Conveying control method, conveying equipment, readable storage medium and conveying system

Abstract

The invention provides a conveying control method, conveying equipment, a readable storage medium and a conveying system, and is applied to the technical field of industrial automation. The method comprises the steps that in the control process of the conveying equipment, the distances among a first carrying module, a second carrying module and a third carrying module are controlled to be changed, so that the first carrying module, the second carrying module and the third carrying module can cooperatively clamp a plurality of containers; and then under the state that the first carrying module, the second carrying module and the third carrying module cooperatively clamp the multiple containers, the first carrying module, the second carrying module and the third carrying module are controlled to move towards the operation equipment, and the operation equipment is made to place objects in all the containers. By means of the mode that the multiple carrying modules cooperatively clamp the multiple containers, the utilization rate of the carrying modules can be increased, and therefore the total number of the carrying modules can be reduced, and the hardware cost of the carrying modules is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and more specifically, to a conveying control method, conveying equipment, readable storage medium and conveying system in the field of industrial automation technology. Background Art

[0002] At present, the conveying equipment in the field of industrial automation is mainly composed of a track assembly and a handling module. The handling module is installed on the track assembly and can carry materials along the track assembly to transport the materials to different locations.

[0003] In some transportation scenarios, two transport modules may be used to transport one material. However, as transportation needs increase, the number of materials that need to be transported per unit time increases, and the required transport modules increase exponentially, resulting in a significant increase in the total cost of the transportation equipment. Summary of the invention

[0004] The present application provides a conveying control method, a conveying device, a readable storage medium and a conveying system, wherein the method can reduce the cost of the conveying device.

[0005] In a first aspect, a conveying control method is provided, which is applied to a conveying device, wherein the conveying device includes a plurality of conveying modules, wherein the plurality of conveying modules include a first conveying module, a second conveying module, and a third conveying module, wherein the first conveying module is located between the second conveying module and the third conveying module, and the method includes:

[0006] Controlling the distance between the first transport module, the second transport module and the third transport module to change so that the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers;

[0007] In a state where the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers, the first transport module, the second transport module and the third transport module are controlled to move toward an operating device so that the operating device places items in each of the containers.

[0008] In the embodiment of the present application, during the control process of the conveying device, the spacing between the first conveying module, the second conveying module and the third conveying module is controlled to change, so that the first conveying module, the second conveying module and the third conveying module can cooperate to clamp multiple containers, and then in the state where the first conveying module, the second conveying module and the third conveying module cooperate to clamp multiple containers, the first conveying module, the second conveying module and the third conveying module are controlled to move toward the operating device, so that the operating device places items in each of the containers. By clamping multiple containers in cooperation with multiple conveying modules, the utilization rate of the conveying modules can be improved, thereby reducing the total number of conveying modules and reducing the hardware cost of the conveying modules. Moreover, when the number of conveying modules is reduced, the length of the track portion used to stop the conveying module in the track assembly can be shortened or avoided, thereby reducing the hardware cost of the track assembly, so the solution provided by the embodiment of the present application can reduce the total cost of the conveying device. In addition, the reduction in the number of conveying modules can also reduce the power consumption of the conveying device during operation.

[0009] Optionally, the controlling of the distance change between the first conveying module, the second conveying module and the third conveying module so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp the multiple containers includes: determining a reference conveying module and a non-reference conveying module in the first conveying module, the second conveying module and the third conveying module; before the multiple containers are respectively moved to corresponding positions to be clamped, controlling the non-reference conveying module to move relative to the reference conveying module; after the multiple containers are respectively located at corresponding positions to be clamped, controlling the non-reference conveying module to move in a direction close to the reference conveying module, so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp the multiple containers.

[0010] In an embodiment of the present application, in the process of controlling the first transport module, the second transport module and the third transport module to collaboratively clamp multiple containers, the non-reference transport module is first controlled to move relative to the reference transport module. After the multiple containers are respectively located in the corresponding positions to be clamped, the non-reference transport module is controlled to move in a direction close to the reference transport module. In this way, multiple transport modules can quickly clamp multiple containers.

[0011] Optionally, the container has a first form and a second form, and the method further includes at least one of the following: before the operating device places the object, controlling the change in the spacing between the first transport module, the second transport module and the third transport module so that the multiple containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the first form; after the operating device places the object, controlling the change in the spacing between the first transport module, the second transport module and the third transport module so that the multiple containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the second form.

[0012] In an embodiment of the present application, before the operating device places the items, the spacing between the multiple transport modules is controlled to change, so that the multiple containers are in a first form, so that the operating device can cooperate to quickly complete the placement operation of the containers and improve the efficiency of placement; after the operating device places the items, the spacing between the multiple transport modules is controlled to change, so that the multiple containers are in a second form, which can prevent the items from falling out of the containers during the transportation process.

[0013] Optionally, the controlling of the change in the spacing between the first conveying module, the second conveying module and the third conveying module so that the multiple containers cooperatively clamped by the first conveying module, the second conveying module and the third conveying module present a first form includes: determining a reference conveying module serving as a reference and a non-reference conveying module not serving as a reference in the first conveying module, the second conveying module and the third conveying module; before the reference conveying module reaches the reference target position or when the reference conveying module stays at the reference target position, reducing the spacing between the reference conveying module and the non-reference conveying module by adjusting the speed of the non-reference conveying module so that each of the containers presents the first form.

[0014] In the embodiment of the present application, when controlling the change of the spacing between multiple transport modules so that multiple containers cooperatively clamped by multiple transport modules present the first form, the speed of the non-reference transport module can be adjusted before the reference transport module reaches the reference target position, and the spacing between the reference transport module and the non-reference transport module can be reduced, so that each container presents the first form, thereby adjusting the spacing during the movement of the multiple transport modules, saving the spacing adjustment time; or, when the reference transport module stays at the reference target position, the speed of the non-reference transport module can be adjusted to reduce the spacing between the reference transport module and the non-reference transport module, so that each container presents the first form. Since the reference transport module is stationary, the number of controlled objects is reduced, thereby improving the accuracy of the spacing adjustment. In addition, the solution provided in the embodiment of the present application can choose to adjust the speed of the non-reference transport module at different times, which has higher selectivity and diversity.

[0015] Optionally, before the reference transport module reaches the reference target position or when the reference transport module stays at the reference target position, by adjusting the speed of the non-reference transport module to reduce the distance between the reference transport module and the non-reference transport module, so that each of the containers presents the first form, includes at least one of the following:

[0016] Before the reference transport module reaches the reference target position, the reference transport module and the non-reference transport module are controlled to decelerate at different deceleration rates, so that each of the containers presents the first form when the reference transport module reaches the reference target position; when the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, so that each of the containers presents the first form.

[0017] In the embodiment of the present application, before the reference transport module reaches the reference target position, the reference transport module and the non-reference transport module are controlled to decelerate at different deceleration rates. Compared with the reference transport module and the non-reference transport module performing different acceleration and deceleration movements, since both the reference transport module and the non-reference transport module decelerate, the movement type is relatively simple, which can effectively improve the accuracy of control. When the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, and the number of controlled objects is reduced, thereby improving the accuracy of spacing adjustment.

[0018] Optionally, controlling the change in the spacing between the first conveying module, the second conveying module and the third conveying module so that the multiple containers cooperatively clamped by the first conveying module, the second conveying module and the third conveying module present the second form includes: after the operating device places the item, increasing the spacing between the reference conveying module and the non-reference conveying module by adjusting the speed of the non-reference conveying module so that each of the containers changes from the first form to the second form.

[0019] In the embodiment of the present application, after placing items in each container, by adjusting the speed of the non-reference transport module, the spacing change between the first transport module, the second transport module and the third transport module can be effectively adjusted to improve the accuracy of the spacing change.

[0020] Optionally, controlling the change in the spacing between the first conveying module, the second conveying module and the third conveying module so that the multiple containers cooperatively clamped by the first conveying module, the second conveying module and the third conveying module present the second form includes: controlling the first conveying module, the second conveying module and the third conveying module to accelerate at different accelerations so that each of the containers changes from the first form to the second form; or controlling the non-reference conveying module to accelerate or decelerate so that each of the containers changes from the first form to the second form.

[0021] In the embodiment of the present application, after placing items in each container, by controlling each transport module to perform different acceleration movements, the container can be switched from the first form to the second form during the movement of the transport module, thereby improving the conveying efficiency; or, after placing items in each container, by controlling the non-reference transport module to accelerate or decelerate, the number of controlled objects is small, thereby improving the accuracy of spacing adjustment. In addition, the solution provided in the embodiment of the present application can adjust the spacing between multiple transport modules in different ways, with higher selectivity and diversity.

[0022] Optionally, when the first conveying module, the second conveying module and the third conveying module cooperate to clamp a plurality of containers, the first conveying module, the second conveying module and the third conveying module are controlled to move toward the operating device, including: before the distance between the first conveying module, the second conveying module and the third conveying module changes, according to the motion parameters of the reference conveying module, controlling the movement of the reference conveying module and the movement of the non-reference conveying module so that each of the containers presents the first form.

[0023] In the embodiment of the present application, before the distance between the first transport module, the second transport module and the third transport module changes, the movement of the reference transport module and the non-reference transport module is controlled by the motion parameters of the reference transport module, which can simplify the control process of each transport module and ensure that the distance between the first transport module, the second transport module and the third transport module remains unchanged, so that each container maintains the first form.

[0024] Optionally, the conveying equipment includes multiple conveying groups, each of the conveying groups includes the first conveying module, the second conveying module and the third conveying module, and the method further includes: controlling the spacing between the conveying modules of the same order in the multiple conveying groups to comply with a first safety distance; and / or controlling the spacing between the conveying modules at the edge of the multiple conveying groups to comply with a second safety distance.

[0025] In an embodiment of the present application, when the conveying equipment includes multiple conveying groups, by controlling the spacing between conveying modules of the same order in the multiple conveying groups to meet the first safety distance, and / or by controlling the spacing between conveying modules at the edge of the multiple conveying groups to meet the second safety distance, the probability of collision between conveying modules of different conveying groups can be reduced, especially avoiding collision with conveying modules of other conveying groups when the spacing between multiple conveying modules of each conveying group changes, thereby improving the stability of the conveying equipment.

[0026] In a second aspect, a conveying device is provided, comprising a plurality of conveying modules and a conveying control device, wherein the plurality of conveying modules comprises a first conveying module, a second conveying module and a third conveying module, wherein the first conveying module is located between the second conveying module and the third conveying module;

[0027] The first transport module is provided with a first holding component, the second transport module is provided with a second holding component, and the third transport module is provided with a third holding component, wherein one of the first holding components is used to cooperate with another of the first holding components, one of the second holding components or one of the third holding components to clamp a container;

[0028] The conveying control device is used to control the distance between the first conveying module, the second conveying module and the third conveying module, so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp the plurality of containers.

[0029] In a third aspect, a readable storage medium is provided, wherein an executable program code is stored in the readable storage medium. When the executable program code is executed on a conveying control device, the conveying control device executes the method described in the first aspect above.

[0030] In a fourth aspect, a conveying system is provided, comprising a first operating device, a second operating device and a conveying device, wherein the first operating device is used to place containers, the second operating device is used to place items in each of the containers, and the conveying device comprises: a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the conveying device executes the method described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a linear motor device in the related art;

[0032] Figure 2 It is a partial structural schematic diagram of a conveying system provided in an embodiment of the present application;

[0033] Figure 3 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0034] Figure 4 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0035] Figure 5 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0036] Figure 6 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0037] Figure 7 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0038] Figure 8 It is a structural schematic diagram of a mover provided in an embodiment of the present application;

[0039] Fig. 9 is a schematic structural diagram of another mover provided in an embodiment of the present application;

[0040] Fig.10 is a schematic structural diagram of another mover provided in an embodiment of the present application;

[0041] Fig.11 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0042] Fig.12 is a flow chart of the steps of a conveying control method provided in an embodiment of the present application;

[0043] Fig.13 is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application;

[0044] Fig.14 for Figure 2 Schematic diagram of position change of each mover during the movement process;

[0045] Fig.15 for Figure 2 Schematic diagram of position change of each mover during the movement process;

[0046] Fig.16 for Figure 2 Schematic diagram of position change of each mover during the movement process;

[0047] Fig.17 for Figure 2 Schematic diagram of position change of each mover during the movement process;

[0048] Fig.18 for Figure 2 Schematic diagram of position change of each mover during the movement process;

[0049] Fig.19 for Fig.11 Schematic diagram of the spacing between the movers in the conveying system during movement. DETAILED DESCRIPTION

[0050] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0051] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0052] At present, the conveying equipment in the field of industrial automation is mainly composed of track components and handling modules. The handling modules are installed on the track components and can carry materials and move along the track components to transport the materials to the target location. However, with the increase in transportation demand, the number of materials that need to be transported per unit time increases, and the required handling modules increase exponentially. When there are too many handling modules, additional stop track sections are required in the track components to accommodate the handling modules waiting to be loaded. The more handling modules there are and the longer the track components need to be deployed, the more the total cost of the conveying equipment increases, and the higher the energy consumption of the conveying equipment during operation.

[0053] Especially for application scenarios with multiple loading links (such as liquid filling scenarios and solid packaging scenarios), a pair of movers need to wait for the container in one link and wait for items to be placed in the container in another link (specifically, outputting liquid or solid into the container). Since the operating cycle of each loading link is limited, the number of transport modules waiting for loading will be greater, and the stop track section used to accommodate the transport modules waiting for loading will also be longer, resulting in excessive hardware costs and energy consumption.

[0054] The handling module can be driven by magnetic energy, electric energy, mechanical energy, etc., so as to move along the track assembly. It is understandable that, according to the different driving modes of the handling module, the conveying equipment can have different names, such as linear motor equipment, electric handling equipment, mechanical transmission equipment, etc., and correspondingly, the components of the conveying equipment (such as the handling module, the track assembly, etc.) can also have different names.

[0055] Taking linear motor equipment as an example, the linear motor equipment includes a stator line (i.e., a track component) and multiple movers (i.e., a handling module). The stator line is usually composed of multiple stator modules, which can be spliced ​​into regular shapes such as straight lines, arcs, squares, circles, or other irregular shapes. One of the movers and stator modules includes a permanent magnet, and the other of the movers and stator modules includes a coil. When the coil is energized, the excitation generates a changing magnetic field. The changing magnetic field interacts with the permanent magnet to generate a force on the mover, thereby driving the mover to move along the stator line. The mover carries materials during the movement, which can realize the transportation of materials.

[0056] As described in the background technology, in some conveying scenarios, two movers may be used to convey a material. Figure 1 , Figure 1 Schematic diagram of a linear motor device in the related art. Figure 1As shown, the linear motor device includes a stator line 11 and a plurality of movers 12, and a conveying control device 13 for controlling the linear motor device. One pair of movers among the plurality of movers 12 includes a first mover 121 and a second mover 122, and the other pair of movers includes a third mover 123 and a fourth mover 124. Taking the first mover 121 and the second mover 122 as an example, a clamping mechanism 14 is provided at the relative position between the first mover 121 and the second mover 122, and the first mover 121 and the second mover 122 use the clamping mechanism 14 to clamp the material ( Figure 1 The conveying control device 13 controls the first mover 121 and the second mover 122 to move along the stator line 11 to realize material transportation.

[0057] Combined with reference Figure 1 , each material needs to be equipped with two movers. As the number of materials transported per unit time increases, the number of movers required increases exponentially. When there are too many movers, an additional stop line segment needs to be set in the stator line to accommodate movers waiting for loading. The more movers there are and the longer the stator line, the higher the overall hardware cost of the linear motor equipment, and the higher the energy consumption of the linear motor equipment during operation.

[0058] For application scenarios with multiple loading links, a pair of movers need to wait for a container in one link and wait for items to be placed in the container in another link. Due to the limitations of the operating cycle of each loading link, the number of movers waiting for loading will be greater, and the stop line segment used to accommodate the movers waiting for loading will also be longer, resulting in excessive hardware costs and energy consumption.

[0059] It is understandable that the above examples are only schematic illustrations of linear motor devices, and those skilled in the art can recognize from the above description that conveying devices using other driving modes also have corresponding technical problems.

[0060] In order to solve the above technical problems, an embodiment of the present application provides a conveying device, which has multiple conveying modules, and the multiple conveying modules include a first conveying module, a second conveying module and a third conveying module, and the first conveying module is located between the second conveying module and the third conveying module. The first conveying module is provided with a first holding component, the second conveying module is provided with a second holding component, and the third conveying module is provided with a third holding component, wherein a first holding component is used to cooperate with another first holding component, a second holding component or a third holding component to clamp a container. The conveying control device is used to control the distance between the first conveying module, the second conveying module and the third conveying module, so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp multiple containers.

[0061] Optionally, the second holding component and the third holding component may adopt the same structure, and the specific structure of the first holding component may be the same as or different from the specific structures of the second holding component and the third holding component. For example, the first holding component includes a first holding sub-component and a second holding sub-component, the first holding sub-component is used to cooperate with the second holding component to clamp a container, and the second holding sub-component is used to cooperate with the third holding component to clamp a container; for another example, the first holding component includes a first holding end and a second holding end, the first holding end is used to cooperate with the second holding component to clamp a container, and the second holding end is used to cooperate with the third holding component to clamp a container.

[0062] Optionally, according to the specific structures of the first object holding component, the second object holding component and the third object holding component, they can be located in different parts of different transport modules.

[0063] In one embodiment, the first holding component includes a first holding sub-component and a second holding sub-component. When there is only one first handling module among the multiple handling modules, the first holding sub-component cooperates with the second holding component to clamp a container, and the second holding sub-component cooperates with the third holding component to clamp a container.

[0064] See also Figure 2 , Figure 2 2 is a schematic diagram of a partial structure of a conveying system provided in an embodiment of the present application. The conveying device in the conveying system is a linear motor device, which includes a stator line 21 and a plurality of movers 22, and a conveying control device 23 for controlling the linear motor device. The plurality of movers 22 can be divided into at least one mover group according to the cooperative relationship, such as Figure 2 The mover group shown in the figure includes a first mover 221, a second mover 222 and a third mover 223. The first mover 221 can be understood as a first transport module, the second mover 222 can be understood as a second transport module, the third mover 223 can be understood as a third transport module, and the first mover 221 is located between the second mover 222 and the third mover 223.

[0065] The second mover 222 includes a second object holding member 25 disposed at one end of the second mover 222 adjacent to the first mover 221. The third mover 223 includes a third object holding member 26 disposed at one end of the third mover 223 adjacent to the first mover 221.

[0066] The first mover 221 includes a first holding component 24 (not shown in the figure), which may include a first holding sub-component 241 and a second holding sub-component 242. The first holding sub-component 241 is disposed at one end of the first mover 221 adjacent to the second mover 222, and the first holding sub-component 241 and the second holding component 25 can be used to cooperate to clamp a container. The second holding sub-component 242 is disposed at one end of the first mover 221 adjacent to the third mover 223, and the second holding sub-component 242 and the third holding component 26 can be used to cooperate to clamp a container.

[0067] The conveying control device 23 can control the first mover 221, the second mover 222 and the third mover 223 to move along the stator line 21, and the moving direction is the F direction. Of course, the first mover 221, the second mover 222 and the third mover 223 can also be controlled to move in the opposite direction of the F direction.

[0068] The conveying system may also include one or more operating devices for performing multiple loading operations. Figure 2 As shown, the conveying system also includes a first operating device 27, and the first operating device 27 includes an operating mechanism 271 and an operating mechanism 272. When the first mover 221, the second mover 222 and the third mover 223 move to correspond to the first operating device 27, the operating mechanism 271 can place the container between the first mover 221 and the second mover 222, so that the first object holding sub-component 241 and the second object holding component 25 cooperate to clamp the container. The operating mechanism 272 can place the container between the first mover 221 and the third mover 223, so that the second object holding sub-component 242 and the third object holding component 26 cooperate to clamp the container. The conveying system also includes a second operating device 28, which includes an operating mechanism 281 and an operating mechanism 282. When the first mover 221, the second mover 222 and the third mover 223 move to correspond to the second operating device 28, the operating mechanism 281 can place items in a container jointly clamped by the first object holding sub-component 241 and the second object holding component 25, and the operating mechanism 282 can place items in a container jointly clamped by the second object holding sub-component 242 and the third object holding component 26.

[0069] Of course, the operating device (such as the first operating device or the second operating device mentioned above) may include one or more operating mechanisms. When the operating device includes only one operating mechanism, it can be placed between the first mover and the second mover, and between the first mover and the third mover in sequence.

[0070] Optionally, when there is only one first transport module among multiple transport modules, the first holding component may include a first holding end and a second holding end, the first holding end cooperates with the second holding component to clamp a container, and the second holding end cooperates with the third holding component to clamp a container.

[0071] See also Figure 3 , Figure 3 2 is a partial structural diagram of another conveying system provided in an embodiment of the present application. The conveying device in the conveying system is a linear motor device, which includes a stator line body 21 and a plurality of movers 22, wherein the same or similar parts can be referred to. Figure 2 The description of is not repeated here. Figure 3 In the embodiment, the first movable member 221 includes a first holding member 24 disposed in the middle of the first movable member 221, and the first holding member 24 includes a first holding end 243, a second holding end 244 and a supporting portion ( Figure 3 The first holding end 243 is opposite to the second holding part 25, and the first holding end 243 and the second holding part 25 can be used to cooperate to clamp a container. The second holding end 244 is opposite to the third holding part 26, and the second holding sub-component 242 and the third holding part 26 can be used to cooperate to clamp a container.

[0072] In another embodiment, multiple first transport modules may be provided in the multiple transport modules, and the multiple first transport modules are all located between the second transport module and the third transport module. In this case, the first object holding component may include a first object holding sub-component and a second object holding sub-component, a first object holding sub-component is used to cooperate with a second object holding sub-component or a second object holding component to clamp a container, and the second object holding sub-component is used to cooperate with a first object holding sub-component or a third object holding component to clamp a container.

[0073] like Figure 4 As shown, Figure 4 It is a partial structural diagram of another conveying system provided in an embodiment of the present application. The conveying equipment in the conveying system is a linear motor equipment, which includes a stator line 21 and a plurality of movers 22, wherein the plurality of movers 22 include two first movers 221 (i.e., two first transport modules), and a second mover 222 and a third mover 223. The second mover 222 is equipped with a second holding component 25, and the third mover 223 is equipped with a third holding component 26. The second holding component 25 is arranged at one end of the second mover 222 adjacent to one of the first movers 221, and the third holding component 26 is arranged at one end of the third mover 223 adjacent to the other first mover 221. Among them, other identical or similar parts can be referred to. Figure 2 The description will not be repeated here.

[0074] like Figure 4As shown, the first holding component 24 of each first mover 221 includes a first holding component 241 and a second holding component 242, wherein the first holding component 241 of one first mover 221 cooperates with the second holding component 25 to clamp a container, and the second holding component 242 of another first mover 221 cooperates with the third holding component 26 to clamp a container. Between two adjacent first movers 221, the second holding component 242 of one first mover 221 cooperates with the first holding component 241 of another first mover 221 to clamp a container.

[0075] When there are multiple first movers 221, the structures of the first operating device and the second operating device can also be adjusted adaptively. Figure 4 As shown, the first operating device 271 is provided with an operating mechanism 271, an operating mechanism 272 and an operating mechanism 273, the operating mechanism 271 is used to place a container between one of the first movers 221 and the second mover 222, the operating mechanism 272 is used to place a container between two first movers 221, and the operating mechanism 273 is used to place a container between another first mover 221 and the third mover 223. Similarly, the second operating device can also be adjusted accordingly, which will not be described in detail in this embodiment.

[0076] like Figure 5 As shown, Figure 5 It is a partial structural diagram of another conveying system provided in an embodiment of the present application. The conveying device in the conveying system is a linear motor device, which includes a stator line 21 and a plurality of movers 22, wherein the plurality of movers 22 include three first movers 221, a second mover 222, and a third mover 223. The second mover 222 is equipped with a second holding component 25, and the second holding component 25 is arranged at one end of the second mover 222 adjacent to one of the first movers 221, and the third mover 223 is equipped with a third holding component 26, and the third holding component 26 is arranged at one end of the third mover 223 adjacent to another first mover 221. Among them, other identical or similar parts can be referred to. Figure 4 The description will not be repeated here.

[0077] like Figure 5 As shown, the first holding component 24 installed on each first mover 221 includes a first holding component 241 and a second holding component 242. Among the three first movers 221, the first holding component 241 of the first mover 221 close to the second mover 222 cooperates with the second holding component 25 to clamp a container, and the second holding component 242 of the first mover 221 close to the third mover 223 cooperates with the third holding component 26 to clamp a container. Between two adjacent first movers 22, the second holding component 242 of one first mover 221 cooperates with the first holding component 241 of another first mover 221 to clamp a container.

[0078] like Figure 5 As shown, when there are three first movers 221, the first operating device 271 is provided with operating mechanisms 271, 272, 273 and 274, the operating mechanism 271 is used to place a container between a first mover 221 and a second mover 222, the operating mechanisms 272 and 273 are respectively used to place a container between two adjacent first movers 221, and the operating mechanism 274 is used to place a container between a first mover 221 and a third mover 223. Similarly, the second operating device can also be adjusted accordingly, which will not be described in detail in this embodiment.

[0079] In another embodiment, when multiple first transport modules can be set in multiple transport modules, the first holding component can include a first holding end and a second holding end, a first holding end is used to cooperate with a second holding end or a second holding component to clamp a container, and a second holding end is used to cooperate with a first holding end or a third holding component to clamp a container.

[0080] like Figure 6 As shown, Figure 6 It is a partial structural schematic diagram of another conveying system provided in an embodiment of the present application. The conveying equipment in the conveying system is a linear motor device, which includes a stator line 21 and a plurality of movers 22, wherein the plurality of movers 22 include two first movers 221 (i.e., two first transport modules), and a second mover 222 and a third mover 223. The second mover 222 is provided with a second holding component 25, and the third mover 223 is provided with a third holding component 26. The second holding component 25 is arranged at one end of the second mover 222 adjacent to one of the first movers 221, and the third holding component 26 is arranged at one end of the third mover 223 adjacent to another first mover 221. Among them, other identical or similar parts can refer to the description of the above-mentioned related drawings, which will not be repeated here.

[0081] like Figure 6 As shown, the first object holding member 24 installed on each first mover 221 includes a first object holding end 243, a second object holding end 244 and a support portion ( Figure 6 (not shown), among the three first movers 221, the first holding end 243 of a first mover 221 close to the second mover 222 cooperates with the second holding part 25 to clamp a container, and the second holding end 244 of a first mover 221 close to the third mover 223 cooperates with the third holding part 26 to clamp a container. Between two adjacent first movers 221, the second holding end 244 of one first mover 221 cooperates with the first holding end 243 of the other first mover 221 to clamp a container.

[0082] like Figure 7 As shown, Figure 7 It is a partial structural diagram of another conveying system provided in an embodiment of the present application. The conveying device in the conveying system is a linear motor device, which includes a stator line 21 and a plurality of movers 22, wherein the plurality of movers 22 include three first movers 221, a second mover 222, and a third mover 223. The second mover 222 is equipped with a second holding component 25, and the second holding component 25 is arranged at one end of the second mover 222 adjacent to one of the first movers 221, and the third mover 223 is equipped with a third holding component 26, and the third holding component 26 is arranged at one end of the third mover 223 adjacent to another first mover 221. Among them, other identical or similar parts can be referred to. Figure 4 The description will not be repeated here.

[0083] like Figure 7 As shown, the first holding part 24 installed on each first mover 221 includes a first holding end 243 and a second holding end 244. Among the three first movers 221, the first holding end 243 of the first mover 221 close to the second mover 222 cooperates with the second holding part 25 to clamp a container, and the second holding end 244 of the first mover 221 close to the third mover 223 cooperates with the third holding part 26 to clamp a container. Between two adjacent first movers 221, the second holding end 244 of one first mover 221 cooperates with the first holding end 243 of the other first mover 221 to clamp a container.

[0084] It should be understood that Figure 4 and Figure 7 This is merely an illustrative example, and the number of the first transport modules may be 1, 2, 3, or another number, which is not limited in this embodiment.

[0085] In the embodiment of the present application, the conveying equipment includes a plurality of conveying modules and a conveying control device, and the plurality of conveying modules include a first conveying module, a second conveying module and a third conveying module, and the first conveying module is located between the second conveying module and the third conveying module. The first conveying module is provided with a first holding component, the second conveying module is provided with a second holding component, and the third conveying module is provided with a third holding component, wherein a first holding component is used to cooperate with another first holding component, a second holding component or a third holding component to clamp a container. The conveying control device is used to control the spacing between the first conveying module, the second conveying module and the third conveying module so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp a plurality of containers. By the manner in which a plurality of conveying modules cooperate to clamp a plurality of containers, the utilization rate of the conveying modules can be improved, thereby reducing the total number of conveying modules and reducing the hardware cost of the conveying equipment. Moreover, when the number of conveying modules is reduced, the length of the track portion used to stop the conveying module in the track assembly can be shortened or avoided, thereby reducing the hardware cost of the track assembly, so the solution provided in the embodiment of the present application can reduce the total cost of the conveying equipment. In addition, the reduction in the number of conveying modules can also reduce the power consumption of the conveying equipment during operation.

[0086] Optionally, the multiple transport modules include multiple first transport modules, and at least two of the multiple first transport modules cooperate to clamp a container.

[0087] like Figure 4-7 As shown, when the plurality of movers 22 include two first movers 221, the two first movers 221 can cooperate to clamp a container. When the plurality of movers 22 include three or more first movers 221, two adjacent first movers 221 can also cooperate to clamp a container. Of course, when the plurality of movers 22 include three or more first movers 221, some adjacent two first movers 221 can cooperate to clamp a container, and some adjacent two first movers 221 may not clamp a container.

[0088] In an embodiment of the present application, when multiple transport modules include multiple first transport modules, there are at least two first transport modules that cooperate to clamp a container. This can improve the utilization rate of the first transport modules, so that the conveying equipment can transport more materials at one time, thereby improving the utilization rate of the entire conveying equipment, and further reducing the total number of transport modules and reducing the cost of the conveying equipment.

[0089] Optionally, the first object holding component further includes a first adjustable connecting member, and the first adjustable connecting member is used to adjust the distance between the first object holding sub-component and the second object holding sub-component, or the first adjustable connecting member is used to adjust the distance between the first object holding end and the second object holding end.

[0090] For example, the first adjustable connecting member may include a guide rail, the first holding member and the second holding member are mounted on the guide rail, and the first holding member and the second holding member can slide or be fixed along the guide rail to adjust the distance between the first holding member and the second holding member. Figure 8 As shown, Figure 8 : is a schematic diagram of the structure of a mover provided in an embodiment of the present application, the mover is a first mover 221, the first mover 221 is provided with a first object holding sub-component 241 and a second object holding sub-component 242, and a first guide rail 31, the first object holding sub-component 241 and the second object holding sub-component 242 are installed on the first guide rail 31, and can slide along the first guide rail 31 in the direction F, or slide along the first guide rail 31 in the opposite direction of the direction F, so as to adjust the distance between the first object holding sub-component 241 and the second object holding sub-component 242. The first adjustable connecting member also includes a first fixing member 32 and a second fixing member 33, the first fixing member 32 and the second fixing member 33 are, for example, bolts, the first fixing member 32 can fix the first object holding sub-component 241 to the first guide rail 31, and the second fixing member 33 can fix the second object holding sub-component 242 to the first guide rail 31.

[0091] In practical applications, when the size of the container held by the first object holding component changes, the distance between the first object holding component 241 and the second object holding component 242 can be adjusted, the distance between the first object holding component 241 and the second object holding component 25 can be adjusted, and the distance between the second object holding component 242 and the third object holding component 26 can be adjusted. Figure 8 As shown, when the distance between the first holding sub-component 241 and the second holding sub-component 242 needs to be adjusted, the first holding sub-component 241 fixed by the first fixing member 32 can be released and / or the second holding sub-component 242 fixed by the second fixing member 33 can be released, and the first holding sub-component 241 and / or the second holding sub-component 242 can be controlled to slide along the first guide rail 31 to adjust the distance between the first holding sub-component 241 and the second holding sub-component 242. When the distance between the first holding sub-component 241 and the second holding sub-component 242 meets the requirement, the first holding sub-component 241 can be fixed to the first guide rail 31 by the first fixing member 32, and the second holding sub-component 242 can be fixed to the first guide rail 31 by the second fixing member 33.

[0092] Similarly, when the first object holding component includes a first object holding end and a second object holding end, the distance between the first object holding end and the second object holding end can also be adjusted by the first adjustable connecting member. In this case, the first adjustable connecting member can also include a guide rail, and the first object holding end and the second object holding end are mounted on the guide rail. The first object holding end and the second object holding end can slide or be fixed along the guide rail to adjust the distance between the first object holding end and the second object holding end.

[0093] like Fig. 9 As shown, Fig. 9 : is a schematic diagram of the structure of another mover provided in an embodiment of the present application, the mover is a first mover 221, and the first object holding part 24 on the first mover 221 includes a first object holding end 243 and a second object holding end 244. A second guide rail 34 is also provided on the first mover 221, and the second guide rail 34 is a first adjustable connecting member. The first object holding end 243 and the second object holding end 244 are installed on the second guide rail 34, and can slide along the second guide rail 34 in the F direction, or slide in the opposite direction of the F direction, so as to adjust the distance between the first object holding end 243 and the second object holding end 244. The first adjustable connecting member also includes a third fixing member 35 and a fourth fixing member 36, the third fixing member 35 can fix the first object holding end 243 on the second guide rail 34, and the fourth fixing member 36 can fix the second object holding end 244 on the second guide rail 34.

[0094] In practical applications, when the size of the container held by the first object holding member changes, the distance between the first object holding end 243 and the second object holding end 244 can be adjusted, the distance between the first object holding end 243 and the second object holding member can be adjusted, and the distance between the second object holding end 244 and the third object holding member can be adjusted to adapt to containers of different sizes. For example, when it is necessary to adjust the distance between the first object holding end 243 and the second object holding end 244, the third fixing member 35 can be released from fixing the first object holding end 243 and / or the fourth fixing member 36 can be released from fixing the second object holding end 244, and the first object holding end 243 and / or the second object holding end 244 can be controlled to slide along the second guide rail 34 to adjust the distance between the first object holding end 243 and the second object holding end 244. When the distance between the first object holding end 243 and the second object holding end 244 reaches the requirement, the first object holding end 243 can be fixed to the second guide rail 34 by the third fixing member 35 , and the second object holding end 244 can be fixed to the second guide rail 34 by the fourth fixing member 36 .

[0095] It should be understood that Figure 8 and Fig. 9 For illustrative purposes only, the specific structure of the first adjustable connecting member may include but is not limited to the following.

[0096] In an embodiment of the present application, the first holding component includes a first adjustable connecting piece. When the distance between the first holding sub-component and the second holding sub-component or the distance between the first holding end and the second holding end is adjusted through the first adjustable connecting piece, the first holding component can be adapted to containers of different sizes, thereby improving the adaptability of the conveying equipment.

[0097] Optionally, the second object holding component is connected to the second transport module via a second adjustable connecting member, and the second adjustable connecting member is used to adjust the distance between the second object holding component and the first object holding component; and / or, the third object holding component is connected to the third transport module via a third adjustable connecting member, and the third adjustable connecting member is used to adjust the distance between the third object holding component and the first object holding component.

[0098] In one embodiment, a second adjustable connector can be provided on the second transport module, and the second object holding component can be installed on the second transport module through the second adjustable connector, so that the position of the second object holding component on the second transport module is adjustable, and the distance between the second object holding component and the first object holding component can be adjusted by adjusting the position of the second object holding end on the second transport module. Exemplarily, the second adjustable connector can include a guide rail, which is installed on the second transport module, and the second object holding component is connected to the second transport module through the guide rail, and the second object holding component can slide along the guide rail or be fixed on the guide rail.

[0099] like Fig.10 As shown, Fig.10 : is a schematic diagram of the structure of another mover provided in an embodiment of the present application, the mover is a second mover 222, a third guide rail 37 is provided on the second mover 222, and the second object holding component 25 is installed on the third guide rail 37, and can slide along the third guide rail 37 in the direction F, or slide along the third guide rail 37 in the opposite direction of the direction F, so as to adjust the position of the second object holding component 25 on the second mover 222. The second adjustable connecting member may further include a fifth fixing member 38, which may be, for example, a bolt, and the fifth fixing member 38 may fix the second object holding component 25 on the third guide rail 37.

[0100] In practical applications, when the size of the container held by the second holding member 25 changes, the position of the second holding member 25 on the second transport module can be adjusted to adjust the distance between the second holding member 25 and the first holding member to accommodate containers of different sizes. Fig.10 As shown, when the position of the second object holding component 25 on the second mover 222 needs to be adjusted, the fixing of the second object holding component 25 by the fifth fixing member 38 can be released, and the second object holding component 25 can be controlled to slide along the third guide rail 37 to adjust the distance between the second object holding component 25 and the first object holding component. When the distance between the second object holding component 25 and the first object holding component reaches the requirement, the second object holding component 25 can be fixed on the third guide rail 37 by the fifth fixing member 38.

[0101] It should be understood that the specific structure of the second adjustable connecting member may include but is not limited to Fig.10 shown.

[0102] Similarly, the third holding component and the third transport module can be connected by a third adjustable connector. The specific structure of the third adjustable connector and the specific position of the third adjustable connector on the third transport module can refer to the second adjustable connector, and this embodiment will not be repeated here. Similarly, when the size of the container clamped by the third holding component changes, the position of the third holding component on the third transport module can be adjusted to adjust the distance between the third holding component and the first holding component to adapt to containers of different sizes.

[0103] In the embodiment of the present application, the second holding component is connected to the second handling module via a second adjustable connector, and the spacing between the second holding component and the first holding component can be adjusted via the second adjustable connector, so that the first holding component and the second holding component can clamp containers of different sizes, thereby improving the adaptability of the conveying device. Similarly, the third holding component is connected to the third handling module via a third adjustable connector, and the spacing between the third holding component and the first holding component can be adjusted via the third adjustable connector, so that the first holding component and the third holding component can clamp containers of different sizes, thereby improving the adaptability of the conveying device.

[0104] Optionally, the second object holding component and the adjacent first object holding sub-component adopt the same structure, and the third object holding component and the adjacent second object holding sub-component adopt the same structure.

[0105] In one embodiment, when the first holding component includes a first holding sub-component and a second holding sub-component, the second holding component has the same structure as the first holding sub-component, so that the second holding component and the first holding sub-component can cooperate to clamp a container. Figure 2-7 As shown, the first object holding sub-component and the second object holding component can be clamping mechanisms with the same structure, so that the first object holding sub-component and the second object holding component can cooperate to clamp materials such as beverage bottles and packaging bags.

[0106] Similarly, when the first holding component includes a first holding sub-component and a second holding sub-component, the second holding sub-component has the same structure as the third holding component, so that the second holding sub-component and the third holding component can cooperate to hold a container. Figure 2-7 As shown, the second object holding sub-component and the third object holding component can be clamping mechanisms of the same structure, so that the second object holding sub-component and the third object holding component can cooperate to clamp materials such as beverage bottles and packaging bags.

[0107] In the embodiment of the present application, the second holding component and the adjacent first holding component adopt the same structure, and the third holding component and the adjacent second holding component adopt the same structure, so that the first holding component can cooperate with the second holding component and the third holding component to clamp the container.

[0108] Optionally, a first additional holding component is provided at one end of the second transport module away from the first transport module, and the first additional holding component is used to clamp additional materials; and / or a second additional holding component is provided at one end of the third transport module away from the first transport module, and the second additional holding component is used to clamp additional materials.

[0109] like Figure 3 As shown, a first additional holding member 2221 is provided at one end of the second mover 222 away from the first mover 221. During the operation of the second mover 222, the first additional holding member 2221 can clamp additional materials, which are materials other than the container. This embodiment does not limit the specific type of the additional materials.

[0110] Similarly, a second additional holding member 2231 is provided at one end of the third mover 223 away from the first mover 221. During the operation of the third mover 223, the second additional holding member 2231 can clamp additional materials, which are materials other than the container. This embodiment does not limit the specific type of the additional materials.

[0111] In the embodiment of the present application, the second transport module is provided with a first additional holding component and / or the third transport module is provided with a second additional holding component. The utilization rate of the transport module can be improved by clamping additional materials by the first additional holding component and / or the second additional holding component.

[0112] Optionally, the conveying equipment includes a plurality of conveying groups, each conveying group includes a first conveying module, a second conveying module and a third conveying module.

[0113] In one embodiment, the conveying device may include a plurality of transport groups, each of which includes a second transport module and a third transport module, and one or more first transport modules. Fig.11 As shown, Fig.11 1 is a partial structural diagram of another conveying system provided by an embodiment of the present application. The conveying device in the conveying system is a linear motor device, which includes a stator line 41 and a conveying control device 42. The linear motor device includes a first conveying group 43 and a second conveying group 44. The first conveying group 43 includes a first mover 431, a second mover 432, and a third mover 433. The second conveying group 44 includes a first mover 441, a second mover 442, and a third mover 443.

[0114] It should be noted that the above are only illustrative examples, and the number of transport groups included in the conveying equipment may include but is not limited to 2, and the number of first transport modules in each transport group may include but is not limited to 1.

[0115] In the embodiment of the present application, when the conveying equipment includes multiple conveying groups, materials can be conveyed simultaneously by the multiple conveying groups, which can improve the material conveying efficiency.

[0116] In the embodiment of the present application, the conveying device can be the linear motor device in the above example, and the first conveying module, the second conveying module and the third conveying module are movers in the linear motor device. Of course, the conveying device can also be other types of conveying devices, which is not limited in the present embodiment.

[0117] It should be understood that Figure 2-11 For illustrative purposes only, the specific types of the transport modules and the specific structures of the holding components may include but are not limited to: Figure 2-11 shown.

[0118] It should also be understood that in order to enable those skilled in the art to more clearly understand and implement the concept, implementation scheme and advantages of the present invention, the embodiments of the present application all take the linear motor device as an example, and describe the technical scheme in detail in combination with the drawings and specific implementation schemes. However, it is understandable that for those of ordinary skill in the art, based on the description of the present application, they can directly and unambiguously recognize that the handling module driven by other means can also adopt the above-mentioned specific structure.

[0119] In order to solve the above technical problems, an embodiment of the present application further provides a conveying control method, which can be applied to conveying equipment.

[0120] See also Fig.12 , Fig.12 is a flow chart of the steps of a conveying control method provided in an embodiment of the present application. The execution subject of the method may be a conveying control device in a conveying device, for example Figure 2-11 The conveying control device shown. Fig.12 As shown, the method may include the following steps:

[0121] Step 1201: Control the distance between the first transport module, the second transport module and the third transport module to change so that the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers.

[0122] In this embodiment, during the operation of the conveying equipment, the first conveying module, the second conveying module and the third conveying module can be motion controlled to adjust the distance between the first conveying module and the second conveying module, and the distance between the first conveying module and the third conveying module, so that the first conveying module and the second conveying module can cooperate to clamp the container placed between the first conveying module and the second conveying module, and the first conveying module and the third conveying module can cooperate to clamp the container placed between the first conveying module and the third conveying module.

[0123] by Figure 2 For example, during the operation of the linear motor device, the first mover 221, the second mover 222 and the third mover 223 move along the F direction. Before the first mover 221, the second mover 222 and the third mover 223 reach the position corresponding to the first operating device 27, or after the first mover 221, the second mover 222 and the third mover 223 reach the first operating device 27, the distance between the first mover 221 and the second mover 222 can be controlled to change by changing the motion state of at least some of the first mover 221, the second mover 222 and the third mover 223, so that the distance between the first mover 221 and the second mover 222 becomes at least L1, and the distance between the first mover 221 and the third mover 223 can be controlled to change, so that the distance between the first mover 221 and the third mover 223 becomes at least L2.

[0124] Among them, at least one of the first mover 221, the second mover 222 and the third mover 223 can be selected for position judgment, so as to determine whether the first mover 221, the second mover 222 and the third mover 223 have reached the first operating device 27. For example, the first mover 221 is selected and the position information of the first mover 221 is obtained to determine whether the first mover 221 has moved to position A, so as to determine whether the first mover 221, the second mover 222 and the third mover 223 have reached the first operating device 27.

[0125] When it is determined that the first mover 221, the second mover 222 and the third mover 223 have reached the first operating device 27, and the distance between the first mover 221 and the second mover 222 is at least L1 and the distance between the first mover 221 and the third mover 223 is at least L2, the operating mechanism 271 can place the container between the first mover 221 and the second mover 222, and the operating mechanism 272 can place the container between the first mover 221 and the third mover 223.

[0126] Afterwards, the distance between the first mover 221 and the second mover 222 can be controlled to change by changing the movement state of some of the movers among the first mover 221, the second mover 222 and the third mover 223, so as to adjust the distance between the second mover 222 and the first mover 221, so that the distance between the second mover 222 and the first mover 221 is reduced to at least L3. When the distance between the second mover 222 and the first mover 221 is reduced to at least L3, the first mover 221 and the second mover 222 can cooperate to clamp the container located between the two movers. Similarly, by changing the movement state of some of the movers among the first mover 221, the second mover 222 and the third mover 223, the distance between the first mover 221 and the third mover 223 is controlled to change, so as to adjust the distance between the third mover 223 and the first mover 221, so that the distance between the third mover 223 and the first mover 221 is reduced to at least L4. When the distance between the third mover 223 and the first mover 221 is reduced to at least L4, the first mover 221 and the third mover 223 can cooperate to clamp the container located between the two movers.

[0127] It should be noted that the specifications of the container clamped by the first mover 221 and the second mover 222 and the container clamped by the first mover 221 and the third mover 223 may be the same or different, and since the spacing L1 and the spacing L3 are determined according to the specifications of the container placed between the first mover 221 and the second mover 222, and the spacing L2 and the spacing L4 are determined according to the specifications of the container placed between the first mover 221 and the third mover 223. Therefore, L1 and L2 may be the same or different, and L3 and L4 may also be the same or different.

[0128] Step 1202: When the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers, control the first transport module, the second transport module and the third transport module to move toward the operating device so that the operating device places items in each container.

[0129] The operating device for placing the object may be the same as or different from the operating device for placing the container. When the operating device for placing the object is different from the operating device for placing the container, they can be distinguished by different names (such as the first operating device and the second operating device below). The object may be a solid or a liquid, and the corresponding container is a container for placing a solid or a liquid.

[0130] After the first transport module, the second transport module and the third transport module cooperate to clamp multiple containers to the position corresponding to the operating device, the operating device can place items in the container after aligning with the container, or the operating device can perform preliminary operations on the container (such as opening the container, adjusting the position of the container, etc.) and then place the item in the container.

[0131] Take the liquid filling scenario as an example. Figure 2As shown, when the first mover 221, the second mover 222 and the third mover 223 move to the position of the first operating device 27, the operating mechanism 271 can place an opened bottle body between the first mover 221 and the second mover 222, and by controlling the change in the spacing between the first mover 221 and the second mover 222, the first object holding sub-component 241 cooperates with the second object holding component 25 to clamp the bottle body, and the operating mechanism 272 can place another opened bottle body between the first mover 221 and the third mover 223, and by controlling the change in the spacing between the first mover 221 and the third mover 223, the second object holding sub-component 242 cooperates with the third object holding component 26 to clamp the bottle body. When the first mover 221, the second mover 222 and the third mover 223 move to the positions corresponding to the second operating device 28, the operating mechanism 281 of the operating device 28 can input liquid into the bottle body clamped by the first holding sub-component 241 and the second holding component 25, and the operating mechanism 282 can input liquid into the bottle body clamped by the second holding sub-component 242 and the third holding component 26.

[0132] Take solid packaging as an example. Figure 2 As shown, when the first mover 221, the second mover 222 and the third mover 223 move to the position of the first operating device 27, the operating mechanism 271 can place an openable packaging bag between the first mover 221 and the second mover 222, and by controlling the change in the spacing between the first mover 221 and the second mover 222, the first holding sub-component 241 cooperates with the second holding component 25 to clamp the packaging bag, and the operating mechanism 272 can place another openable packaging bag between the first mover 221 and the third mover 223, and by controlling the change in the spacing between the first mover 221 and the third mover 223, the second holding sub-component 242 cooperates with the third holding component 26 to clamp the packaging bag. When the first mover 221, the second mover 222 and the third mover 223 move to the positions corresponding to the second operating device 28, the operating mechanism 281 of the operating device 28 inputs solid into the packaging bag after opening the packaging bag clamped by the first holding sub-component 241 and the second holding component 25, and the operating mechanism 282 inputs solid into the packaging bag after opening the packaging bag clamped by the second holding sub-component 242 and the third holding component 26.

[0133] The solution provided by the embodiment of the present application can effectively reduce the number of transport modules. Figure 1 and Figure 2 It can be seen that when transporting 2 containers, Figure 1 In the linear motor device shown, two containers need to be transported via four movers. Figure 2 In the linear motor device shown, two containers can be transported using three movers. Figure 1 The scheme shown, Figure 2 The solution shown can transport the same number of containers with fewer movers, or, Figure 2 The solution shown can transport a greater number of containers with the same number of movers, thereby improving the transport efficiency.

[0134] It can be seen that in the embodiment of the present application, in the control process of the conveying device, the spacing between the first conveying module, the second conveying module and the third conveying module is controlled to change, so that the first conveying module, the second conveying module and the third conveying module can cooperate to clamp multiple containers, and then in the state where the first conveying module, the second conveying module and the third conveying module cooperate to clamp multiple containers, the first conveying module, the second conveying module and the third conveying module are controlled to move to the operating device, so that the operating device places items in each of the containers. By clamping multiple containers in a manner in which multiple conveying modules cooperate, the utilization rate of the conveying module can be improved, thereby reducing the total number of conveying modules and reducing the hardware cost of the conveying module. Moreover, when the number of conveying modules is reduced, the length of the track portion used to stop the conveying module in the track assembly can be shortened or avoided, thereby reducing the hardware cost of the track assembly, so the solution provided by the embodiment of the present application can reduce the total cost of the conveying device. In addition, the reduction in the number of conveying modules can also reduce the power consumption of the conveying device during operation.

[0135] Optionally, controlling the distance between the first transport module, the second transport module and the third transport module to change so that the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers comprises:

[0136] Determining a reference transport module and a non-reference transport module in the first transport module, the second transport module, and the third transport module;

[0137] Before the multiple containers are respectively moved to the corresponding positions to be clamped, the non-reference transport module is controlled to move relative to the reference transport module so that the spacing between the first transport module, the second transport module and the third transport module can accommodate the multiple containers;

[0138] After the multiple containers are located at the corresponding positions to be clamped, the non-reference transport module is controlled to move in a direction close to the reference transport module, so that the first transport module, the second transport module and the third transport module cooperate to clamp the multiple containers.

[0139] The position to be clamped corresponding to the container is a preparation position of the container between a plurality of transport modules.

[0140] It is understandable that, according to actual conditions, reference transport modules and non-reference transport modules can be determined in the first transport module, the second transport module and the third transport module, so as to perform corresponding motion control on the non-reference transport module. Also, the number of reference transport modules can be one or more.

[0141] For example, Figure 2 As shown, during the operation of the linear motor device, the first mover 221, the second mover 222 and the third mover 223 move along the F direction, and the first mover 221 can be used as a reference transport module, and the second mover 222 and the third mover 223 can be used as non-reference transport modules. Before the multiple containers are moved to the corresponding positions to be clamped, the second mover 222 and the third mover 223 are controlled to move relative to the first mover 221 to ensure that the distance between the first mover 221 and the second mover 222 is at least L1, and the distance between the first mover 221 and the third mover 223 is at least L2, so that the operating mechanism 271 can place the container between the first mover 221 and the second mover 222, and between the first mover 221 and the third mover 223. Before the first mover 221 (i.e., the reference transport module) reaches the position A corresponding to the first operating device, the distance between the first mover 221 and the second mover 222 can be adjusted to L1, and the distance between the first mover 221 and the third mover 223 can be adjusted to L2, and the first mover 221, the second mover 222, and the third mover 223 can be controlled to maintain the corresponding distances and move to the position corresponding to the first operating device 27. Alternatively, after the first mover 221 (i.e., the reference transport module) reaches the position A corresponding to the first operating device, if the distance between the second mover 222 and the first mover 221 is less than L1, the second mover 222 (i.e., the non-reference transport module) can be controlled to move a certain distance in the direction away from the first mover 221 (i.e., the reference transport module), so that the distance between the second mover 222 and the first mover 221 reaches at least L1. Similarly, if the distance between the third mover 223 and the first mover 221 is less than L2, the third mover 223 (i.e., the non-reference transport module) can be controlled to move a certain distance away from the first mover 221 (i.e., the reference transport module) so that the distance between the third mover 223 and the first mover 221 is at least L2.

[0142] The position to be clamped corresponding to each container can be located between the corresponding two movers, and the position to be clamped can be determined according to the distance between the two movers. Figure 2 As shown, when the spacing between the first mover 221 and the second mover 222 is L1, a position to be clamped between the first mover 221 and the second mover 222 is located on the left side of the A position and is spaced 0.5 times L1 from the A position, and a position to be clamped between the first mover 221 and the third mover 223 is located on the right side of the A position and is spaced 0.5 times L2 from the A position.

[0143] After the first operating device places a container at the position to be clamped between the first mover 221 and the second mover 222, and places a container at the position to be clamped between the first mover 221 and the third mover 223, the second mover 222 can be controlled to move a certain distance in the direction close to the first mover 221, so that the distance between the second mover 222 and the first mover 221 is reduced to at least L3, so that the second mover 222 and the first mover 221 can cooperate to clamp the container between the two movers; and the third mover 223 is controlled to move a certain distance in the direction close to the first mover 221, so that the distance between the third mover 223 and the first mover 221 is reduced to at least L4, and the third mover 223 and the first mover 221 can cooperate to clamp the container between the two movers.

[0144] In practical applications, one of the second mover 222 or the third mover 223 can also be used as a reference transport module, and the other two movers can be used as non-reference transport modules. For example, the second mover 222 can be used as a reference transport module, and the first mover 221 and the third mover 223 can be used as non-reference transport modules. In this case, the first mover 221 can be controlled to move relative to the second mover 222, so that the distance between the second mover 222 and the first mover 221 is at least L1; and the third mover 223 can be controlled to move relative to the second mover 222, so that the distance between the third mover 223 and the first mover 221 is at least L2. After multiple containers are located in the corresponding positions to be clamped, the first mover 221 can be controlled to move a certain distance in the direction close to the second mover 222, so that the distance between the second mover 222 and the first mover 221 is reduced to at least L3, and the second mover 222 and the first mover 221 can cooperate to clamp the container between the two movers; and the third mover 223 can be controlled to move a certain distance in the direction close to the first mover 221, so that the distance between the third mover 223 and the first mover 221 is reduced to at least L4, and the third mover 223 and the first mover 221 can cooperate to clamp the container between the two movers.

[0145] In an embodiment of the present application, in the process of controlling the first transport module, the second transport module and the third transport module to collaboratively clamp multiple containers, the non-reference transport module is first controlled to move relative to the reference transport module. After the multiple containers are respectively located in the corresponding positions to be clamped, the non-reference transport module is controlled to move in a direction close to the reference transport module. In this way, multiple transport modules can quickly clamp multiple containers.

[0146] It should be noted that when placing multiple containers, the first transport module, the second transport module, and the third transport module can be stationary or moving, that is, the operating device can place the containers while the transport modules are stationary or moving, thereby increasing the optionality of container placement methods. Placing containers when stationary can improve the stability of container placement, while placing containers during movement can improve transportation efficiency.

[0147] As mentioned above, different types of containers may exist according to specific application scenarios. For containers with certain flexibility, they may have multiple forms, such as packaging bags, paper boxes, etc., which have open and closed forms. In related technologies, operating equipment is required to pre-operate such containers with multiple forms before items can be placed. However, operating equipment usually has a relatively complex mechanical mechanism and control logic, and the operating efficiency is low, which affects the conveying efficiency.

[0148] Based on this, the container can be changed between multiple forms by controlling the spacing between multiple transport modules. Specifically, in an optional embodiment, the container has a first form and a second form, and the method may further include at least one of the following:

[0149] Before the operating device places the article, the spacing between the first transport module, the second transport module and the third transport module is controlled to change, so that the multiple containers cooperatively clamped by the first transport module, the second transport module and the third transport module present a first shape;

[0150] After the operating device places the items, the distances between the first transport module, the second transport module and the third transport module are controlled to change so that the multiple containers cooperatively clamped by the first transport module, the second transport module and the third transport module present a second form.

[0151] The first form and the second form are determined according to the specific container type and application scenario. For example, the first form may be an open form, and the second form may be a closed form. For the case where the container needs to be opened to place items, the spacing between the first transport module, the second transport module, and the third transport module may be controlled before placing items in the multiple containers, so that the multiple containers are in the first form. For the case where the container needs to be closed, the spacing between the first transport module, the second transport module, and the third transport module may be controlled to change, so that the multiple containers are in the second form.

[0152] In one embodiment, before placing the objects in the containers, the distances between the first transport module, the second transport module and the third transport module may be controlled to change so that the multiple containers are in the first form.

[0153] When the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers, the first transport module, the second transport module and the third transport module can be controlled to move to a position corresponding to an operating device (such as a second operating device) where the items are placed, and then the spacing between the first transport module, the second transport module and the third transport module can be controlled to change, so that the spacing between two adjacent transport modules reaches a spacing that allows the container to present a first shape. Alternatively, the spacing between the first transport module, the second transport module and the third transport module can be controlled to change, so that the spacing between two adjacent transport modules reaches a spacing that allows the container to present a first shape, and then the first transport module, the second transport module and the third transport module can be controlled to move toward the operating device where the items are placed.

[0154] See also Fig.13 , Fig.13 Schematic diagram of a partial structure of a conveying system provided in an embodiment of the present application. Figure 2 As shown, the C position is located at Figure 2 Between the shown position A and position B, before the first mover 221, the second mover 222 and the third mover 223 move to the second operating device 28 (for example, at position C), the spacing between the first mover 221, the second mover 222 and the third mover 223 can be controlled to change, so that the spacing between the first mover 221 and the second mover 222 is at least changed to L5, and the spacing between the first mover 221 and the third mover 223 is at least changed to L6, thereby making the container between the first mover 221 and the second mover 222 present in the first form, and the container between the first mover 221 and the third mover 223 present in the first form, which can avoid the operating device from performing related operations to make the container present in the first form, thereby reducing the operation time of the operating device.

[0155] In another embodiment, after placing the articles in the containers, the distances between the first transport module, the second transport module and the third transport module may be controlled to change so that the multiple containers are in the second form.

[0156] Continue to refer Fig.13After placing items in each container by the second operating device 28, the spacing between the first mover 221, the second mover 222 and the third mover 223 can be controlled to change, so that the spacing between the first mover 221 and the second mover 222 is at least L7, and the spacing between the first mover 221 and the third mover 223 is at least L8, so that the container between the first mover 221 and the second mover 222 is in the second form, and the container between the first mover 221 and the third mover 223 is in the second form. In other words, when the spacing between the second mover 222 and the first mover 221 changes to L7, the packaging bag clamped by the first mover 221 and the second mover 222 is in a closed form, and when the spacing between the third mover 223 and the first mover 221 changes to L8, the packaging bag clamped by the first mover 221 and the third mover 223 is in a closed form. Among them, the spacing L7 can be the same as or different from the spacing L3, and the spacing L8 can be the same as or different from the spacing L4. After the multiple containers are in the second form, the first mover 221, the second mover 222 and the third mover 223 can continue to be controlled to move along the F direction to transport the multiple containers to the next position. In this way, the operating device can be prevented from performing operations related to making the containers present the second form, thereby reducing the operating time of the operating device.

[0157] In an embodiment of the present application, before the operating device places the items, the spacing between the multiple transport modules is controlled to change, so that the multiple containers are in a first form, so that the operating device can cooperate to quickly complete the placement operation of the containers and improve the efficiency of placement; after the operating device places the items, the spacing between the multiple transport modules is controlled to change, so that the multiple containers are in a second form, which can prevent the items from falling out of the containers during the transportation process.

[0158] In practical applications, taking solid packaging as an example, combined with reference Figure 2 , the container is a packaging bag having an open state and a closed state. After the first mover 221 and the second mover 222 cooperate to clamp the packaging bag, and the first mover 221 and the third mover 223 cooperate to clamp the packaging bag, the first mover 221, the second mover 222 and the third mover 223 can be synchronously moved to the position of the second operating device 28. At this time, the packaging bag between the second mover 222 and the first mover 221 is in a closed state, and the packaging bag between the second mover 222 and the third mover 223 is also in a closed state.

[0159] Before the second operating device 28 places an item, at least some of the first mover 221, the second mover 222, and the third mover 223 can be controlled to move, so that the packaging bag clamped by the first mover 221 and the second mover 222 is opened, and the packaging bag clamped by the first mover 221 and the third mover 223 is opened. Afterwards, the second operating device 28 places an item in the packaging bag clamped by the first mover 21 and the second mover 222, and the second operating device 28 places an item in the packaging bag clamped by the first mover 21 and the third mover 223.

[0160] Optionally, controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present a first form may include:

[0161] Determine, in the first transport module, the second transport module, and the third transport module, a reference transport module serving as a reference and a non-reference transport module not serving as a reference;

[0162] Before the reference transport module reaches the reference target position or when the reference transport module stays at the reference target position, the speed of the non-reference transport module is adjusted to reduce the distance between the reference transport module and the non-reference transport module so that each container presents the first form.

[0163] The reference target position corresponds to the second operating device, and when the reference transport module is located at the reference target position, the second operating device can place items into the multiple containers.

[0164] It is understandable that the reference transport module and the non-reference transport module can be determined in the first transport module, the second transport module and the third transport module according to actual conditions, so as to perform corresponding motion control on the non-reference transport module. And the number of the reference transport modules can be one or more.

[0165] In one embodiment, before the reference transport module reaches the reference target position, the speed of the non-reference transport module can be adjusted to reduce the distance between the reference transport module and the non-reference transport module so that each container presents the first shape.

[0166] For example, Figure 2 and Fig.13As shown, the first mover 221 can be used as a reference transport module, the second mover 222 and the third mover 223 can be used as non-reference transport modules, and the reference target position is position B. When the first mover 221, the second mover 222 and the third mover 223 are located at the position where the first operating device 27 is located, the distance between the first mover 221 and the second mover 222 is L3, and the container (such as a packaging bag) between the first mover 221 and the second mover 222 is in the second form, and the distance between the first mover 221 and the third mover 223 is L4, and the container (such as a packaging bag) between the first mover 221 and the third mover 223 is also in the second form.

[0167] In the process of controlling the first mover 221, the second mover 222 and the third mover 223 to move from the position of the first operating device 27 to the position of the second operating device 28, the first mover 221, the second mover 222 and the third mover 223 are first controlled to move at the same speed in the direction of the second operating device 28. When the first mover 221 moves to position C, the speed of the second mover 222 (i.e., the non-reference transport module) and the speed of the third mover 223 (i.e., the non-reference transport module) can be adjusted to increase the distance between the second mover 222 and the first mover 221, and increase the distance between the third mover 223 and the first mover 221, so that the container between the first mover 221 and the second mover 222 is in the first form, and the container between the first mover 221 and the third mover 223 is in the first form. In this way, when the first mover 221 moves to the position C, the container between the first mover 221 and the second mover 222 is in the first shape, and the container between the first mover 221 and the third mover 223 is in the first shape.

[0168] Among them, the speed change of the non-reference transport module is related to the expected speed when the reference transport module reaches the operating equipment for placing objects (such as the second operating equipment), the moving distance of the reference transport module to the operating equipment for placing objects, the distance between the reference transport module and the non-reference transport module when each container is in the second form, and the distance between the reference transport module and the non-reference transport module when each container is in the first form. The speed change of the non-reference transport module may include one or more of deceleration and acceleration.

[0169] In another embodiment, when the reference transport module stays at the reference target position, the speed of the non-reference transport module can be adjusted to reduce the distance between the reference transport module and the non-reference transport module so that each container presents the first shape. Fig.14 As shown, Fig.14 for Figure 2 The schematic diagram of the position change of each mover during the movement is shown. Figure 2 and Fig.13As shown, the first mover 221 can be used as a reference transport module, the second mover 222 and the third mover 223 can be used as non-reference transport modules, and the reference target position is position B. In the process of controlling the first mover 221, the second mover 222 and the third mover 223 to move from the first operating device to the position where the second operating device is located, after the first mover 221 moves to position B and stays at position B, the speeds of the second mover 222 and the third mover 223 can be adjusted to reduce the distance between the first mover 221 and the second mover 222, and reduce the distance between the first mover 221 and the third mover 223, so that each container presents the first form.

[0170] In the process of controlling the first mover 221, the second mover 222 and the third mover 223 to move from position A to position B, the speeds of the first mover 221, the second mover 222 and the third mover 223 are the same. When the first mover 221 moves to position B, the second mover 222 is located at position D1, the third mover 223 is located at position E1, and each container is in the second form. At this time, the speed of the second mover 222 can be adjusted so that the second mover 222 moves to the right by a distance S1, from position D1 to position D2, so that the spacing between the first mover 221 and the second mover 222 reaches L5, thereby making the container between the first mover 221 and the second mover 222 present in the first form. Similarly, the speed of the third mover 223 can be adjusted so that the third mover 223 moves to the left by a distance S2, so that the spacing between the first mover 221 and the third mover 223 reaches L6, thereby making the container between the first mover 221 and the third mover 223 present in the first form.

[0171] In the embodiment of the present application, when controlling the change of the spacing between multiple transport modules so that multiple containers cooperatively clamped by multiple transport modules present the first form, the speed of the non-reference transport module can be adjusted before the reference transport module reaches the reference target position, and the spacing between the reference transport module and the non-reference transport module can be reduced, so that each container presents the first form, thereby adjusting the spacing during the movement of the multiple transport modules, saving the spacing adjustment time; or, when the reference transport module stays at the reference target position, the speed of the non-reference transport module can be adjusted to reduce the spacing between the reference transport module and the non-reference transport module, so that each container presents the first form. Since the reference transport module is stationary, the number of controlled objects is reduced, thereby improving the accuracy of the spacing adjustment. In addition, the solution provided in the embodiment of the present application can choose to adjust the speed of the non-reference transport module at different times, which has higher selectivity and diversity.

[0172] Optionally, before the reference transport module reaches the reference target position or when the reference transport module stays at the reference target position, by adjusting the speed of the non-reference transport module and increasing the distance between the reference transport module and the non-reference transport module, each container presents the first form, including at least one of the following:

[0173] Before the reference transport module reaches the reference target position, control the reference transport module and the non-reference transport module to decelerate at different deceleration rates, so that each container presents a first shape when the reference transport module reaches the reference target position;

[0174] When the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, so that each container presents a first shape.

[0175] The deceleration of the reference transport module and the non-reference transport module is determined by the moving distance of the reference transport module and the non-reference transport module, the spacing between the reference transport module and the non-reference transport module when each container is in the second form, and the spacing between the reference transport module and the non-reference transport module when each container is in the first form. Figure 2 As shown, the first mover 221 can be used as a reference transport module, the second mover 222 and the third mover 223 can be used as non-reference transport modules, and the reference target position is position B. The first mover 221, the second mover 222 and the third mover 223 are located at the position where the first operating device 27 is located, and when they cooperate to clamp the container, the distance between the first mover 221 and the second mover 222 is L3, the distance between the first mover 221 and the third mover 223 is L4, and each container is in the second form.

[0176] In the process of controlling the first mover 221, the second mover 222 and the third mover 223 to move from the corresponding position of the first operating device 27 to the corresponding position of the second operating device 28, the first mover 221, the second mover 222 and the third mover 223 first move at the same first speed V1, and start to decelerate before reaching the corresponding position of the second operating device 28, the first mover 221 is controlled to decelerate at the first deceleration a1, the second mover 222 is controlled to decelerate at the second deceleration a2, and the third mover 223 is controlled to decelerate at the third deceleration a3. When the first mover 221 moves to the B position, the distance between the first mover 221 and the second mover 222 reaches L5, the distance between the third mover 223 and the second mover 222 reaches L6, the container between the first mover 221 and the second mover 222 is in the first form, and the container between the first mover 221 and the third mover 223 is in the first form.

[0177] like Fig.15 As shown, Fig.15 for Figure 2Schematic diagram of the position change of each mover during the movement process. When the first mover 221 moves to position B, the speeds of the first mover 221, the second mover 22 and the third mover 223 all reach the second speed V2, the moving distance of the first mover 221 is S3, the moving distance of the second mover 222 is S4, and the moving distance of the third mover 223 is S5. The first deceleration a1, the second deceleration a2 and the third deceleration a3 can be determined according to the following formulas (1), (2), (3), (4) and (5).

[0178]

[0179] S4 = S3 + (L3 - L5) (4);

[0180] S5 = S4 - (L4 - L6) (5);

[0181] It can be seen from the above formula that the first deceleration a1 of the first mover 221 is related to the moving distance S3, the first speed V1 and the second speed V2 of the first mover 221. The second deceleration a2 of the second mover 222 is related to the moving distance S4, the first speed V1 and the second speed V2 of the second mover 222. The third deceleration a3 of the third mover 223 is related to the moving distance S5, the first speed V1 and the second speed V2 of the third mover 223.

[0182] In practical applications, the distance S3 between position A and position B can be determined in advance, and the first speed V1 and the second speed V2 can be determined. Then, the first deceleration a1 can be determined according to the distance S3, the first speed V1 and the second speed V2 by formula (1). For the second mover 222, the distance S4 can be determined according to the distance L5 between each container when it is in the first form, the distance L3 between each container when it is in the second form, and the distance S3 by formula (4). Then, the second deceleration a2 of the second mover 222 can be determined according to the distance S4, the first speed V1 and the second speed V2 by formula (2). For the third mover 223, the distance S5 can be determined according to the distance L6 between each container when it is in the first form, the distance L4 between each container when it is in the second form, and the distance S3 by formula (5). Then, the third deceleration a4 of the third mover 223 can be determined according to the distance S5, the first speed V1 and the second speed V2 by formula (3).

[0183] The second speed V2 may be 0 or a speed value greater than 0. When the second speed V2 is 0, when the first mover 221 moves to the B position, the first mover 221, the second mover 22 and the third mover 223 all stop moving. When the second speed V2 is a speed greater than 0, when the first mover 221 moves to the B position, the first mover 221, the second mover 22 and the third mover 223 move at a lower speed.

[0184] In another embodiment, before the reference transport module reaches the reference target position, the reference transport module and the non-reference transport module can be controlled to accelerate first, and then the reference transport module and the non-reference transport module can be controlled to decelerate, so that each container presents the first form when the reference transport module reaches the reference target position.

[0185] like Fig.16 As shown, Fig.16 for Figure 2 The schematic diagram of the position change of each mover during the movement is shown. Figure 2 and Fig.13 As shown, the first mover 221 is a reference transport module, the second mover 222 and the third mover 223 are non-reference transport modules, and the first mover 221, the second mover 222 and the third mover 223 start to accelerate from position A to position C at a first speed V1, and the acceleration of the first mover 221, the second mover 222 and the third mover 223 is the same during the acceleration process. Position C is between position A and position B, and when the first mover 221 moves to position C, the speeds of the first mover 221, the second mover 222 and the third mover 223 are all accelerated to reach the third speed V3.

[0186] like Fig.16 As shown, the distance between position A and position C is S6, and the acceleration a of the first mover 221, the second mover 222 and the third mover 223 during the accelerated movement process can be determined by the formula (6) shown below.

[0187]

[0188] When accelerating to the C position, the first mover 221, the second mover 222 and the third mover 223 start to decelerate from the C position. During the deceleration process, the decelerations of the first mover 221, the second mover 222 and the third mover 223 are different. The deceleration of the first mover 221 is the fourth deceleration a4, the deceleration of the second mover 222 is the fifth deceleration a5, and the deceleration of the third mover is the sixth deceleration a6. When the first mover 221 decelerates to the B position, the distance between the first mover 221 and the second mover 222 reaches L5, the distance between the third mover 223 and the second mover 222 reaches L6, the container between the first mover 221 and the second mover 222 is in the first form, and the container between the first mover 221 and the third mover 223 is in the first form.

[0189] like Fig.16As shown, when the first mover 221 moves to position B, the speeds of the first mover 221, the second mover 22 and the third mover 223 all reach the second speed V2, the deceleration moving distance of the first mover 221 is S7, the deceleration moving distance of the second mover 222 is S8, and the deceleration moving distance of the third mover 223 is S9. The fourth deceleration a4, the fifth deceleration a5 and the sixth deceleration a6 can be determined according to the following formulas (7), (8), (9), (10) and (11).

[0190]

[0191] S8 = S7 + (L3 - L5) (10);

[0192] S9 = S7 - (L4 - L6) (11);

[0193] It can be seen from the above formula that the fourth deceleration a4 is related to the deceleration moving distance S7, the second speed V2 and the third speed V3 of the first mover 221. The fifth deceleration a5 is related to the deceleration moving distance S8, the second speed V2 and the third speed V3 of the second mover 222. The sixth deceleration a6 is related to the deceleration moving distance S9, the second speed V2 and the third speed V3 of the third mover 223.

[0194] In practical applications, the second speed V2 and the third speed V3 can be predetermined, and the distance S7 between the C position and the B position can be determined. Then, the fourth deceleration a4 can be determined by formula (7) according to the distance S7, the second speed V2 and the third speed V3. For the second mover 222, the distance S8 can be determined by formula (10) according to the spacing L5 of each container when it is in the first form, the spacing L3 of each container when it is in the second form, and the distance S7. Then, the fifth deceleration a5 of the second mover 222 can be determined by formula (8) according to the distance S8, the second speed V2 and the third speed V3. For the third mover 223, the distance S9 can be determined by formula (5) according to the spacing L6 of each container when it is in the first form, the spacing L4 of each container when it is in the second form, and the distance S7. Then, the sixth deceleration a6 of the third mover 223 can be determined by formula (9) according to the distance S9, the second speed V2 and the third speed V3.

[0195] In another embodiment, before the reference transport module reaches the reference target position, the reference transport module and the non-reference transport module may be controlled to accelerate at different accelerations, and then the reference transport module and the non-reference transport module may be controlled to decelerate at different decelerations, so that each container presents the first form when the reference transport module reaches the reference target position. Fig.16As shown, in the process of moving from position A to position C, the first mover 221, the second mover 222 and the third mover 223 can be controlled to move at different accelerations. For example, the speed and moving distance of the first mover 221 when moving to position C can be predetermined, and the acceleration of the first mover 221 when moving from position A to position C can be determined by formula (6) based on the speed and moving distance. Similarly, the speed and moving distance of the second mover 222, and the speed and moving distance of the third mover 223 can be predetermined, and the acceleration of the first mover 222 during the movement and the acceleration of the third mover 223 during the movement can be determined.

[0196] In another embodiment, when the reference transport module stays at the reference target position, the reference transport module is in a stationary state, while the non-reference transport module can be in a moving or stationary state. If the non-reference transport module and the quasi-transport module are both in a stationary state, the non-reference transport module can be controlled to perform a movement of first accelerating and then decelerating, so that each of the containers presents a first form. If the non-reference transport module is in a moving state, different acceleration or deceleration movements can be performed according to the current spacing between each non-reference transport module and the reference transport module, such as deceleration movement, acceleration first and then deceleration movement, deceleration first and then reverse acceleration movement, etc., so that each of the containers presents a first form. The specific movement process of the non-reference transport module can be described with reference to the above-mentioned relevant parts, which will not be repeated here.

[0197] In the embodiment of the present application, before the reference transport module reaches the reference target position, the reference transport module and the non-reference transport module are controlled to decelerate at different deceleration rates. Compared with the reference transport module and the non-reference transport module performing different acceleration and deceleration movements, since both the reference transport module and the non-reference transport module decelerate, the movement type is relatively simple, which can effectively improve the accuracy of control. When the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, and the number of controlled objects is reduced, thereby improving the accuracy of spacing adjustment.

[0198] Optionally, controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present a second form includes:

[0199] After the operating device places the articles, each container is changed from the first form to the second form by adjusting the speed of the non-reference transport module and increasing the distance between the reference transport module and the non-reference transport module.

[0200] Optionally, the distance between the reference transport module and the non-reference transport module is increased by adjusting the speed of the non-reference transport module, including: controlling the first transport module, the second transport module and the third transport module to accelerate at different accelerations so that each container changes from a first form to a second form; or controlling the non-reference transport module to accelerate or decelerate so that each container changes from a first form to a second form.

[0201] In one embodiment, after placing items in each container, the first transport module, the second transport module and the third transport module may be controlled to accelerate at different accelerations, so that each container is transformed from a first form to a second form during the acceleration process.

[0202] Among them, the acceleration of the reference transport module and the non-reference transport module is determined by the moving distance of the reference transport module and the non-reference transport module, the distance between the reference transport module and the non-reference transport module when each container is in the second form, and the distance between the reference transport module and the non-reference transport module when each container is in the first form.

[0203] See also Fig.17 , Fig.17 for Figure 2 Schematic diagram of the position change of each mover during the movement process. Fig.17 The F position shown is located after the B position, combined with Fig.16 As shown, when the first mover 221, the second mover 22 and the third mover 223 run to the B position corresponding to the second operating device, for containers such as packaging bags, the distance between the first mover 221 and the second mover 222 is L5, and the distance between the first mover 221 and the third mover 223 reaches L6, each container is in the second form, and the second operating device places items into each container.

[0204] After placing items in each container, the first mover 221, the second mover 22, and the third mover 223 can be controlled to start moving from the second speed V2, the first mover 221 accelerates at the first acceleration a7, the second mover 222 accelerates at the second acceleration a8, and the third mover 223 accelerates at the third acceleration a9. When the first mover 221 accelerates to the F position, the speeds of the first mover 221, the second mover 22, and the third mover 223 all reach the fourth speed V4, and the distance between the first mover 221 and the second mover 222 reaches L3, and the distance between the first mover 221 and the third mover 223 reaches L4, and each container is in the first form.

[0205] like Fig.17As shown, when the first mover 221 moves to the F position, the speeds of the first mover 221, the second mover 22 and the third mover 223 are all the fourth speed V4, the moving distance of the first mover 221 is S10, the moving distance of the second mover 222 is S11, and the moving distance of the third mover 223 is S12. The first acceleration a7, the second acceleration a8 and the third acceleration a9 can be determined according to the following formulas (12), (13), (14), (15) and (16).

[0206]

[0207] S11 = S10 - (L3 - L5) (15);

[0208] S12 = S10 + (L4 - L6) (16);

[0209] It can be seen from the above formula that the first acceleration a7 is related to the moving distance S10, the second speed V2 and the fourth speed V4 of the first mover 221. The second acceleration a8 is related to the moving distance S11, the second speed V2 and the fourth speed V4 of the second mover 222. The third acceleration a9 is related to the moving distance S12, the second speed V2 and the fourth speed V4 of the third mover 223.

[0210] The F position can be determined in advance, and the distance S10 between the F position and the B position can be determined, and the second speed V2 and the fourth speed V4 can be determined, and then the first acceleration a4 can be determined by formula (12) according to the distance S10, the second speed V2 and the fourth speed V4. For the second mover 222, the distance S11 can be determined by formula (15) according to the spacing L5 of each container when it is in the first form, the spacing L3 of each container when it is in the second form, and the distance S10, and then the second acceleration a5 of the second mover 222 can be determined by formula (13) according to the distance S11, the second speed V2 and the fourth speed V4. For the third mover 223, the distance S12 can be determined by formula (16) according to the spacing L6 of each container when it is in the first form, the spacing L4 of each container when it is in the second form, and the distance S10, and then the third acceleration a9 of the third mover 223 can be determined by formula (14) according to the distance S12, the second speed V2 and the fourth speed V4.

[0211] In another embodiment, the reference handling module and the non-reference handling module can be in motion or static state. If the non-reference handling module and the quasi-handling module are both in static state, the non-reference handling module can be controlled to perform a movement of first accelerating and then decelerating, so that each container changes from the first form to the second form. If the non-reference handling module and the quasi-handling module are both in motion, different acceleration or deceleration movements can be performed according to the positional relationship between each non-reference handling module and the reference handling module. For example, along the moving direction, if there is a non-reference handling module located before the reference handling module, the non-reference handling module is controlled to perform a movement of first accelerating and then decelerating, and if there is a non-reference handling module located after the reference handling module, the non-reference handling module is controlled to perform a movement of first decelerating and then accelerating, so that each container changes from the first form to the second form. The specific movement process of the non-reference handling module can be described with reference to the above-mentioned relevant parts, which will not be repeated here.

[0212] In the embodiment of the present application, after placing items in each container, by controlling each transport module to perform different acceleration movements, the container can be switched from the first form to the second form during the movement of the transport module, thereby improving the transportation efficiency.

[0213] Optionally, the speed of the non-reference transport module is adjusted to increase the distance between the reference transport module and the non-reference transport module, including: controlling the reference module to maintain a constant speed, and controlling the non-reference transport module to accelerate or decelerate, so that the distance between the reference transport module and the non-reference transport module reaches a distance that allows the container to change from a first form to a second form.

[0214] For example, Fig.18 for Figure 2 Schematic diagram of the position change of each mover during the movement process. Fig.18 The G position shown is located after the B position, combined with Fig.16 As shown, when the first mover 221, the second mover 22 and the third mover 223 run to the B position corresponding to the second operating device, the distance between the first mover 221 and the second mover 222 is L5, and the distance between the first mover 221 and the third mover 223 reaches L6, each container is in the second form, and the second operating device places items into each container.

[0215] The first mover 221 is a reference transport module, and the second mover 222 and the third mover 223 are non-reference transport modules. After placing items in each container, the first mover 221 can be controlled to move at a uniform speed of V2 starting from the second speed, and the second mover 222 can be controlled to move at a uniform speed of V2 starting from the second speed, and at a seventh deceleration a 10The movement starts to decelerate, and when the distance between the first mover 221 and the second mover 222 reaches L3 after the deceleration, the second mover 222 is controlled to move at a uniform speed at the second speed V2.

[0216] like Fig.18 As shown, when the first mover 221 moves to the G position, the speed of the first mover 221 is the second speed V2, the distance between the second mover 222 and the first mover 221 reaches L3, the moving distance of the first mover 221 is S13, and the moving distance of the second mover 222 is S14. 10 It can be determined by formulas (17) and (18) as shown below.

[0217] S13-S14=L3-L5 (17);

[0218]

[0219] Among them, V x1 is the speed of the second mover 222 when the first mover 221 is in position G. S13 and V can be set according to requirements. x1 Then, according to S13, L3 and L5, S14 is determined by formula (17), and then according to S14 and V x1 , the seventh deceleration a10 is determined by formula (18).

[0220] Similarly, after placing the items in each container, the first mover 221 can be controlled to move at a uniform speed of V2 starting from the second speed, and the third mover 223 can be controlled to move at a uniform speed of V2 starting from the second speed, and at an eighth acceleration a 11 The movement starts to accelerate, and when the distance between the first mover 221 and the third mover 223 reaches L4, the third mover 223 is controlled to move at a uniform speed of the second speed V2.

[0221] When the first mover 221 moves to a certain position after position B, the speed of the first mover 221 is the second speed V2, and the distance between the third mover 223 and the first mover 221 reaches L4. At this time, if the moving distance of the first mover 221 is S13, the moving distance of the second mover 222 is S15. The eighth acceleration a 11 It can be determined by formulas (19) and (20) as shown below.

[0222] S15-S13=L4-L6 (19);

[0223]

[0224] Among them, V x2 is the speed of the third mover 223 when the first mover 221 is in this position. In practical applications, S13 and V can be set according to requirements.x2 , then determine S15 according to S13, L4 and L6 by formula (19), and then determine S15 according to S15 and V x2 , determine the eighth acceleration a by formula (20) 11 .

[0225] In the embodiment of the present application, after placing items in each container, the non-reference transport module is controlled to accelerate or decelerate, and the number of controlled objects is small, thereby improving the accuracy of spacing adjustment. In addition, the solution provided in the embodiment of the present application can adjust the spacing between multiple transport modules in different ways, which has higher selectivity and diversity.

[0226] Optionally, in a state where the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers, controlling the first transport module, the second transport module and the third transport module to move toward the operating device may include:

[0227] Before the intervals between the first transport module, the second transport module and the third transport module change, the movement of the reference transport module and the movement of the non-reference transport module are controlled according to the movement parameters of the reference transport module, so that each container presents a first shape.

[0228] In one embodiment, after clamping multiple containers, the reference transport module can be used as a reference, and the motion of the non-reference transport module can be controlled according to the motion parameters of the reference transport module, so that the reference transport module and the non-reference transport module move synchronously. Figure 2 and Fig.13 As shown, when the first mover 221, the second mover 222 and the third mover 223 correspond to the first operating device 27 and clamp the container, each container is in the second form. When the first mover 221, the second mover 222 and the third mover 223 are controlled to move toward the second operating device 28, the distance between the first mover 221 and the second mover 222 can be kept unchanged, and the distance between the first mover 221 and the third mover 223 can be kept unchanged, and the first mover 221 is controlled to move from position A to position B at a speed V, and the second mover 222 and the third mover 223 are also controlled to move at a speed V, so that the second mover 222 and the third mover 223 move to position B together with the first mover 221, and the speed V is the motion parameter of the reference transport module. At this time, the first mover 221 is the active mover, and the second mover 222 and the third mover 223 are the slave movers, and the slave movers follow the active mover.

[0229] After the first mover 221 moves to position B, if it is necessary to adjust the spacing between the first mover 221 and the second mover 222 so that the container clamped by the first mover 221 and the second mover 222 reaches the first form, the second mover 222 can be controlled to move a certain distance in the direction close to the first mover 221 so that the container clamped by the first mover 221 and the second mover 222 reaches the first form. Similarly, if it is necessary to adjust the spacing between the first mover 221 and the third mover 223 so that the container clamped by the first mover 221 and the third mover 223 reaches the first form, the third mover 223 can be controlled to move a certain distance in the direction close to the first mover 221 so that the container clamped by the first mover 221 and the third mover 223 reaches the first form.

[0230] For another example, when controlling the first mover 221, the second mover 222 and the third mover 223 to move toward the second operating device 28, the distance between the first mover 221 and the second mover 222 can be kept unchanged, and the distance between the first mover 221 and the third mover 223 can be kept unchanged, and the first mover 221 is controlled to move from position A to position C at a speed V, and at the same time, the second mover 222 and the third mover 223 are also controlled to move at a speed V, so that the second mover 222 and the third mover 223 move to position C together with the first mover 221.

[0231] After moving to position C, the first mover 221 is controlled to keep the speed V unchanged and continue to move to position B. At the same time, the speed V is increased by the first amplitude ΔV1 to obtain the speed of the second mover 222, and the second mover 221 is controlled to move at this speed. And, the speed V is reduced by the second amplitude ΔV2 to obtain the speed of the third mover 223, and the third mover 223 is controlled to move with the first mover 221 at this speed. In this way, when the first mover 221 moves to position B, the distance between the first mover 221 and the second mover 222 reaches L5, and the distance between the first mover 221 and the third mover 223 reaches L6, and each container is in the first form.

[0232] The first amplitude ΔV1 and the second amplitude ΔV2 may be determined by formula (21) and formula (22) as shown below.

[0233]

[0234] Among them, S7 is the distance between position C and position B, and S7 / V represents the time taken by the first mover 221 to move from position C to position B. (L3-L5) represents the distance moved more by the second mover 222 than by the first mover 221, and (L4-L6) represents the distance moved less by the third mover 223 than by the first mover 221.

[0235] In this embodiment, before the spacing between the first transport module, the second transport module and the third transport module changes, the movement of the reference transport module and the non-reference transport module is controlled by the movement parameters of the reference transport module, which can simplify the control process of each transport module and ensure that the spacing between the first transport module, the second transport module and the third transport module remains unchanged, so that each container maintains the first shape.

[0236] Optionally, when the conveying equipment includes multiple transport groups, the method may further include: controlling the spacing between transport modules of the same order in the multiple transport groups to comply with a first safety distance; and / or controlling the spacing between transport modules at the edge of the multiple transport groups to comply with a second safety distance.

[0237] In one embodiment, the conveying device may include multiple transport groups, each of which includes a first transport module, a second transport module, and a third transport module. In the process of controlling the operation of the transport modules in each transport group, the spacing between the transport modules of the same order in the multiple transport groups can be controlled to meet the first safety distance.

[0238] See also Fig.19 , Fig.19 for Fig.11 The schematic diagram of the distance between each mover in the conveying system during the movement is shown. Fig.11 As shown, the first transport group 43 includes a first mover 431, a second mover 432, and a third mover 433, and the second transport group 44 includes a first mover 441, a second mover 442, and a third mover 443. The first mover 431 and the first mover 441 are transport modules in the same order, the second mover 432 and the second mover 442 are transport modules in the same order, and the third mover 433 and the third mover 443 are transport modules in the same order.

[0239] In the process of controlling each mover in the first transport group 43 and the second transport group 44, the distance between the first mover 431 and the first mover 441 can be controlled to be greater than or equal to the first safety distance B1, the distance between the second mover 432 and the second mover 442 can be controlled to be greater than or equal to the first safety distance B1, and the distance between the third mover 433 and the third mover 443 can be controlled to be greater than or equal to the first safety distance B1. The first safety distance B1 can be specifically set according to needs, and this example does not limit this.

[0240] In one embodiment, when there are multiple transport groups in the conveying device, in the process of controlling the operation of the transport modules in each transport group, the distance between the transport modules at the edge of the multiple transport groups can be controlled to meet the second safety distance. Fig.19As shown, the transport modules at the edge are the second mover 432, the third mover 433, the second mover 442 and the third mover 443. In the process of controlling each mover in the first transport group 43 and the second transport group 44, for two adjacent transport groups, the distance between the third mover 433 and the second mover 442 can be controlled to be greater than or equal to the second safety distance B2. The second safety distance B2 can be specifically set according to needs, and this example does not limit this.

[0241] It should be noted that the above is only an illustrative example, and the number of transport groups included in the conveying device may include but is not limited to 2. Multiple transport modules of each transport group can realize the above-mentioned spacing change process, and the details can be referred to the above-mentioned relevant part description, which will not be repeated here.

[0242] In an embodiment of the present application, when the conveying equipment includes multiple conveying groups, by controlling the spacing between conveying modules of the same order in the multiple conveying groups to meet the first safety distance, and / or by controlling the spacing between conveying modules at the edge of the multiple conveying groups to meet the second safety distance, the probability of collision between conveying modules of different conveying groups can be reduced, especially avoiding collision with conveying modules of other conveying groups when the spacing between multiple conveying modules of each conveying group changes, thereby improving the stability of the conveying equipment.

[0243] In the embodiment of the present application, the conveying control device is specifically used to determine the reference conveying module and the non-reference conveying module in the first conveying module, the second conveying module and the third conveying module; before multiple containers are respectively moved to the corresponding positions to be clamped, the non-reference conveying module is controlled to move relative to the reference conveying module so that the distance between the first conveying module, the second conveying module and the third conveying module can accommodate multiple containers; after the multiple containers are respectively located at the corresponding positions to be clamped, the non-reference conveying module is controlled to move in a direction close to the reference conveying module so that the first conveying module, the second conveying module and the third conveying module can cooperate to clamp multiple containers.

[0244] Optionally, the container has a first form and a second form, and the conveying control device is further used to control the change in the spacing between the first conveying module, the second conveying module and the third conveying module before the operating device places the article, so that the multiple containers jointly clamped by the first conveying module, the second conveying module and the third conveying module present the first form; after the operating device places the article, control the change in the spacing between the first conveying module, the second conveying module and the third conveying module so that the multiple containers jointly clamped by the first conveying module, the second conveying module and the third conveying module present the second form.

[0245] Optionally, the conveying control device is specifically used to determine a reference conveying module serving as a reference and a non-reference conveying module not serving as a reference in the first conveying module, the second conveying module and the third conveying module; before the reference conveying module reaches the reference target position or when the reference conveying module stays at the reference target position, the speed of the non-reference conveying module is adjusted to reduce the distance between the reference conveying module and the non-reference conveying module, so that each container presents the first form.

[0246] Optionally, the conveying control device is specifically used to control the reference transport module and the non-reference transport module to decelerate at different deceleration rates before the reference transport module reaches the reference target position, so that each container presents the first form when the reference transport module reaches the reference target position; when the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, so that each container presents the first form.

[0247] Optionally, the conveying control device is specifically used to increase the distance between the reference transport module and the non-reference transport module by adjusting the speed of the non-reference transport module after the operating device places the items, so that each container changes from the first form to the second form.

[0248] Optionally, the conveying control device is specifically used to control the first conveying module, the second conveying module and the third conveying module to accelerate at different accelerations so that each container changes from a first form to a second form; or, to control the non-reference conveying module to accelerate or decelerate so that each container changes from a first form to a second form.

[0249] Optionally, the conveying control device is specifically used to control the movement of the reference conveying module and the movement of the non-reference conveying module according to the movement parameters of the reference conveying module before the distance between the first conveying module, the second conveying module and the third conveying module changes, so that each container presents the first form.

[0250] Optionally, the conveying equipment includes multiple conveying groups, each conveying group includes a first conveying module, a second conveying module and a third conveying module, and the conveying control device is also used to control the spacing between the conveying modules of the same order in the multiple conveying groups to comply with the first safety distance; and / or, control the spacing between the conveying modules at the edge of the multiple conveying groups to comply with the second safety distance.

[0251] It should be understood that the conveying control device provided in this embodiment is used to execute the above-mentioned conveying control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0252] In addition, the embodiments of the present application also protect a conveying system, including the conveying device provided by any of the above embodiments, and an operating device. The number of operating devices can be one or more, and the operating device can include the first operating device in the above example, and the first operating device can place containers between each transport module. The operating device can also include the second operating device in the above example, which is used to place items in multiple containers that are clamped by the first transport module, the second transport module, and the third transport module.

[0253] The conveying device may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code, so that the conveying device executes the above-mentioned related method steps to implement a conveying control method provided in the above-mentioned embodiment.

[0254] This embodiment also provides a readable storage medium, in which executable program code is stored. When the executable program code runs on the conveying control device, the conveying device executes the above-mentioned related method steps to implement a conveying control method provided by the above embodiment.

[0255] This embodiment also provides a computer program product. When the computer program product is run on a conveying device, the conveying device executes the above-mentioned related method steps to implement a conveying control method provided by the above-mentioned embodiment.

[0256] Among them, the device, readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0257] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0258] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0259] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A conveying control method, characterized in that: Applied to a conveying device, the conveying device includes a plurality of conveying modules, the plurality of conveying modules include a first conveying module, a second conveying module and a third conveying module, the first conveying module is located between the second conveying module and the third conveying module, the method includes: Controlling the distance between the first transport module, the second transport module and the third transport module to change so that the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers; In a state where the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers, the first transport module, the second transport module and the third transport module are controlled to move toward an operating device so that the operating device places items in each of the containers.

2. The method according to claim 1, characterized in that The controlling the distance between the first transport module, the second transport module and the third transport module to change so that the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers comprises: Determine a reference transport module and a non-reference transport module in the first transport module, the second transport module and the third transport module; Before the multiple containers are respectively moved to the corresponding positions to be clamped, the non-reference transport module is controlled to move relative to the reference transport module so that the spacing between the first transport module, the second transport module and the third transport module can accommodate the multiple containers; After the multiple containers are respectively located at corresponding positions to be clamped, the non-reference transport module is controlled to move in a direction close to the reference transport module, so that the first transport module, the second transport module and the third transport module cooperate to clamp the multiple containers.

3. The method according to claim 1, characterized in that The container has a first shape and a second shape, and the method further comprises at least one of the following: Before the operating device places an object, controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the first shape; After the operating device places the article, the distance between the first transport module, the second transport module and the third transport module is controlled to change so that the multiple containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the second form.

4. The method according to claim 3, characterized in that The controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the first form comprises: Determine, in the first transport module, the second transport module, and the third transport module, a reference transport module serving as a reference and a non-reference transport module not serving as a reference; Before the reference transport module reaches the reference target position or when the reference transport module stays at the reference target position, the speed of the non-reference transport module is adjusted to reduce the distance between the reference transport module and the non-reference transport module so that each of the containers presents the first form.

5. The method according to claim 4, characterized in that Before the reference transport module reaches the reference target position or when the reference transport module stays at the reference target position, the speed of the non-reference transport module is adjusted to reduce the distance between the reference transport module and the non-reference transport module so that each of the containers presents the first form, including at least one of the following: Before the reference transport module reaches the reference target position, controlling the reference transport module and the non-reference transport module to decelerate at different deceleration rates, so that each container presents the first shape when the reference transport module reaches the reference target position; When the reference transport module stays at the reference target position, the non-reference transport module is controlled to accelerate or decelerate so that each of the containers presents the first shape.

6. The method according to claim 4, characterized in that The controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the second form comprises: After the operating device places the article, the speed of the non-reference transport module is adjusted to increase the distance between the reference transport module and the non-reference transport module, so that each container changes from the first form to the second form.

7. The method according to claim 4, characterized in that The controlling the distance between the first transport module, the second transport module and the third transport module to change so that the plurality of containers cooperatively clamped by the first transport module, the second transport module and the third transport module present the second form comprises: Controlling the first transport module, the second transport module, and the third transport module to accelerate at different accelerations so that each of the containers changes from the first form to the second form; Alternatively, the non-reference transfer module is controlled to accelerate or decelerate so that each of the containers changes from the first state to the second state.

8. The method according to claim 4, characterized in that The method of controlling the first transport module, the second transport module and the third transport module to move toward the operating device when the first transport module, the second transport module and the third transport module cooperate to clamp a plurality of containers comprises: Before the distances between the first transport module, the second transport module and the third transport module change, the movement of the reference transport module and the movement of the non-reference transport module are controlled according to the movement parameters of the reference transport module, so that each of the containers presents the first form.

9. The method according to any one of claims 1 to 8, characterized in that The conveying equipment includes a plurality of conveying groups, each of the conveying groups includes the first conveying module, the second conveying module and the third conveying module, and the method further includes: The spacing between the transport modules of the same order in the plurality of transport groups is controlled to conform to the first safety distance; and / or the spacing between the transport modules at the edge of the plurality of transport groups is controlled to conform to the second safety distance.

10. A conveying device, characterized in that: It comprises a plurality of transport modules and a conveying control device, wherein the plurality of transport modules comprises a first transport module, a second transport module and a third transport module, and the first transport module is located between the second transport module and the third transport module; The first transport module is provided with a first holding component, the second transport module is provided with a second holding component, and the third transport module is provided with a third holding component, wherein one of the first holding components is used to cooperate with another of the first holding components, one of the second holding components or one of the third holding components to clamp a container; The conveying control device is used to control the distance between the first conveying module, the second conveying module and the third conveying module, so that the first conveying module, the second conveying module and the third conveying module cooperate to clamp the plurality of containers.

11. The conveying device according to claim 10, characterized in that The first object holding component includes a first object holding sub-component and a second object holding sub-component, wherein one of the first object holding sub-components is used to cooperate with one of the second object holding sub-components or one of the second object holding components to clamp one of the containers, and the second object holding sub-component is used to cooperate with one of the first object holding sub-components or one of the third object holding components to clamp one of the containers; Alternatively, the first holding component includes a first holding end and a second holding end, one of the first holding ends is used to cooperate with one of the second holding ends or one of the second holding components to clamp one of the containers, and one of the second holding ends is used to cooperate with one of the first holding ends or the third holding component to clamp one of the containers.

12. The conveying device according to claim 11, characterized in that The first object holding component also includes a first adjustable connecting member, and the first adjustable connecting member is used to adjust the distance between the first object holding sub-component and the second object holding sub-component, or the first adjustable connecting member is used to adjust the distance between the first object holding end and the second object holding end.

13. The conveying device according to claim 12, characterized in that The second object holding component is connected to the second transport module via a second adjustable connecting member, and the second adjustable connecting member is used to adjust the distance between the second object holding component and the first object holding component; and / or, the third object holding component is connected to the third transport module via a third adjustable connecting member, and the third adjustable connecting member is used to adjust the distance between the third object holding component and the first object holding component.

14. The conveying device according to claim 12, characterized in that The second object holding component and the adjacent first object holding component have the same structure, and the third object holding component and the adjacent second object holding component have the same structure.

15. The conveying device according to claim 10, characterized in that The second transport module is provided with a first additional holding component at one end away from the first transport module, and the first additional holding component is used to clamp additional materials; and / or the third transport module is provided with a second additional holding component at one end away from the first transport module, and the second additional holding component is used to clamp additional materials.

16. The conveying device according to claim 10, characterized in that The multiple transport modules include multiple first transport modules, and at least two of the multiple first transport modules cooperate to clamp one container.

17. The conveying device according to claim 10, characterized in that The conveying equipment includes a plurality of conveying groups, each of which includes the first conveying module, the second conveying module, and the third conveying module.

18. The conveying device according to any one of claims 10 to 17, characterized in that: The conveying device is a linear motor device, and the first transport module, the second transport module and the third transport module are movers in the linear motor device.

19. A readable storage medium, characterized in that: The readable storage medium stores executable program codes, and when the executable program codes are executed on the conveying control device, the conveying control device executes the method according to any one of claims 1 to 9.

20. A conveying system, characterized in that: The conveying system comprises a first operating device, a second operating device and a conveying device, wherein the first operating device is used to place containers, the second operating device is used to place articles in each of the containers, and the conveying device comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the conveying device executes the method according to any one of claims 1 to 9.

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