Control method of mover module and mover module

Abstract

The present application relates to the field of logistics technology, and in particular to a control method and a mover module of a movable submodule. The control method includes driving the movable submodule close to the workpiece; controlling the solenoid valve so that the air pump sucks the adsorption hole; when the adsorption hole and the workpiece are in contact with each other, the duty cycle of the air pump is controlled according to the actual negative pressure and the set target negative pressure; when the movable submodule moves to the designated station, the air pump is controlled to release the workpiece adsorbed by the adsorption hole. In the embodiment of the present application, the duty cycle of the air pump can be controlled according to the target negative pressure and the actual negative pressure. Under ideal conditions, the target negative pressure is consistent with the actual negative pressure, and the duty cycle of the air pump can be controlled to be 0, thereby alleviating the situation where the adsorption hole has a large adsorption force on the workpiece. When the actual negative pressure is less than the target negative pressure, the duty cycle of the air pump can be increased, thereby increasing the adsorption force at the adsorption hole and reducing the situation where the workpiece is detached from the adsorption hole before reaching the designated station.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a control method of a mover module and a mover module. Background Art

[0002] With the development of society, logistics conveyor lines are widely used in various industries, playing the role of carrying and transporting workpieces or moving workpieces to different workstations for processing. For flexible or brittle sheets, films, and thin sheets, vacuum adsorption is often used to adsorb and fix the workpieces before processing or transportation.

[0003] In the related art, negative pressure is sucked into the adsorption holes by an air pump to adsorb the workpiece. During transportation, it is difficult to maintain the adsorption force between the workpiece and the adsorption holes at an appropriate size. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method of a movable module and a movable module, so that the adsorption force between the workpiece and the adsorption hole can be maintained at an appropriate size.

[0005] To achieve the above object, the present invention proposes a control method for a mover module, comprising: Drive the mover module close to the workpiece; Control the solenoid valve to allow the air pump to suck the adsorption hole; When the adsorption hole and the workpiece are in contact with each other, adjusting the duty cycle of the air pump according to the actual negative pressure and the set target negative pressure; When the moving submodule moves to a designated workstation, the air pump is controlled to release the workpiece adsorbed by the adsorption hole; The duty cycle of the air pump represents the proportion of time that the fan of the air pump is turned on within a certain period of time.

[0006] The control method of the mover module according to the embodiment of the present application has at least the following beneficial effects: In the control method of the movable module of the embodiment of the present application, when the adsorption hole adsorbs the workpiece, the duty cycle of the air pump can be controlled according to the target negative pressure and the actual negative pressure. Under ideal conditions, the target negative pressure is consistent with the actual negative pressure, and the duty cycle of the air pump can be controlled to be 0, thereby alleviating the situation where the adsorption hole has a large adsorption force on the workpiece. When the actual negative pressure is less than the target negative pressure, the duty cycle of the air pump can be increased, thereby increasing the adsorption force at the adsorption hole and reducing the situation where the workpiece is detached from the adsorption hole before reaching the designated workstation.

[0007] In some embodiments, the difference between the target negative pressure and the actual negative pressure is a negative pressure difference, and the step of adjusting the duty cycle of the air pump according to the actual negative pressure and the set target negative pressure includes: When the absolute value of the negative pressure difference is greater than or equal to the preset pressure, the duty cycle of the air pump is adjusted.

[0008] In some embodiments, when the absolute value of the negative pressure difference is greater than or equal to a preset pressure, the step of adjusting the duty cycle of the air pump includes: When the actual negative pressure is greater than the set target negative pressure, reducing the duty cycle of the air pump; When the actual negative pressure is less than the set target negative pressure, the duty cycle of the air pump is increased.

[0009] In some embodiments, the step of adjusting the duty cycle of the air pump comprises: constructing an adjustment function according to the negative pressure difference; adjusting the duty cycle of the air pump according to the adjustment function; Among them, the adjustment function is a function related to time t, the duty cycle is the sum of a proportional term, an integral term and a differential term, the proportional term is the product of a first coefficient and the adjustment function, the integral term is the product of a second coefficient and the integral of the adjustment function with respect to time t, and the differential term is the product of a third coefficient and the differential of the adjustment function with respect to time t.

[0010] In some embodiments, the step of adjusting the duty cycle of the air pump according to the set actual negative pressure and the set target negative pressure includes: Acquisition: Acquiring the duty cycle of the air pump according to the actual negative pressure within a preset time period and the set target negative pressure; Adjustment: adjusting the duty cycle of the air pump according to the acquired duty cycle of the air pump; The acquisition step and the adjustment step are repeated until the preset conditions are met.

[0011] In some embodiments, the step of controlling the air pump to release the workpiece adsorbed by the adsorption hole comprises: When the movable module moves to a designated workstation, the air pump is controlled to apply positive pressure to the corresponding adsorption hole to release the workpiece.

[0012] In some embodiments, the mover module has a plurality of ventilation channels and a plurality of adsorption holes, each of the adsorption holes is provided with a ventilation channel, the ventilation channels are connected to the air pump and the adsorption holes respectively, each of the ventilation channels is provided with a solenoid valve, and the step of controlling the duty cycle of the air pump according to the target negative pressure and the actual negative pressure includes: The duty cycle of the air pump is controlled according to the target negative pressure and the actual negative pressure of the ventilation channel.

[0013] In some embodiments, the step of controlling the solenoid valve to allow the air pump to pump the adsorption hole includes: When the adsorption hole is not in contact with the workpiece, controlling the solenoid valve to connect the air pump with the adsorption hole; When the air pump sucks the adsorption hole, the movable module is driven to make the adsorption hole contact the workpiece.

[0014] The present application further provides a mover module, using any of the above control methods for the mover module, the mover module comprising: A main body, the main body comprising a bearing surface for contacting a workpiece, the bearing surface defining adsorption holes; An air pump, used for sucking or blowing air into the adsorption holes; The electromagnetic valve is communicated with the air pump and the adsorption hole respectively.

[0015] In some embodiments, the mover module further includes a communication module, which is electrically connected to the solenoid valve and the air pump, and is used to control the duty cycle of the air pump.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of a method for controlling a moving module according to an embodiment of the present application; Figure 2 A schematic flow chart of a method for controlling a moving module according to an embodiment of the present application; Figure 3 A schematic flow chart of a method for controlling a moving module according to an embodiment of the present application; Figure 4 A schematic flow chart of a method for controlling a moving module according to an embodiment of the present application; Figure 5 This is a schematic structural diagram of a mover module according to an embodiment of the present application; Figure 6 This is a schematic diagram of a mover module according to an embodiment of the present application from another angle, in which the cover is not shown; Figure 7 This is a schematic structural diagram of an adsorption module according to an embodiment of the present application; Figure 8A simplified diagram of an air circuit for realizing the inflation and suction principles of an embodiment of the present application; Fig. 9 This is a schematic diagram of the structure of a manifold seat according to an embodiment of the present application; Fig.10 A schematic diagram of the internal gas path of a manifold seat according to an embodiment of the present application; Fig.11 A schematic diagram of a second gas path according to an embodiment of the present application; Fig.12 A schematic diagram of a second air intake pipeline according to an embodiment of the present application; Fig.13 A schematic diagram of a second air outlet pipeline according to an embodiment of the present application; Fig.14 This is a schematic structural diagram of a mover module from another angle according to an embodiment of the present application; Fig.15 A schematic flow chart of a method for controlling a moving module according to an embodiment of the present application; Fig.16 Schematic diagram of the flow of a method for controlling a mover module according to an embodiment of the present application.

[0019] Description of Figure Numbers: 100, main body; 110, first main body; 111, bearing surface; 112, adsorption hole; 113, slide groove; 114, third air path; 120, second main body; 121, mounting surface; 122, magnetic plate; 200, air pump; 300, solenoid valve; 310, first air path; 320, first air outlet pipeline; 330, first air inlet pipeline; 340, exhaust pipeline; 400, manifold seat; 410, second air path; 411, first section; 412, second section; 420, first Second air outlet pipeline; 421, air outlet branch; 430, second air inlet pipeline; 431, air inlet branch; 432, third section; 433, fourth section; 434, fifth section; 440, detection branch; 450, process hole; 461, first connection port; 462, second connection port; 463, third connection port; 471, first connection pipeline; 472, second connection pipeline; 473, third connection pipeline; 480, exhaust port; 500, air pressure sensor; 600, communication module.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions.

[0023] In the description of the embodiments of the present application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0026] In the description of the embodiments of the present application, the orientations or positional relationships indicated by technical terms such as "top", "bottom", "upper", and "lower" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present application and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated, or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0027] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0028] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0029] In the related art, the air pump only plays the role of providing negative pressure adsorption for the workpiece. In the process of the mover module transporting the workpiece through the adsorption hole, it is difficult to maintain a complete seal between the workpiece and the mover module, so the adsorption force between the workpiece and the mover module is continuously changing. If a large negative pressure is applied to the adsorption hole in order to prevent the workpiece and the mover module from detaching from each other, it may cause a large adsorption force, resulting in damage to the workpiece. Or the negative pressure between the adsorption hole and the workpiece is reduced, resulting in too low an adsorption force, and the workpiece is detached from the mover module in advance.

[0030] In the embodiment of the present application, when the adsorption hole 112 and the workpiece are in contact with each other, the duty cycle of the air pump 200 is controlled according to the target negative pressure and the actual negative pressure. The adsorption force between the moving submodule and the workpiece can be adjusted according to the difference between the actual negative pressure and the target negative pressure, so that the workpiece can be more stably adsorbed by the moving submodule, and the transportation process is more stable.

[0031] This application provides a mover module, please refer to Figures 5 to 14 The moving module includes a main body 100, an air pump 200 and an electromagnetic valve 300. The main body 100 includes a bearing surface 111 for contacting a workpiece, and the bearing surface 111 defines an adsorption hole 112. The air pump 200 is used to suck or blow air to the adsorption hole 112. The electromagnetic valve 300 is connected to the air pump 200 and the adsorption hole 112 respectively.

[0032] The air pump 200 is a device capable of sucking or blowing air into the adsorption holes 112 .

[0033] The solenoid valve 300 is a device that can be used to connect or block the air pump 200 and the adsorption hole 112 to each other.

[0034] This application provides a control method for a mover module. Figures 1 to 4 , the control method of the mover module includes: Step S1: driving the moving module to approach the workpiece; Step S2: Control the solenoid valve to allow the air pump to suck the adsorption hole; Step S3: When the adsorption hole and the workpiece are in contact with each other, the duty cycle of the gas is adjusted according to the actual negative pressure and the set target negative pressure; Step S4: When the moving module moves to the designated workstation, the air pump is controlled to release the workpiece adsorbed by the adsorption hole.

[0035] The duty cycle of the air pump 200 represents the proportion of time that the fan of the air pump 200 is turned on within a certain period of time.

[0036] The actual negative pressure refers to the air pressure generated by the air pump 200 on the adsorption hole 112 during the actual transportation process.

[0037] The target negative pressure refers to the negative pressure size corresponding to the adsorption force that is more suitable for different workpieces under theoretical conditions.

[0038] Exemplarily, the designated workstation is a material unloading station.

[0039] It is understandable that the greater the duty cycle of the air pump 200, the longer the fan is turned on within a certain period of time, and the greater the negative pressure generated by the air pump 200 on the adsorption hole 112. The theoretical value range of the duty cycle is 0% to 100%. That is, by adjusting the duty cycle of the air pump 200, the magnitude of the adsorption force at the adsorption hole 112 can be adjusted, so that the magnitude of the adsorption force at the adsorption hole 112 can be maintained at an appropriate magnitude as much as possible, and the transportation of the workpiece is relatively stable.

[0040] In the solution of the embodiment of the present application, when the adsorption hole 112 adsorbs the workpiece, the duty cycle of the air pump 200 can be controlled according to the target negative pressure and the actual negative pressure. Under ideal conditions, the target negative pressure is consistent with the actual negative pressure, and the duty cycle of the air pump 200 can be controlled to be 0, thereby alleviating the situation where the adsorption hole 112 has a large adsorption force on the workpiece. When the actual negative pressure is less than the target negative pressure, the duty cycle of the air pump 200 can be increased, thereby increasing the adsorption force at the adsorption hole 112, and reducing the situation where the workpiece is detached from the adsorption hole 112 before reaching the designated station.

[0041] In one embodiment, the difference between the target negative pressure and the actual negative pressure is the negative pressure difference, and the step of controlling the duty cycle of the solenoid valve 300 and the air pump 200 according to the target negative pressure and the actual negative pressure includes: Step S30: When the absolute value of the negative pressure difference is greater than or equal to the preset pressure, the duty cycle of the air pump 200 is adjusted.

[0042] Exemplarily, the preset pressure is 5 Pa. That is, when the absolute value of the negative pressure difference is greater than or equal to 5 Pa, the duty cycle of the air pump 200 is adjusted.

[0043] In the solution of the embodiment of the present application, the duty cycle of the air pump 200 is adjusted only when the absolute value of the negative pressure difference is greater than or equal to the preset negative pressure. When the negative pressure difference is small, the difference between the adsorption force at the adsorption hole 112 and the theoretical adsorption force is small, and the workpiece can still be adsorbed at the adsorption hole 112 relatively stably, thereby saving costs.

[0044] In one embodiment, the step of adjusting the duty cycle of the air pump 200 includes: Step S301: constructing an adjustment function according to the negative pressure difference; Step S302: adjusting the duty cycle of the air pump according to the adjustment function; Among them, the adjustment function is a function related to time t, the duty cycle is the sum of the proportional term, the integral term and the differential term, the proportional term is the product of the first coefficient and the adjustment function, the integral term is the product of the second coefficient and the integral of the adjustment function over time t, and the differential term is the product of the third coefficient and the differential of the adjustment function over time t.

[0045] Exemplarily, the formula for calculating the duty cycle is:

[0046] In the formula, is the duty cycle; To adjust the function; is the first coefficient; is the second coefficient; is the third coefficient.

[0047] For example, when the negative pressure difference is greater than the preset negative pressure, the host constructs an adjustment function through the change of the negative pressure difference, and calculates the first coefficient, the second coefficient, and the third coefficient respectively. Then, the first coefficient, the second coefficient, and the third coefficient are brought into the formula for calculating the duty cycle, thereby obtaining a suitable duty cycle for the current air pump 200. The host sends a command to the controller, thereby controlling the air pump 200 to work according to the calculated duty cycle.

[0048] Exemplarily, the host calculates the first coefficient, the second coefficient, and the third coefficient through a PID (proportional-integral-derivative) controller, thereby obtaining a currently appropriate duty cycle of the air pump 200 .

[0049] In the scheme of the embodiment of the present application, the duty cycle of the air pump 200 is related to the product of the negative pressure difference and the coefficient, the integral of the negative pressure difference over time t, and the differential of the negative pressure difference over time t. The proportional term can adjust the actual negative pressure more quickly, so that the adsorption force generated at the adsorption hole 112 can be adjusted to the adsorption force required for adsorbing the workpiece more quickly. The integral term can adjust the static error of the negative pressure difference. For example, when the movable module is damaged and the seal fails, the airflow continues to flow into the movable module from the damaged part. The integral term can eliminate this fixed error as much as possible, thereby reducing the negative pressure difference. The differential term can reflect the changing trend of the negative pressure difference. The adjustment of the air pressure is a continuous process and has a certain hysteresis. The actual negative pressure may exceed the actual error in the process of adjusting below the actual error. The differential term can speed up the response speed, thereby introducing a correction factor when the actual negative pressure approaches the target negative pressure, thereby speeding up the action speed of the system and reducing the adjustment time.

[0050] It is to be understood that the embodiments of the present application are not limited to the duty cycle of the air pump 200 being the sum of the proportional term, the integral term and the differential term. Exemplarily, the duty cycle of the air pump 200 has only the proportional term.

[0051] In one embodiment, please refer to Fig.15 When the absolute value of the negative pressure difference is greater than or equal to the preset pressure, the step of adjusting the duty cycle of the air pump 200 includes: Step S303: when the actual negative pressure is greater than the set target negative pressure, reducing the duty cycle of the air pump; Step S304: When the actual negative pressure is less than the set target negative pressure, the duty cycle of the air pump is increased.

[0052] Exemplarily, when the actual negative pressure is greater than the set target negative pressure, the duty cycle of the air pump 200 is adjusted to 0.

[0053] In the solution of the embodiment of the present application, according to the relationship between the actual negative pressure and the set target negative pressure, the duty cycle of the air pump 200 is adaptively adjusted. When the actual negative pressure is small, the duty cycle of the air pump 200 is increased, thereby increasing the adsorption force at the adsorption hole 112. When the actual negative pressure is large, the duty cycle of the air pump 200 is reduced, thereby alleviating the adsorption force at the adsorption hole 112.

[0054] In one embodiment, please refer to Fig.16 , the step of adjusting the duty cycle of the air pump 200 according to the set actual negative pressure and the target negative pressure includes: Step S31: Obtaining: Obtaining the duty cycle of the air pump according to the actual negative pressure within a preset time period and the set target negative pressure; Step S32: Adjustment: adjusting the duty cycle of the air pump according to the acquired duty cycle of the air pump; The acquisition step and the adjustment step are repeated until the preset conditions are met.

[0055] Exemplarily, the preset condition is any one of the following conditions: the actual negative pressure and the set negative pressure are less than the preset pressure; the mover module moves to the designated workstation.

[0056] Exemplarily, an adjustment function is constructed according to the actual negative pressure and the set target negative pressure within a preset time. Then the duty cycle of the air pump 200 is adjusted according to the adjustment function. During the adjustment process, another adjustment function is constructed by the actual negative pressure and the set target negative pressure. The above steps are repeated until the difference between the actual negative pressure and the set target negative pressure is less than the preset pressure difference, or the mover module reaches the designated station.

[0057] In the solution of the embodiment of the present application, by repeating the acquisition step and the adjustment step until the preset conditions are met, the duty cycle adjustment process can be made more continuous.

[0058] In one embodiment, please refer to Figure 2 The step of controlling the air pump 200 to release the workpiece adsorbed by the adsorption hole 112 includes: Step S40: When the moving module moves to the designated workstation, the air pump is controlled to apply positive pressure to the corresponding adsorption hole to release the workpiece.

[0059] In the solution of the embodiment of the present application, the air pump 200 can greatly shorten the time required for the workpiece to loosen by providing positive pressure to the adsorption hole 112, and realizes rapid loading and unloading of the workpiece while ensuring the tightness of adsorption during the transportation process, thereby improving the transportation efficiency of the mover module. Furthermore, it can avoid as much as possible that the workpiece and the bearing surface 111 are too tightly attached, resulting in the workpiece still being firmly adsorbed after the user sends a disassembly instruction.

[0060] It is understood that the embodiments of the present application are not limited to the air pump 200 being able to apply positive pressure to the adsorption hole 112 to detach the workpiece adsorbed on the adsorption hole 112. For example, the workpiece and the adsorption hole 112 can be detached from each other by manual operation.

[0061] In one embodiment, please refer to Figure 3 The moving submodule has a plurality of ventilation channels and a plurality of adsorption holes 112, each adsorption hole 112 is provided with a ventilation channel, the ventilation channels are connected to the air pump 200 and the adsorption hole 112, and each ventilation channel is provided with a solenoid valve 300. The step of adjusting the duty cycle of the air pump 200 according to the actual negative pressure and the set target negative pressure includes: Step S31: controlling the duty cycle of the air pump according to the actual negative pressure of the ventilation channel and the set target negative pressure.

[0062] Exemplarily, each ventilation channel is interconnected, that is, when the air pump 200 adjusts the duty cycle, the negative pressure in the ventilation channels connected to the air pump 200 will change synchronously.

[0063] In the solution of the embodiment of the present application, the moving submodule has multiple ventilation channels and multiple adsorption holes 112, and each ventilation channel is correspondingly provided with a solenoid valve 300. Multiple adsorption holes 112 can adsorb multiple workpieces at the same time, thereby speeding up transportation efficiency. When the actual negative pressure in the ventilation channel is detected to be different from the set target negative pressure, the host can calculate the duty cycle according to the change in the negative pressure difference, thereby adjusting the air pump 200 so that the negative pressure in the multiple ventilation channels gradually approaches the target negative pressure.

[0064] It is understandable that the embodiments of the present application are not limited to the mover module having multiple ventilation channels and multiple adsorption holes 112. Exemplarily, the number of ventilation channels and adsorption holes 112 of the mover module is single.

[0065] In one embodiment, please refer to Figure 4 The steps of controlling the solenoid valve 300 to allow the air pump 200 to suck the adsorption hole 112 include: Step S20: When the adsorption hole is not in contact with the workpiece, the solenoid valve is controlled to connect the air pump with the adsorption hole; Step S21: When the air pump is sucking the adsorption hole, the moving submodule is driven to make the adsorption hole contact the workpiece.

[0066] In the scheme of the embodiment of the present application, the solenoid valve 300 is controlled to connect the air pump 200 with the adsorption hole 112 when the adsorption hole 112 has not yet contacted the adsorption hole 112, and air flow is formed in the channel between the air pump 200 and the adsorption hole 112 in advance. When the adsorption hole 112 contacts the workpiece, negative pressure can be quickly established, thereby speeding up the transportation efficiency of the workpiece.

[0067] It is understandable that the embodiments of the present application are not limited to driving the mover module to connect the air pump 200 with the adsorption hole 112 when the adsorption hole 112 is not in contact with the workpiece. Exemplarily, the solenoid valve 300 is driven to connect the air pump 200 with the adsorption hole 112 after the adsorption hole 112 and the workpiece are in contact with each other.

[0068] In one embodiment, please refer to Figure 6 The mover module also includes a communication module 600 , which is electrically connected to the solenoid valve 300 and the air pump 200 , and the communication module 600 is used to control the duty cycle of the air pump 200 .

[0069] In the solution of the embodiment of the present application, the communication module 600 is electrically connected to the solenoid valve 300 and the air pump 200. When the communication module 600 receives the duty cycle calculated by the host, it transmits the duty cycle to the air pump 200, thereby adjusting the duty cycle of the air pump 200.

[0070] It is understandable that when there are multiple ventilation channels and solenoid valves 300, the communication module 600 is electrically connected to the multiple solenoid valves 300, so as to control different solenoid valves 300 respectively.

[0071] In one embodiment, please refer to Fig.10 , the air pump 200 is defined with a first air outlet and a first air inlet, the solenoid valve 300 is defined with a first air path 310 communicating with the adsorption hole 112, a first air outlet pipeline 320 communicating with the first air outlet, and a first air inlet pipeline 330 communicating with the first air inlet; The solenoid valve 300 is configured such that either the first air outlet pipeline 320 or the first air inlet pipeline 330 is connected to the first air path 310 , so that the adsorption hole 112 can inhale or discharge air.

[0072] It can be understood that the solenoid valve 300 can control the on-off of the internal air circuit. Corresponding to different working states, the first air outlet pipe 320 and the first air inlet pipe 330 are selectively connected to the first air circuit 310, so that the adsorption hole 112 inhales air to form or maintain a negative pressure environment, or the adsorption hole 112 discharges air to restore the atmospheric pressure at the adsorption hole 112.

[0073] It should be noted that the solenoid valve 300 controls the on-off of the internal gas circuit, which is a conventional technical means for those skilled in the art, and its specific principle will not be described in detail here.

[0074] In the solution of the embodiment of the present application, the air pump 200 can blow air into or extract air from the adsorption hole 112 by connecting the first air outlet pipe 320 and the first air inlet pipe to the first air path 310 through the solenoid valve 300. When the adsorption hole 112 is close to the workpiece and when the workpiece is transported, the first air inlet pipe is connected to the first air path 310, and the air pump 200 continuously sucks the adsorption hole 112 to provide adsorption force. When the workpiece arrives at the designated station, the first air outlet pipe 320 is connected to the first air path 310, and the air pump 200 blows air to the adsorption hole 112, thereby accelerating the adsorption hole 112 to reach atmospheric pressure, and the workpiece and the adsorption hole 112 are separated from each other.

[0075] Exemplarily, the mover module further includes an air pressure sensor 500 , which is in communication with the first air path 310 . The air pressure sensor 500 is used to detect the pressure value at the adsorption hole 112 .

[0076] For example, see Figure 7 , Figure 8 and Fig.11, the air pressure sensor 500 includes a second air inlet, which is connected to the first air path 310 of the solenoid valve 300. It is understandable that a three-way pipe may be provided at the first air path 310 of the solenoid valve 300, one end of which is connected to the second air path 410 of the manifold seat 400, and the other end is directly connected to the air pressure sensor 500 through a hose. Alternatively, a detection branch 440 may be defined inside the manifold seat 400, the detection branch 440 is respectively connected to the second air path 410 and the fourth connection port, and the fourth connection port is connected to the second air inlet of the air pressure sensor 500 through a fourth connection pipeline, so as to detect the pressure value at the adsorption hole 112.

[0077] Specifically, when the moving submodule is loaded with a workpiece, the air pump 200 switches to the exhaust state, and the solenoid valve 300 controls the first air inlet pipeline 330 to communicate with the first air path 310, so that the airflow between the workpiece and the bearing surface 111 flows through the adsorption hole 112, the first air path 310, the first air inlet pipeline 330, and the first air inlet in sequence to flow into the air pump 200, so as to form a negative pressure between the workpiece and the bearing surface 111, so that the workpiece is fixed on the bearing surface 111. When the moving submodule carries the workpiece and moves to the designated station, the air pump 200 switches to the suction state, and the solenoid valve 300 controls the first air outlet pipeline 320 to communicate with the first air path 310, so that the airflow flows from the first air outlet, the first air outlet pipeline 320, and the first air path 310 to the adsorption hole 112, so as to destroy the negative pressure environment between the workpiece and the bearing surface 111, so that the workpiece can be easily removed.

[0078] In one embodiment, there are multiple first air outlets and first air inlets, each first air outlet is connected to a corresponding first air outlet pipeline 320, and each first air inlet is connected to a corresponding first air inlet pipeline 330. The number of adsorption holes 112 and first air paths 310 corresponds to the number of first air outlets, and each first air path 310 corresponds to a first air outlet pipeline 320 and a first air inlet pipeline 330.

[0079] In the scheme of the embodiment of the present application, the number of the first air outlet and the first air inlet is multiple. A single first outlet and a single first air inlet are a group that can correspond to a first air circuit 310 and an adsorption hole 112. Multiple adsorption holes 112 enable the actuator module to adsorb and transport multiple workpieces at the same time, and the transportation efficiency of the workpieces is relatively high. Furthermore, multiple solenoid valves 300 can control the first air circuit 310 separately and separately. When one of the workpieces arrives at the corresponding designated workstation, the corresponding solenoid valve 300 connects its first air outlet pipeline 320 with the first air circuit 310, thereby releasing the workpiece. The remaining workpieces that have not yet arrived at the designated workstation can still be adsorbed at the adsorption hole 112 relatively stably.

[0080] For example, see Figures 9 to 13The mover module also includes a manifold seat 400, which defines a second air circuit 410, a second air outlet pipeline 420 and a second air inlet pipeline 430. The second air circuit 410 is connected to the first air circuit 310, the second air outlet pipeline 420 is connected to the first air outlet and the first air outlet pipeline 320, and the second air inlet pipeline 430 is connected to the first air inlet and the first air inlet pipeline 330.

[0081] Understandably, see Figure 8 and Fig.10 , the air pump 200 can maintain the air intake state of the first air inlet and the air outlet state of the first air outlet, the solenoid valve 300 also includes an exhaust pipeline 340, and the manifold seat 400 is provided with an exhaust port 480 connected to the exhaust pipeline 340. When the first air inlet is connected to the first air circuit 310 through the first air inlet pipeline 330, the first air outlet is connected to the exhaust port 480 through the first air outlet pipeline 320 to achieve gas discharge. Conversely, when the first air outlet is connected to the first air circuit 310 through the first air outlet pipeline 320, the first air inlet is connected to the exhaust port 480 through the first air inlet pipeline 330 to achieve air supply to the air pump 200.

[0082] Based on the above, it can be found that the mover module of the present application can form negative pressure to adsorb and fix the workpiece, thereby realizing the transportation of the workpiece. In addition, the mover module can control the connection between the adsorption hole 112 and the outlet pipeline and the inlet pipeline through the solenoid valve 300, so that only one air pump 200 is needed to realize the two functions of filling and suction, which greatly reduces the mass and volume of the mover module; at the same time, because the air pump 200 can provide positive pressure to the adsorption hole 112 through the solenoid valve 300, the time required for the workpiece to loosen is greatly shortened, and the workpiece can be quickly loaded and unloaded while ensuring the tightness of the adsorption during the transportation process, which improves the transportation efficiency of the mover module, and avoids the situation where the workpiece and the bearing surface 111 are too tightly attached, resulting in the workpiece still being firmly adsorbed after the user sends a disassembly instruction.

[0083] For details, please refer to Fig. 9 and Fig.11 , taking the example of the airflow flowing from the adsorption hole 112 toward the first air path 310 in the vacuum state, for the convenience of understanding, the width direction of the manifold seat 400 is set as the first direction, and the length direction is set as the second direction. The end of the second air path 410 is provided with a first connection port 461, and the first connection port 461 is connected to the first connection pipeline 471, which can be referred to Figure 6As shown in the figure, the first connecting pipeline 471 can be an independently arranged hose, a hard pipe or other structure capable of forming an internal pipeline, and the first connecting pipeline 471 is connected to the third gas path 114 of the main body 100. The second gas path 410 has a first section 411 extending along the first direction, and a second section 412 extending along the second direction, and the second section 412 is connected to the first gas path 310. It should be noted that in order to facilitate the drilling of deep holes to produce the second section 412 connected to the first gas path 310 and the first section 411, a process hole 450 is opened on the side wall of the manifold seat 400, and holes are drilled from the process hole 450 to connect the first section 411 and the first gas path 310 in sequence, and then the process hole 450 is blocked and closed to avoid air leakage.

[0084] For example, see Figure 7 , Fig. 9 and Fig.12 , the second air intake pipeline 430 includes an air intake branch 431, a third section 432, a fourth section 433 and a fifth section 434. The manifold seat 400 is also provided with a second connection port 462, which is connected to a second connection pipeline 472. The second connection pipeline 472 may be an independently provided hose, a hard pipe or other structure capable of forming an internal pipeline, and is used to communicate with the first air intake port of the air pump 200. The air intake branch 431 is connected to the second connection port 462 and extends in a vertical direction, and then communicates with the third section 432 along the first direction. The two third sections 432 are respectively communicated with the fourth section 433 extending along the second direction, thereby completing the confluence of the airflows of the two air intake branches 431. The fourth section 433 is communicated with the fifth section 434 extending vertically, and the fifth section 434 is communicated with the first air intake pipeline 330. It should be noted that, in order to facilitate the formation of the second air intake pipeline 430, a process hole 450 is also opened on the manifold seat 400.

[0085] For example, see Fig. 9 and Fig.13 The manifold seat 400 is provided with a third connection port 463, and the third connection port 463 is connected to the third connection pipeline 473. The third connection pipeline 473 can be an independently provided hose, a hard pipe or other structure that can form an internal pipeline, which is used to communicate with the first air outlet of the air pump 200. The manifold seat 400 is provided with an outlet branch 421 extending along the second direction, and two holes are formed on the left end surface of the manifold seat 400, and then communicated with the first outlet pipeline 320 of the solenoid valve 300 through a hose, a hard pipe, etc. In other embodiments, an air path connected to the first outlet pipeline 320 can also be manufactured inside the manifold seat 400.

[0086] For example, see Fig.14The main body 100 includes a first main body part 110 and a second main body part 120 that are arranged to intersect each other. The side of the first main body part 110 that is away from the second main body part 120 forms a bearing surface 111, and the side facing the second main body part 120 is used for sliding connection with the stator module. The side of the second main body part 120 that faces the first main body part 110 is provided with a magnetic plate 122, and the magnetic plate 122 is used for electromagnetic coupling with the stator module to drive the movable module to move.

[0087] Exemplarily, the first body portion 110 is disposed orthogonally to the second body portion 120 , and the first body portion 110 is arranged along a horizontal plane.

[0088] It can be understood that the first body part 110 is provided with a slide groove 113 on the side facing the second body part 120, which can be plugged with the slide rail on the stator module, so as to achieve a sliding connection between the stator module and the mover module. The second body part 120 is located on the side of the slide rail, and the second body part 120 is provided with a magnetic plate 122 on the side facing the first body part 110. The magnetic plate 122 can be electromagnetically coupled with the stator module, so as to drive the mover module to move through the change of the magnetic field of the stator module.

[0089] For example, see Figure 6 and Fig.14 The side of the second main body 120 away from the first main body 110 is a mounting surface 121, and the air pump 200, the solenoid valve 300 and the manifold seat 400 are all arranged on the mounting surface 121. Since the mounting surface 121 and the bearing surface 111 are arranged to intersect, the structure arranged on the mounting surface 121 will not affect the placement of the workpiece on the bearing surface 111, so that the movable module can transport workpieces of more specifications and sizes.

[0090] Exemplarily, the solenoid valve 300 is installed on the manifold seat 400, the air path on the solenoid valve 300 is correspondingly connected to the air holes on the manifold seat 400, and the air pump 200 is arranged above the manifold seat 400. The solenoid valve 300, the air pump 200, the manifold seat 400, the air pressure sensor 500, etc. are all installed in the same area, and together constitute an adsorption module. The moving submodule also includes a communication module 600, and the adsorption module and the communication module 600 are arranged in parallel on the mounting surface 121 to achieve efficient use of the space on the mounting surface 121, thereby helping to reduce the size of the moving submodule.

[0091] The present application also provides a logistics conveying line, which includes a stator module and the mover module mentioned in the above embodiment, the mover module is slidably connected to the stator module, and the stator module can drive the mover module to move on the stator module.

[0092] It is understandable that the communication module 600 can transmit signals with the control system of the logistics conveyor line and control the opening and closing of the air pump 200 and the solenoid valve 300. For example, when the moving submodule moves to the loading position, the air pump 200 starts to pump air, and the solenoid valve 300 connects the first air inlet of the air pump 200 with the adsorption hole 112. The pressure detected by the air pressure sensor 500 gradually increases until the set value is reached, and the air pump 200 or the solenoid valve 300 is controlled to maintain the current negative pressure unchanged to maintain the abutment relationship between the workpiece and the main body 100. Then the control system controls the moving submodule to move on the stator module to transport the workpiece to the designated work position. When the control system sends a signal to release the workpiece to the communication module 600, the communication module 600 controls the air pump 200 to inflate and sets the solenoid valve 300 to reduce the negative pressure between the workpiece and the main body 100. When the air pressure sensor 500 feedbacks the pressure, it indicates that the workpiece has been completely released and can be removed. The control system sends a signal to the communication module 600 to close the air pump 200 and the solenoid valve 300 .

[0093] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of protection.

Claims

1. A control method for a moving module, characterized in that: include: Drive the mover module close to the workpiece; Control the solenoid valve to allow the air pump to suck the adsorption hole; When the adsorption hole and the workpiece are in contact with each other, adjusting the duty cycle of the air pump according to the actual negative pressure and the set target negative pressure; When the moving submodule moves to a designated workstation, the air pump is controlled to release the workpiece adsorbed by the adsorption hole.

2. The control method according to claim 1, characterized in that: The difference between the target negative pressure and the actual negative pressure is the negative pressure difference, and the step of adjusting the duty cycle of the air pump according to the actual negative pressure and the set target negative pressure includes: When the absolute value of the negative pressure difference is greater than or equal to the preset pressure, the duty cycle of the air pump is adjusted.

3. The control method according to claim 2, characterized in that: When the absolute value of the negative pressure difference is greater than or equal to the preset pressure, the step of adjusting the duty cycle of the air pump comprises: When the actual negative pressure is greater than the set target negative pressure, reducing the duty cycle of the air pump; When the actual negative pressure is less than the set target negative pressure, the duty cycle of the air pump is increased.

4. The control method according to claim 2, characterized in that: The step of adjusting the duty cycle of the air pump comprises: constructing an adjustment function according to the negative pressure difference; adjusting the duty cycle of the air pump according to the adjustment function; Among them, the adjustment function is a function related to time t, the duty cycle is the sum of a proportional term, an integral term and a differential term, the proportional term is the product of a first coefficient and the adjustment function, the integral term is the product of a second coefficient and the integral of the adjustment function with respect to time t, and the differential term is the product of a third coefficient and the differential of the adjustment function with respect to time t.

5. The control method according to claim 1, characterized in that: The step of adjusting the duty cycle of the air pump according to the set actual negative pressure and the target negative pressure comprises: Acquisition: Acquiring the duty cycle of the air pump according to the actual negative pressure within a preset time period and the set target negative pressure; Adjustment: adjusting the duty cycle of the air pump according to the acquired duty cycle of the air pump; The acquisition step and the adjustment step are repeated until the preset conditions are met.

6. The control method according to any one of claims 1 to 5, characterized in that: The step of controlling the air pump to release the workpiece adsorbed by the adsorption hole comprises: When the moving submodule moves to a designated workstation, the air pump is controlled to apply positive pressure to the corresponding adsorption hole to release the workpiece.

7. The control method according to any one of claims 1 to 5, characterized in that: The mover module has a plurality of ventilation channels and a plurality of adsorption holes, each of the adsorption holes is provided with a ventilation channel corresponding to the ventilation channels, the ventilation channels are connected to the air pump and the adsorption holes respectively, each of the ventilation channels is provided with a solenoid valve corresponding to the ventilation channels, and the step of adjusting the duty cycle of the air pump according to the actual negative pressure and the set target negative pressure includes: The duty cycle of the air pump is controlled according to the actual negative pressure of the ventilation channel and the set target negative pressure.

8. The control method according to any one of claims 1 to 5, characterized in that: The steps of controlling the solenoid valve to allow the air pump to suck the adsorption hole include: When the adsorption hole is not in contact with the workpiece, controlling the solenoid valve to connect the air pump with the adsorption hole; When the air pump sucks the adsorption hole, the movable module is driven to make the adsorption hole contact the workpiece.

9. A moving submodule, characterized in that: Using the control method according to any one of claims 1 to 8, the mover module comprises: A main body, the main body comprising a bearing surface for contacting a workpiece, the bearing surface defining adsorption holes; An air pump, used for sucking or blowing air into the adsorption holes; The electromagnetic valve is communicated with the air pump and the adsorption hole respectively.

10. The mover module according to claim 9, characterized in that: The mover module further includes a communication module, which is electrically connected to the solenoid valve and the air pump, and is used to control the duty cycle of the air pump.

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