in that: Based on the load deviation information of the target mover module, before correcting the moving stroke of the target mover module, the method further includes at least one of the following: Storing the load deviation information corresponding to each of the mover modules in a non-volatile storage module; Sending the load deviation information corresponding to each of the moving submodules to the host computer, so that the host computer stores the load deviation information in a non-volatile storage module; In response to the movement control instruction, the load deviation information of the target mover module is obtained, including at least one of the following: Acquiring the load deviation information of the target mover module from the non-volatile storage module; The load deviation information of the target mover module is obtained from the movement control instruction.

24. The control method according to claim 21, characterized in that: In response to the movement control instruction, controlling each of the moving submodules to perform movement control includes at least one of the following: In the equipment operation stage, in response to the second movement control instruction, each of the mover modules is controlled to move to a second designated position, and according to the deviation between the second actual position of the load carried by the mover module and the second target position of the load, the load deviation information corresponding to each of the mover modules is determined; wherein the second designated position is located in front of the target operating device; During the equipment operation stage, in response to the second movement control instruction, each of the movable modules is controlled to move to a second designated position, so that the first processing device can determine the load deviation information corresponding to each of the movable modules according to the deviation between the second actual position of the load carried by the movable module and the second target position of the load; wherein, the second designated position is located before the target operating device, and the first processing device includes at least one of a host computer and a position measurement device.

25. The control method according to claim 21, characterized in that: Based on the load deviation information of the target mover module, before correcting the moving stroke of the target mover module, the method further includes at least one of the following: Storing the load deviation information of each of the moving submodules in a random read-write storage module; Sending the load deviation information corresponding to each of the moving submodules to the host computer, so that the host computer stores the load deviation information in a random read-write storage module; In response to the movement control instruction, the load deviation information of the target mover module is obtained, including at least one of the following: Acquire the load deviation information of the target moving submodule from the random read / write storage module; The load deviation information of the target mover module is obtained from the movement control instruction.

26. The control method according to claim 20, characterized in that: After correcting the moving stroke of the target mover module based on the load deviation information of the target mover module, the method further includes any one of the following: Based on the position information of the carried object, determining whether the moving stroke of the target mover module is calibrated successfully; Based on the position information of the carried object, determine whether the moving stroke of the target mover module is calibrated successfully, and send the calibration result to the host computer; Based on the correction feedback result of the position measurement device, judging whether the moving stroke of the target mover module is successfully corrected; Based on the correction feedback result of the position measurement device, it is determined whether the moving stroke of the target mover module is corrected successfully, and the correction result is sent to the host computer.

27. A control method for a linear motor device, characterized in that: The linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry the load to move; the control method comprises: Obtaining the load deviation information of the target mover module; the target mover module is the mover module that is determined to interact with the operating device; Generating a correction control instruction based on the load deviation information of the target mover module; The correction control instruction is sent to the linear motor device to correct the moving stroke of the target mover module, so that when the target stator module moves to interact with the target operating device, the carrier is in the operating target position; wherein the carrier deviation information is the measured position deviation degree of the carrier.

28. The control method according to claim 27, characterized in that: Before generating a correction control instruction based on the load deviation information of the target moving submodule, the method further includes: Generate a movement control instruction and send it to the linear motor device to determine the load deviation information corresponding to each of the mover modules; the load deviation information is used to characterize the deviation between the actual position and the target position of the load carried by the corresponding mover module.

29. The control method according to claim 28, characterized in that: Generate a movement control instruction and send it to the linear motor device to determine the load deviation information corresponding to each of the mover modules, including at least one of the following: During the equipment debugging stage, a first movement control instruction is generated and sent to the linear motor device to control each of the mover modules to move to a first specified position, and the load deviation information corresponding to each of the mover modules fed back by a second processing device is received; the load deviation information is determined according to the deviation between the first actual position of the load carried by the mover module and the first target position of the load, and the second processing device includes at least one of a linear motor device and a position measurement device; During the equipment debugging stage, a first movement control instruction is generated and sent to the linear motor device to control each of the mover modules to move to a first specified position, and the load deviation information corresponding to each of the mover modules is determined based on the deviation between the first actual position of the load carried by the mover module and the first target position of the load.

30. The control method according to claim 28, characterized in that: Before obtaining the load deviation information of the target mover module, at least one of the following is also included: Storing the load deviation information corresponding to each of the mover modules in a non-volatile storage module; Sending the load deviation information corresponding to each of the mover modules to the linear motor device, so that the linear motor device stores the load deviation information in a non-volatile storage module; Obtaining the load deviation information of the target mover module includes at least one of the following: Acquiring the load deviation information of the target mover module from the non-volatile storage module; The load deviation information of the target mover module is obtained from the linear motor device.

31. The control method according to claim 28, characterized in that: Generate a movement control instruction and send it to the linear motor device to determine the load deviation information corresponding to each of the mover modules, including at least one of the following: During the equipment operation stage, a second movement control instruction is generated and sent to the linear motor device to control each of the mover modules to move to a second designated position, and the load deviation information corresponding to each of the mover modules fed back by a second processing device is received; the load deviation information is determined according to the deviation between the second actual position of the load carried by the mover module and the second target position of the load, the second processing device includes at least one of a linear motor device and a position measurement device, and the second designated position is located before the target operation device; During the equipment operation stage, the second movement control instruction is generated and sent to the linear motor equipment to control each of the mover modules to move to the second designated position, and the load deviation information corresponding to each of the mover modules is determined based on the deviation between the second actual position of the load carried by the mover module and the second target position of the load; the second designated position is located before the target operating device.

32. The control method according to claim 28, characterized in that: Before obtaining the load deviation information of the target moving module, at least one of the following is also included: Storing the load deviation information of each of the moving submodules in a random read-write storage module; Sending the load deviation information corresponding to each of the mover modules to the linear motor device, so that the linear motor device stores the load deviation information in a random read-write storage module; Obtaining the load deviation information of the target mover module includes at least one of the following: Acquire the load deviation information of the target moving submodule from the random read / write storage module; The load deviation information of the target mover module is obtained from the linear motor device.

33. The control method according to claim 27, characterized in that: After sending the correction control instruction to the linear motor device for correcting the moving stroke of the target mover module, the method further includes any one of the following: Based on the position information of the carried object, determining whether the moving stroke of the target mover module is calibrated successfully; Based on the position information of the carried object, determining whether the moving stroke of the target mover module is calibrated successfully, and sending the calibration result to the linear motor device; Based on the correction feedback result of the position measurement device, judging whether the moving stroke of the target mover module is successfully corrected; Based on the correction feedback result of the position measurement device, it is determined whether the moving stroke of the target mover module is corrected successfully, and the correction result is sent to the linear motor device.

34. A motor control device, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; The processor is configured to execute: The control method according to any one of claims 1 to 19; or A control method as claimed in any one of claims 20 to 26; or A control method as claimed in any one of claims 27 to 33.

35. The motor control device according to claim 34, characterized in that The motor control device includes at least one of a host computer and a local control device.

36. A linear motor device, characterized in that: include: stator wire body; A plurality of mover modules movably arranged on the stator wire body, wherein the mover modules carry a load; A local control device, the local control device being configured to perform: The control method according to any one of claims 1 to 19; or A control method as claimed in any one of claims 20 to 26.

37. A production system, characterized in that: include: The motor control device as claimed in claim 34; A linear motor device comprises a stator line body and a plurality of mover modules movably arranged on the stator line body, wherein the mover modules are used to carry a load and move; An operating device is used to interact with the target mover module.

Images