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

Abstract

The present application provides a conveying control method, conveying equipment, a readable storage medium, and a conveying system for use in the field of industrial automation technology. The method includes: during the control process of the conveying equipment, controlling the spacing between the first conveying module, the second conveying module, and the third conveying module to change so that the first conveying module, the second conveying module, and the third conveying module can collaboratively clamp multiple containers; and then, while the first conveying module, the second conveying module, and the third conveying module are collaboratively clamping the multiple containers, controlling the first conveying module, the second conveying module, and the third conveying module to move toward an operating device so that the operating device places items in each of the containers. By having multiple conveying modules collaboratively clamp multiple containers, the utilization rate of the conveying modules can be improved, thereby reducing the total number of conveying modules and lowering the hardware cost of the conveying modules.

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, a readable storage medium, and a 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 track components and handling modules. The handling modules are installed on the track components and can carry materials along the track components to transport the materials to different locations.

[0003] In some conveying scenarios, two transport modules may be used to transport a single material. However, as conveying demands increase, the number of materials to be transported per unit time increases, and the number of required transport modules increases exponentially, significantly increasing the total cost of the conveying equipment. Summary of the Invention

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

[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, the plurality of conveying modules including 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, the method comprising:

[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] When the first transport module, the second transport module and the third transport module cooperate to clamp multiple containers, the first transport module, the second transport module and the third transport module are controlled to move toward the operating device so that the operating device places items in each of the containers.

[0008] In an embodiment of the present application, during the control process of the conveying equipment, 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 having multiple conveying modules cooperate to clamp multiple 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 modules. Moreover, when the number of conveying modules is reduced, the length of the track portion of the track assembly used to hold the conveying modules can be shortened or avoided, thereby reducing the hardware cost of the track assembly. Therefore, the solution provided by 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.

[0009] Optionally, the control 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 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 the corresponding positions to be clamped, the non-reference conveying module is controlled to move relative to the reference conveying module; 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 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 the 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 item, 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 item, 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 with the operating device to quickly complete the placement operation of the containers, thereby improving 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 control of the change in the distance 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 distance 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 an embodiment of the present application, when controlling the change in the spacing between multiple transport modules so that multiple containers cooperatively clamped by the multiple transport modules present a first form, the speed of the non-reference transport module can be adjusted before the reference transport module reaches the reference target position to reduce the spacing between the reference transport module and the non-reference transport module so that each container presents the first form, thereby adjusting the spacing during the movement of the multiple transport modules and saving 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 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, 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 assumes the first form, including 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 to the situation where both the reference transport module and the non-reference transport module perform 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 remains at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, reducing the number of controlled objects and thus improving the accuracy of spacing adjustment.

[0018] Optionally, the control of the change in the distance 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, by adjusting the speed of the non-reference conveying module, increasing the distance between the reference conveying module and 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 changes between the first transport module, the second transport module and the third transport module can be effectively adjusted, thereby improving the accuracy of the spacing changes.

[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 embodiments 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 a first configuration to a second configuration during the movement of the transport module, thereby improving conveying efficiency. Alternatively, after placing items in each container, by controlling the non-reference transport module to accelerate or decelerate, the number of controlled objects is reduced, thereby improving the accuracy of spacing adjustment. In addition, the solutions provided by the embodiments of the present application can adjust the spacing between multiple transport modules in different ways, providing greater selectivity and diversity.

[0022] Optionally, when 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, 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 the first safety distance; and / or controlling the spacing between the conveying modules at the edge of the multiple conveying groups to comply with the 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 comply with a first safety distance, and / or by controlling the spacing between conveying modules at the edge of the multiple conveying groups to comply with a 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 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;

[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 the readable storage medium stores an executable program code. When the executable program code is run 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, which includes a first operating device, a second operating device and a conveying device, wherein the first operating device is used to place containers, and the second operating device is used to place items in each of the containers, and the conveying device includes: a memory for storing executable program code; 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 This is a schematic diagram of the partial structure of a conveying system provided in an embodiment of the present application;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0050] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this 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 this application, "multiple" means two or more than two.

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

[0052] Currently, conveying equipment in the field of industrial automation mainly consists of track assemblies and handling modules. The handling modules are installed on the track assemblies and can carry materials along the track assemblies to transport the materials to the target location. However, as the demand for transportation increases, the number of materials that need to be transported per unit time increases, and the number of handling modules required increases exponentially. When there are too many handling modules, the track assembly needs to be equipped with additional stop track sections to accommodate the handling modules waiting to be loaded. The more handling modules there are and the longer the track assembly needs to be deployed, the more the total cost of the conveying equipment increases. In addition, the energy consumption of the conveying equipment during operation increases.

[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). Due to the limitations of the operating cycle of each loading link, 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 transport module can be driven by magnetic energy, electrical energy, mechanical energy, or other means to move along the track assembly. It is understood that depending on the different driving methods of the transport module, the conveying equipment may have different names, such as linear motor equipment, electric transport equipment, mechanical transmission equipment, etc., and accordingly, the components of the conveying equipment (such as the transport module, track assembly, etc.) may also have different names.

[0055] Taking linear motor equipment as an example, linear motor equipment includes a stator line (i.e., a track component) and multiple movers (i.e., transport modules). 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 includes a coil. When the coil is energized, it is excited to generate 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 movement, which can realize material transportation.

[0056] As described in the background technology, in some conveying scenarios, two movers may be used to convey a material. Figure 1 , Figure 1 This is a structural diagram of a linear motor device in the related art. Figure 1As shown, the linear motor device includes a stator 11 and a plurality of movers 12, as well as a conveying control device 13 for controlling the linear motor device. One pair of movers in 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 opposite position between the first mover 121 and the second mover 122. 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 requires two movers. As the amount of material transported per unit time increases, the number of movers required increases exponentially. When there are too many movers, the stator line requires additional sections to accommodate movers waiting for material to be loaded. The greater the number of movers and the longer the stator line, the higher the overall hardware cost of the linear motor equipment. Furthermore, the linear motor equipment consumes more energy 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 merely schematic illustrations of linear motor devices. 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 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 can cooperate to clamp multiple containers.

[0061] Optionally, the second and third holding components may have 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 and third holding components. For example, the first holding component may include a first holding sub-component and a second holding sub-component, the first holding sub-component being used to cooperate with the second holding component to clamp a container, and the second holding sub-component being used to cooperate with the third holding component to clamp a container; for another example, the first holding component may include a first holding end portion and a second holding end portion, the first holding end portion being used to cooperate with the second holding component to clamp a container, and the second holding end portion being 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 This is a partial structural diagram of a 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 21 and a plurality of movers 22, as well as 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, and the third mover 223 can be understood as a third transport module. The first mover 221 is located between the second mover 222 and the third mover 223.

[0065] The second mover 222 includes a second 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 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 can include a first holding sub-component 241 and a second holding sub-component 242. The first holding sub-component 241 is disposed at an end of the first mover 221 adjacent to the second mover 222. The first holding sub-component 241 and the second holding component 25 can be used to collaboratively clamp a container. The second holding sub-component 242 is disposed at an end of the first mover 221 adjacent to the third mover 223. The second holding sub-component 242 and the third holding component 26 can be used to collaboratively 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 holding sub-component 241 and the second 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 holding sub-component 242 and the third 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 into the 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 into the 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 This 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 21 and a plurality of movers 22, wherein the same or similar parts can be referred to. Figure 2 The description of , will not be 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 (not shown). The first holding end 243 is opposite to the second holding member 25, and the first holding end 243 and the second holding member 25 can be used to cooperate to clamp a container. The second holding end 244 is opposite to the third holding member 26, and the second holding sub-member 242 and the third holding member 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 holding component may include a first holding sub-component and a second holding sub-component, wherein a first holding sub-component is used to cooperate with a second holding sub-component or a second holding component to clamp a container, and the second holding sub-component is used to cooperate with a first holding sub-component or a third 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 by 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 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 is not 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. 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 the other first mover 221 to clamp a container.

[0075] Wherein, when the number of the first movers 221 is multiple, the structures of the first operating device and the second operating device can also be adaptively adjusted. 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 the other 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 by 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 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 first mover 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 is not 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 near 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 near 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 the other 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. Operating mechanism 271 is used to place a container between one first mover 221 and the second mover 222. Operating mechanisms 272 and 273 are respectively used to place a container between two adjacent first movers 221. Operating mechanism 274 is used to place a container between one 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.

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

[0080] like Figure 6 As shown, Figure 6 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 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 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 refer to the description of the above-mentioned relevant drawings and will not be repeated here.

[0081] like Figure 6 As shown, the first holding member 24 installed on each first mover 221 includes a first holding end 243, a second holding end 244 and a support portion ( Figure 6 (not shown in the figure), among the three first movers 221, the first holding end 243 of a first mover 221 near the second mover 222 cooperates with the second holding member 25 to clamp a container, and the second holding end 244 of a first mover 221 near the third mover 223 cooperates with the third holding member 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 by 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 the other first mover 221. Among them, other identical or similar parts can be referred to. Figure 4 The description is not repeated here.

[0083] like Figure 7 As shown, the first holding member 24 mounted 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 near the second mover 222 cooperates with the second holding member 25 to clamp a container, and the second holding end 244 of the first mover 221 near the third mover 223 cooperates with the third holding member 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 For illustrative purposes only, the number of first transport modules may be 1, 2, 3, or other numbers, and this embodiment does not impose any limitation thereto.

[0085] In an embodiment of the present application, a conveying device includes multiple transport modules and a transport control device. The multiple transport modules include a first transport module, a second transport module, and a third transport module, with the first transport module being located between the second and third transport modules. 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 a first holding component is configured to cooperate with another first holding component, a second holding component, or a third holding component to clamp a container. The transport control device is configured to control the spacing between the first, second, and third transport modules so that the first, second, and third transport modules cooperate to clamp multiple containers. By having multiple transport modules cooperatively clamp multiple containers, the utilization rate of the transport modules can be improved, thereby reducing the total number of transport modules and lowering the hardware cost of the conveying device. Moreover, when the number of transport modules is reduced, the length of the track portion of the track assembly used to hold the transport modules can be shortened or eliminated, thereby reducing the hardware cost of the track assembly. Therefore, the solution provided by the embodiment of the present application can reduce the total cost of the conveying device. In addition, reducing the number of transport modules can also reduce the power consumption of the conveying device 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 multiple movers 22 include two first movers 221, the two first movers 221 can cooperate to clamp a container. When the multiple 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 multiple movers 22 include three or more first movers 221, some adjacent two first movers 221 can cooperate to clamp a container, while 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 holding component further includes a first adjustable connecting member, which is used to adjust the distance between the first holding sub-component and the second holding sub-component, or the first adjustable connecting member is used to adjust the distance between the first holding end and the second 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 : This is a schematic structural diagram 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 holding sub-component 241 and a second holding sub-component 242, as well as a first guide rail 31. The first holding sub-component 241 and the second holding sub-component 242 are mounted 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, to adjust the distance between the first holding sub-component 241 and the second 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 holding sub-component 241 to the first guide rail 31, and the second fixing member 33 can fix the second holding sub-component 242 to the first guide rail 31.

[0091] In actual application, when the size of the container held by the first holding member changes, the distance between the first holding member 241 and the second holding member 242 can be adjusted, the distance between the first holding member 241 and the second holding member 25 can be adjusted, and the distance between the second holding member 242 and the third holding member 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 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 holding component includes a first holding end and a second holding end, the spacing between the first holding end and the second 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 holding end and the second holding end are mounted on the guide rail. The first holding end and the second holding end can slide or be fixed along the guide rail to adjust the spacing between the first holding end and the second holding end.

[0093] like Figure 9 As shown, Figure 9 This is a schematic structural diagram of another mover provided in an embodiment of the present application, wherein the mover is a first mover 221, and the first holding component 24 on the first mover 221 includes a first holding end 243 and a second 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 holding end 243 and the second 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 to adjust the distance between the first holding end 243 and the second holding end 244. The first adjustable connecting member also includes a third fixing member 35 and a fourth fixing member 36, and the third fixing member 35 can fix the first holding end 243 on the second guide rail 34, and the fourth fixing member 36 can fix the second holding end 244 on the second guide rail 34.

[0094] In actual application, when the size of the container clamped by the first holding member changes, the spacing between the first holding end 243 and the second holding end 244, the spacing between the first holding end 243 and the second holding member, and the spacing between the second holding end 244 and the third holding member can be adjusted to accommodate containers of different sizes. For example, when it is necessary to adjust the spacing between the first holding end 243 and the second holding end 244, the third fixing member 35 can be released from fixing the first holding end 243 and / or the fourth fixing member 36 can be released from fixing the second holding end 244, and the first holding end 243 and / or the second holding end 244 can be controlled to slide along the second guide rail 34 to adjust the spacing between the first holding end 243 and the second holding end 244. When the distance between the first holding end 243 and the second holding end 244 meets the requirement, the first holding end 243 can be fixed to the second guide rail 34 by the third fixing member 35 , and the second 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 Figure 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 member. 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 member, the first holding component can be adapted to containers of different sizes, thereby improving the adaptability of the conveying equipment.

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

[0098] In one embodiment, a second adjustable connector can be provided on the second transport module, and the second holding component can be mounted on the second transport module via the second adjustable connector, so that the position of the second holding component on the second transport module is adjustable. By adjusting the position of the second holding end on the second transport module, the spacing between the second holding component and the first holding component can be adjusted. For example, the second adjustable connector can include a guide rail, which is mounted on the second transport module, and the second holding component is connected to the second transport module via the guide rail. The second holding component can slide along the guide rail or be fixed to the guide rail.

[0099] like Figure 10 As shown, Figure 10 : This is a schematic structural diagram of another mover provided in an embodiment of the present application. This mover is a second mover 222. A third guide rail 37 is provided on the second mover 222. The second holding member 25 is mounted on the third guide rail 37 and can slide along the third guide rail 37 in a direction F, or along the third guide rail 37 in a direction opposite to the direction F, to adjust the position of the second holding member 25 on the second mover 222. The second adjustable connecting member may further include a fifth fixing member 38, such as a bolt, which can secure the second holding member 25 to 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. Figure 10 As shown, when the position of the second holding member 25 on the second mover 222 needs to be adjusted, the fifth fixing member 38 can be released from the second holding member 25, and the second holding member 25 can be controlled to slide along the third guide rail 37 to adjust the distance between the second holding member 25 and the first holding member. When the distance between the second holding member 25 and the first holding member reaches the required distance, the second holding member 25 can be fixed to the third guide rail 37 using 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 Figure 10 shown.

[0102] Similarly, the third holding member and the third transport module can be connected via a third adjustable connector. The specific structure and position of the third adjustable connector on the third transport module can be referenced with the second adjustable connector and will not be further described in this embodiment. Similarly, if the size of the container held by the third holding member changes, the position of the third holding member on the third transport module can be adjusted to adjust the spacing between the third holding member and the first holding member to accommodate containers of different sizes.

[0103] In the embodiment of the present application, the second holding component is connected to the second transport module via a second adjustable connector. By adjusting the spacing between the second holding component and the first holding component via the second adjustable connector, the first holding component and the second holding component can be configured to hold containers of different sizes, thereby improving the adaptability of the conveying device. Similarly, the third holding component is connected to the third transport module via a third adjustable connector. By adjusting the spacing between the third holding component and the first holding component via the third adjustable connector, the first holding component and the third holding component can be configured to hold 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 holding sub-component and the second holding sub-component can be clamping mechanisms with the same structure, so that the first holding sub-component and the second holding sub-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 and the third holding component have the same structure, so that the second holding sub-component and the third holding component can cooperate to clamp a container. Figure 2-7 As shown, the second holding sub-component and the third holding component can be clamping mechanisms with the same structure, so that the second holding sub-component and the third 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 containers. This embodiment does not limit the specific type of 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 hold additional materials, which are materials other than containers. This embodiment does not limit the specific type of 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. By clamping additional materials through the first additional holding component and / or the second additional holding component, the utilization rate of the transport module can be improved.

[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. Figure 11 As shown, Figure 11 Schematic diagram of a partial structure of another conveying system provided by an embodiment of the present application. The conveying device in this conveying system is a linear motor device, which includes a stator 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 is only an illustrative example, 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 transport module, the second transport module, and the third transport module are the movers in the linear motor device. Of course, the conveying device can also be other types of conveying devices, and this embodiment does not limit this.

[0117] It should be understood that Figure 2-11 For illustrative purposes only, the specific types of 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 concepts, implementation schemes, and advantages of the present invention, the embodiments of this application all use linear motor devices as examples, and the technical solutions are described in detail in conjunction with the accompanying drawings and specific embodiments. However, it is understood that, based on the description of this application, those skilled in the art can directly and unambiguously recognize that transport modules 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 Figure 12 , Figure 12 This is a flow chart of the steps of a conveying control method provided by an embodiment of the present application. The execution subject of this method may be a conveying control device in a conveying device, such as Figure 2-11 The conveying control device shown in FIG. Figure 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 multiple 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, as well as 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 so that 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 direction F. 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 motion state of at least some of the first mover 221, the second mover 222, and the third mover 223 can be changed to control the distance between the first mover 221 and the second mover 222 to change 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 motion 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 cooperatively clamped by the first mover 221 and the second mover 222 and the container cooperatively clamped by the first mover 221 and the third mover 223 can be the same or different. However, since the spacing L1 and L3 are determined by the specifications of the container placed between the first mover 221 and the second mover 222, and the spacing L2 and L4 are determined by the specifications of the container placed between the first mover 221 and the third mover 223, 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 multiple 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 items can be the same as or different from the operating device for placing containers. If the operating device for placing items is different from the operating device for placing containers, they can be distinguished by different names (such as the first operating device and the second operating device below). The items can be solid or liquid, and the corresponding containers are containers for placing solids or liquids.

[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 pre-operation 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 distance 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 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 distance 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 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 distance 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 distance 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 two containers, Figure 1 The linear motor device shown needs to transport 2 containers through 4 movers, and Figure 2 The linear motor device shown can transport two containers 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 using the same number of movers, thereby improving the transport efficiency.

[0134] It can be seen from this that in the embodiment of the present application, during the control process of the conveying equipment, 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, when the first conveying module, the second conveying module and the third conveying module are in a state of cooperatively clamping 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 having multiple conveying modules cooperatively clamp multiple 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 modules. Moreover, when the number of conveying modules is reduced, the length of the track portion of the track assembly used to stop the conveying modules can be shortened or avoided, thereby reducing the hardware cost of the track assembly. Therefore, the solution provided by 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.

[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 includes:

[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 multiple transport modules.

[0140] It is understood that, based on 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 that the motion of the non-reference transport modules can be controlled accordingly. Furthermore, the number of reference transport modules can be one or more.

[0141] For example, Figure 2 As shown, during operation of the linear motor device, the first mover 221, the second mover 222, and the third mover 223 move in the direction F. 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 multiple containers are moved to their 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. This allows the operating mechanism 271 to place containers 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 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 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 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 reaches 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 distance 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 position A and is spaced 0.5 times L1 from position A, and a position to be clamped between the first mover 221 and the third mover 223 is located on the right side of position A and is spaced 0.5 times L2 from position A.

[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 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, so that 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 be used as a reference transport module, while the other two movers can be used as non-reference transport modules. For example, the second mover 222 can be used as the reference transport module, while 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 toward 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 toward 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 the 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 equipment can place the containers while the transport modules are stationary or moving, thereby increasing the optionality of the container placement method. Placing the containers when stationary can improve the stability of the container placement, while placing the containers during movement can improve the transportation efficiency.

[0147] As mentioned above, different types of containers may exist depending on the specific application scenario. Flexible containers can have multiple configurations, such as packaging bags and cartons, which can have both open and closed configurations. Related technologies require pre-operation of these multi-configuration containers using operating equipment before items can be placed. However, these operating equipment typically has complex mechanical mechanisms and control logic, resulting in low operational efficiency, which in turn affects delivery efficiency.

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

[0149] Before the operating device places the items, controlling the distance between the first transport module, the second transport module and the third transport module 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 and second forms are determined by the specific container type and application scenario. For example, the first form can be open, and the second form can be closed. To open a container for placement, the spacing between the first, second, and third transport modules can be controlled before placing items into the multiple containers, so that the multiple containers assume the first form. To close the containers, the spacing between the first, second, and third transport modules can be controlled to assume the second form.

[0152] In one embodiment, before placing items 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 shape.

[0153] When the first, second, and third transport modules are cooperatively clamping a plurality of containers, the first, second, and third transport modules can be controlled to move to positions corresponding to the operating equipment (such as the second operating equipment) where the items are placed, and then the spacing between the first, second, and third transport modules can be controlled to change so that the spacing between two adjacent transport modules reaches a spacing that allows the containers to assume the first shape. Alternatively, the spacing between the first, second, and third transport modules can be controlled to change so that the spacing between two adjacent transport modules reaches a spacing that allows the containers to assume the first shape, and then the first, second, and third transport modules can be controlled to move toward the operating equipment where the items are placed.

[0154] See also Figure 13 , Figure 13 This is a partial structural diagram 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 becomes at least L5, and the spacing between the first mover 221 and the third mover 223 becomes at least 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 items 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 shape.

[0156] Continue to refer Figure 13After placing an item in each container via 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, such 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. This causes the container between the first mover 221 and the second mover 222 to assume the second configuration, and the container between the first mover 221 and the third mover 223 to assume the second configuration. In other words, when the spacing between the second mover 222 and the first mover 221 changes to L7, the packaging bag cooperatively clamped by the first mover 221 and the second mover 222 is in a closed configuration. When the spacing between the third mover 223 and the first mover 221 changes to L8, the packaging bag cooperatively clamped by the first mover 221 and the third mover 223 is in a closed configuration. 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 have assumed the second shape, the first mover 221, the second mover 222, and the third mover 223 can continue to be controlled to move in the direction F to transport the multiple containers to the next location. This avoids the operating device from performing operations related to the containers assuming the second shape, 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 with the operating device to quickly complete the placement operation of the containers, thereby improving 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 with an open form and a closed form. 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 toward 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 form, and the packaging bag between the second mover 222 and the third mover 223 is also in a closed form.

[0159] Before the second operating device 28 places an item, it can control at least some of the first movers 221, second movers 222, and third movers 223 to move, thereby opening the packaging bag cooperatively clamped by the first movers 221 and second movers 222, and also opening the packaging bag cooperatively clamped by the first movers 221 and third movers 223. Thereafter, the second operating device 28 places an item into the packaging bag cooperatively clamped by the first movers 21 and second movers 222, and into the packaging bag cooperatively clamped by the first movers 21 and third movers 223.

[0160] Optionally, controlling the distance between the first transport module, the second transport module, and the third transport module 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 shape may include:

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

[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. 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 understood that, based on actual conditions, reference transport modules and non-reference transport modules can be determined in the first, second, and third transport modules, so that the motion of the non-reference transport modules can be controlled accordingly. Furthermore, the number of 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 form.

[0166] For example, Figure 2 and Figure 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 (e.g., a packaging bag) between the first mover 221 and the second mover 222 is in the second configuration. The distance between the first mover 221 and the third mover 223 is L4, and the container (e.g., a packaging bag) between the first mover 221 and the third mover 223 is also in the second configuration.

[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 to 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 assumes the first shape, and the container between the first mover 221 and the third mover 223 assumes the first shape. Thus, when the first mover 221 moves to 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 of the reference transport module when it 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. Figure 14 As shown, Figure 14 for Figure 2 The schematic diagram of the position change of each mover during the movement is shown. Figure 2 and Figure 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 of the second operating device, 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, as well as the distance between the first mover 221 and the third mover 223, so that each container assumes the first shape.

[0170] During the process of controlling the movement of the first mover 221, the second mover 222, and the third mover 223 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 at position D1, the third mover 223 is at position E1, and each container is in the second configuration. At this point, the speed of the second mover 222 can be adjusted so that the second mover 222 moves rightward 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 causing the container between the first mover 221 and the second mover 222 to assume the first configuration. Similarly, the speed of the third mover 223 can be adjusted so that the third mover 223 moves leftward by a distance S2, so that the spacing between the first mover 221 and the third mover 223 reaches L6, thereby causing the container between the first mover 221 and the third mover 223 to assume the first configuration.

[0171] In an embodiment of the present application, when controlling the change in the spacing between multiple transport modules so that multiple containers cooperatively clamped by the multiple transport modules present a first form, the speed of the non-reference transport module can be adjusted before the reference transport module reaches the reference target position to reduce the spacing between the reference transport module and the non-reference transport module so that each container presents the first form, thereby adjusting the spacing during the movement of the multiple transport modules and saving 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 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, 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 assumes the first configuration, including at least one of the following:

[0173] 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 a first configuration 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 the 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 state, and the spacing between the reference transport module and the non-reference transport module when each container is in the first state. Figure 2 As shown, 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, with the reference target position being position B. The first mover 221, the second mover 222, and the third mover 223 are located at the position of the first operating device 27, and when they cooperate to clamp a container, the distance between the first mover 221 and the second mover 222 is L3, and the distance between the first mover 221 and the third mover 223 is L4, and each container is in the second configuration.

[0176] When controlling the first, second, and third movers 221, 222, and 223 to move from the position corresponding to the first operating device 27 to the position corresponding to the second operating device 28, the first, second, and third movers 221, 222, and 223 initially move at the same first velocity V1 and begin to decelerate before reaching the position corresponding to the second operating device 28. The first mover 221 is controlled to decelerate at a first deceleration a1, the second mover 222 is controlled to decelerate at a second deceleration a2, and the third mover 223 is controlled to decelerate at a third deceleration a3. When the first mover 221 reaches position B, the distance between the first and second movers 221 and 222 reaches L5, and the distance between the third mover 223 and the second mover 222 reaches L6. The container between the first and second movers 221 and 222 assumes the first configuration, and the container between the first and third movers 221 and 223 assumes the first configuration.

[0177] like Figure 15 As shown, Figure 15 for Figure 2The diagram shows the position changes 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 movement distance of the first mover 221 is S3, the movement distance of the second mover 222 is S4, and the movement 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] As can be seen from the above formula, the first deceleration a1 of the first mover 221 is related to the travel distance S3, the first velocity V1, and the second velocity V2 of the first mover 221. The second deceleration a2 of the second mover 222 is related to the travel distance S4, the first velocity V1, and the second velocity V2 of the second mover 222. The third deceleration a3 of the third mover 223 is related to the travel distance S5, the first velocity V1, and the second velocity V2 of the third mover 223.

[0182] In practical applications, the distance S3 between position A and position B can be predetermined, and the first velocity V1 and second velocity V2 can be determined. Then, the first deceleration a1 can be determined based on the distance S3, the first velocity V1, and the second velocity V2 using formula (1). For the second mover 222, the distance S4 can be determined based on the spacing L5 between the containers in the first configuration, the spacing L3 between the containers in the second configuration, and the distance S3 using formula (4). Then, the second deceleration a2 of the second mover 222 can be determined based on the distance S4, the first velocity V1, and the second velocity V2 using formula (2). For the third mover 223, the distance S5 can be determined based on the spacing L6 between the containers in the first configuration, the spacing L4 between the containers in the second configuration, and the distance S3 using formula (5). Then, the third deceleration a4 of the third mover 223 can be determined based on the distance S5, the first velocity V1, and the second velocity V2 using formula (3).

[0183] The second speed V2 can be 0 or a speed value greater than 0. When the second speed V2 is 0, when the first mover 221 moves to position B, the first mover 221, the second mover 222, and the third mover 223 all stop moving. When the second speed V2 is greater than 0, when the first mover 221 moves to position B, the first mover 221, the second mover 222, 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 Figure 16 As shown, Figure 16 for Figure 2 The schematic diagram of the position change of each mover during the movement is shown. Figure 2 and Figure 13 As shown, the first mover 221 is a reference transport module, while the second and third movers 222 and 223 are non-reference transport modules. The first, second, and third movers 221, 222, and 223 begin accelerating from position A at a first speed V1 toward position C. During this acceleration, the first, second, and third movers 221, 222, and 223 have the same acceleration. Position C is between positions A and B. When the first mover 221 moves to position C, the speeds of the first, second, and third movers 221, 222, and 223 all accelerate to a third speed V3.

[0186] like Figure 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 following formula (6).

[0187]

[0188] When accelerating to position C, the first, second, and third movers 221, 222, and 223 begin to decelerate from position C. During this deceleration, the first, second, and third movers 221, 222, and 223 each experience different decelerations: the first mover 221 experiences a fourth deceleration a4, the second mover 222 experiences a fifth deceleration a5, and the third mover experiences a sixth deceleration a6. When the first mover 221 decelerates to position B, the distance between the first and second movers 221 and 222 reaches L5, and the distance between the third mover 223 and the second mover 222 reaches L6. The container between the first and second movers 221 and 222 assumes the first configuration, and the container between the first and third movers 221 and 223 assumes the first configuration.

[0189] like Figure 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 movement distance of the first mover 221 is S7, the deceleration movement distance of the second mover 222 is S8, and the deceleration movement 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] As can be seen from the above formula, the fourth deceleration a4 is related to the decelerated movement distance S7, the second speed V2, and the third speed V3 of the first mover 221. The fifth deceleration a5 is related to the decelerated movement distance S8, the second speed V2, and the third speed V3 of the second mover 222. The sixth deceleration a6 is related to the decelerated movement distance S9, the second speed V2, and the third speed V3 of the third mover 223.

[0194] In practical applications, the second velocity V2 and the third velocity V3 can be predetermined, and the distance S7 between position C and position B can be determined. Then, the fourth deceleration a4 can be determined using formula (7) based on the distance S7, the second velocity V2, and the third velocity V3. For the second mover 222, the distance S8 can be determined using formula (10) based on the spacing L5 between the containers in the first configuration, the spacing L3 between the containers in the second configuration, and the distance S7. Then, the fifth deceleration a5 of the second mover 222 can be determined using formula (8) based on the distance S8, the second velocity V2, and the third velocity V3. For the third mover 223, the distance S9 can be determined using formula (5) based on the spacing L6 between the containers in the first configuration, the spacing L4 between the containers in the second configuration, and the distance S7. Then, the sixth deceleration a6 of the third mover 223 can be determined using formula (9) based on the distance S9, the second velocity V2, and the third velocity 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 can be controlled to accelerate at different accelerations, and then controlled to decelerate at different decelerations, so that each container presents the first form when the reference transport module reaches the reference target position. Figure 16As shown, during the movement 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 movement distance of the first mover 221 when moving to position C can be predetermined, and based on the speed and movement distance, the acceleration of the first mover 221 when moving from position A to position C can be determined using formula (6). Similarly, the speed and movement distance of the second mover 222, as well as the speed and movement distance of the third mover 223, can be predetermined, and the acceleration of the first mover 222 and the acceleration of the third mover 223 during the movement process 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 that first accelerates and then decelerates, 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 distance 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 relevant parts above, and 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 to the situation where both the reference transport module and the non-reference transport module perform 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 remains at the reference target position, the non-reference transport module is controlled to accelerate or decelerate, reducing the number of controlled objects and thus 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 shape includes:

[0199] After the operating device places the items, each container is changed from the first shape to the second shape 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 the first form to the second form; or controlling the non-reference transport module to accelerate or decelerate so that each container changes from the first form to the 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 the first form to the 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 Figure 17 , Figure 17 for Figure 2 Schematic diagram of the position changes of each mover during the movement process. Figure 17 The F position shown is located after the B position, combined with Figure 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 begin moving at 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 position F, the speeds of the first mover 221, the second mover 22, and the third mover 223 all reach the fourth speed V4. 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 assumes the first configuration.

[0205] like Figure 17As shown in FIG. 1 , when the first mover 221 moves to position F, 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] As can be seen from the above formula, the first acceleration a7 is related to the moving distance S10, the second velocity V2, and the fourth velocity V4 of the first mover 221. The second acceleration a8 is related to the moving distance S11, the second velocity V2, and the fourth velocity V4 of the second mover 222. The third acceleration a9 is related to the moving distance S12, the second velocity V2, and the fourth velocity V4 of the third mover 223.

[0210] The F position can be predetermined, and the distance S10 between the F position and the B position can be determined. The second velocity V2 and the fourth velocity V4 can then be determined. The first acceleration a4 can then be determined using formula (12) based on the distance S10, the second velocity V2, and the fourth velocity V4. For the second mover 222, the distance S11 can be determined using formula (15) based on the spacing L5 between the containers when they are in the first configuration, the spacing L3 between the containers when they are in the second configuration, and the distance S10. The second acceleration a5 of the second mover 222 can then be determined using formula (13) based on the distance S11, the second velocity V2, and the fourth velocity V4. For the third mover 223, the distance S12 can be determined using formula (16) based on the spacing L6 between the containers when they are in the first configuration, the spacing L4 between the containers when they are in the second configuration, and the distance S10. The third acceleration a9 of the third mover 223 can then be determined using formula (14) based on the distance S12, the second velocity V2, and the fourth velocity V4.

[0211] In another embodiment, the reference transport module and 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 that first accelerates and then decelerates, so that each container changes from a first form to a second form. If the non-reference transport module and the quasi-transport module are both in a moving state, different acceleration or deceleration movements can be performed according to the positional relationship between each non-reference transport module and the reference transport module. For example, along the moving direction, if there is a non-reference transport module located before the reference transport module, the non-reference transport module is controlled to perform a movement that first accelerates and then decelerates, and if there is a non-reference transport module located after the reference transport module, the non-reference transport module is controlled to perform a movement that first decelerates and then accelerates, so that each container changes from a first form to a second form. The specific movement process of the non-reference transport module can be described with reference to the relevant parts above and 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, Figure 18 for Figure 2 Schematic diagram of the position changes of each mover during the movement process. Figure 18 The G position shown is located after the B position, combined with Figure 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 deceleration movement begins, and when the deceleration causes the distance between the first mover 221 and the second mover 222 to reach L3, the second mover 222 is controlled to move at a uniform speed of the second speed V2.

[0216] like Figure 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 the requirements. x1 , then determine S14 according to S13, L3 and L5 by formula (17), and then determine S14 according to S14 and V x1 , the seventh deceleration a10 is determined by formula (18).

[0220] Similarly, 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 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 acceleration movement starts, 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 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 embodiments of the present application, after placing items in each container, the non-reference transport modules are controlled to accelerate or decelerate, reducing the number of controlled objects and thereby improving the accuracy of spacing adjustment. Furthermore, the solutions provided by the embodiments of the present application can adjust the spacing between multiple transport modules in different ways, providing greater 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 the 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 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 non-reference transport module are controlled according to the movement parameters of the reference transport module so that each container presents the first form.

[0228] In one embodiment, after clamping multiple containers, the motion of the non-reference transport modules can be controlled based on the motion parameters of the reference transport module, so that the reference transport module and the non-reference transport modules move synchronously. Figure 2 and Figure 13 As shown, when the first mover 221, the second mover 222, and the third mover 223 correspond to the first handling device 27 and clamp a container, each container is in the second configuration. When the first mover 221, the second mover 222, and the third mover 223 are controlled to move toward the second handling device 28, the spacing between the first mover 221 and the second mover 222, as well as the spacing between the first mover 221 and the third mover 223, can be maintained constant. The first mover 221 is controlled to move from position A to position B at a speed V, while 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 together with the first mover 221 toward position B. The speed V is the motion parameter of the reference transport module. In this case, the first mover 221 is the master mover, and the second mover 222 and the third mover 223 are slave movers, which move in conjunction with the master 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 cooperatively clamped by the first mover 221 and the second mover 222 reaches the first configuration, the second mover 222 can be controlled to move a certain distance toward the first mover 221 so that the container cooperatively clamped by the first mover 221 and the second mover 222 reaches the first configuration. Similarly, if it is necessary to adjust the spacing between the first mover 221 and the third mover 223 so that the container cooperatively clamped by the first mover 221 and the third mover 223 reaches the first configuration, the third mover 223 can be controlled to move a certain distance toward the first mover 221 so that the container cooperatively clamped by the first mover 221 and the third mover 223 reaches the first configuration.

[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. The first mover 221 is controlled to move from position A to position C 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 C together with the first mover 221.

[0231] After moving to position C, the first mover 221 is controlled to maintain a constant velocity V and continue moving toward position B. Simultaneously, the velocity V is increased by a first magnitude ΔV1 to obtain the velocity of the second mover 222, and the second mover 221 is controlled to move at this velocity. Furthermore, the velocity V is reduced by a second magnitude ΔV2 to obtain the velocity of the third mover 223, and the third mover 223 is controlled to move along with the first mover 221 at this velocity. Thus, 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 assumes the first configuration.

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

[0233]

[0234] Where 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 the second mover 222 moves more than the first mover 221, and (L4-L6) represents the distance the third mover 223 moves less than 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. During 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 may be controlled to meet the first safety distance.

[0238] See also Figure 19 , Figure 19 for Figure 11 The schematic diagram of the distance between each mover in the conveying system during the movement is shown. Figure 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] During the control of each mover in the first transport group 43 and the second transport group 44, the spacing 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 spacing 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 spacing 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 set as required and is not limited in this example.

[0240] In one embodiment, when there are multiple transport groups in the conveying equipment, 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. Figure 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. When controlling the movers in the first transport group 43 and the second transport group 44, the distance between the third mover 433 and the second mover 442 of two adjacent transport groups can be controlled to be greater than or equal to the second safety distance B2. The second safety distance B2 can be set as required and is not limited in this example.

[0241] It should be noted that the above is only an example, and the number of transport groups included in the conveying equipment may include but is not limited to 2. The multiple transport modules of each transport group can realize the above-mentioned spacing change process. For details, please refer to the relevant description above and 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 comply with a first safety distance, and / or by controlling the spacing between conveying modules at the edge of the multiple conveying groups to comply with a 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 an 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 in 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 item, 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 item, the conveying control device is used to 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 adjust the speed of the non-reference transport module and increase the distance between the reference transport module and the non-reference transport module after the operating equipment 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 according to different accelerations, so that each container changes from the first form to the second form; or, control the non-reference conveying module to accelerate or decelerate, so that each container changes from the first form to the second form.

[0249] Optionally, the conveying control device is specifically used to control the movement of the reference conveying module and 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 conveying modules of the same order in the multiple conveying groups to comply with a first safety distance; and / or, to control the spacing between conveying modules at the edge of the multiple conveying groups to comply with a 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, embodiments of the present application also protect a conveying system, including the conveying device provided in 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, which 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 cooperatively 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 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 by the above-mentioned embodiment.

[0254] This embodiment also provides a readable storage medium, which stores executable program code. 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 further 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 distributed and completed by 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 this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, 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 content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection 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, controlling the first transport module, the second transport module, and the third transport module to move toward an operating device so that the operating device places an article in each of the containers; The step of controlling the distance between the first transport module, the second transport module, and the third transport module so that the first transport module, the second transport module, and the third transport module cooperate to clamp a plurality of containers comprises: Determining a reference transport module and a non-reference transport module among 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, controlling the non-reference transport module 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.

2. The method according to claim 1, wherein 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 item, 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.

3. The method according to claim 2, wherein 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 shape includes: Determining, among 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.

4. The method according to claim 3, wherein 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 assumes the first shape, 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.

5. The method according to claim 3, wherein 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 shape includes: 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 shape to the second shape.

6. The method according to claim 3, wherein 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 shape includes: 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 shape to the second shape; Alternatively, the non-reference transport module is controlled to accelerate or decelerate so that each of the containers changes from the first shape to the second shape.

7. The method according to claim 3, wherein The method of controlling the first transport module, the second transport module, and the third transport module to move toward the operating device in a state where the first transport module, the second transport module, and the third transport module cooperate to clamp the 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 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.

8. The method according to any one of claims 1 to 7, wherein 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. The method further includes: The spacing between the transport modules in the same order in the plurality of transport groups is controlled to comply with a first safety distance; and / or the spacing between the transport modules at the edge of the plurality of transport groups is controlled to comply with a second safety distance.

9. A conveying device, characterized in that: It includes a plurality of transport modules and a conveying control device, wherein the plurality of transport modules include 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 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 the 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 the 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 the multiple containers.

10. The conveying device according to claim 9, characterized in that The first holding component includes a first holding sub-component and a second holding sub-component, wherein one of the first holding sub-component is used to cooperate with one of the second holding sub-components or one of the second holding components to clamp one of the containers, and the second holding sub-component is used to cooperate with one of the first holding sub-components or one of the third holding components to clamp one of the containers; Alternatively, the first holding component includes a first holding end and a second holding end, one first holding end is used to cooperate with one second holding end or one second holding component to clamp one of the containers, and one second holding end is used to cooperate with one first holding end or one third holding component to clamp one of the containers.

11. The conveying device according to claim 10, wherein: The first object holding component further includes a first adjustable connecting member, which 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.

12. The conveying device according to claim 11, wherein 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.

13. The conveying device according to claim 11, wherein 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.

14. The conveying device according to claim 9, wherein 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, 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.

15. The conveying device according to claim 9, wherein The multiple transport modules include multiple first transport modules, and at least two of the multiple first transport modules cooperate to clamp one container.

16. The conveying device according to claim 9, wherein 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.

17. The conveying device according to any one of claims 9 to 16, 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.

18. A readable storage medium, characterized in that: The readable storage medium stores executable program code, and when the executable program code is run on the conveying control device, the conveying control device executes the method according to any one of claims 1 to 8.

19. A conveying system, characterized in that: The conveying system includes 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 includes: a memory for storing executable program code; A processor is 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 8.

Images