Method, device and belt conveyor system for controlling a belt conveyor system

Abstract

The application discloses a control method and device of a belt conveying system and the belt conveying system, and belongs to the technical field of belt conveying. The servo motor and the encoder of the belt conveying system are configured to rotate periodically, and the rotation length of the servo motor and the encoder in one period is equal. The method comprises the following steps: in the case that the belt is in a running state, a first rotation displacement of the servo motor in one period is acquired, and a second rotation displacement of the encoder in one period is acquired; based on the first rotation displacement and the second rotation displacement, a transmission displacement deviation of the belt is obtained; in the case that the transmission displacement deviation exceeds an allowable displacement deviation, the belt is controlled to stop running. The scheme can monitor the running state of the belt in real time, and stop the belt in time, so that the risk of machine collision caused by reasons such as slipping and tooth skipping is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of belt transmission, and particularly relates to a control method and device of a belt transmission system and the belt transmission system. BACKGROUND

[0002] In modern automated production, belt conveying is frequently used as a common transmission mode in production. In the belt transmission process, due to aging of the belt or uncertain mechanical reasons, problems such as belt slip or tooth skipping may occur. At present, the motor at the control end cannot perform fault identification, and when problems such as belt slip or tooth skipping occur, the control end cannot immediately stop power output, thereby causing the risk of equipment collision. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a control method and device of a belt transmission system and the belt transmission system, which can monitor the running state of the belt in real time, stop the belt in time, and reduce the risk of collision caused by reasons such as slip and tooth skipping.

[0004] In a first aspect, the present application provides a control method of a belt transmission system, the belt transmission system comprising a belt, a driving wheel, a driven wheel and a servo motor, the belt being sleeved on the driving wheel and the driven wheel, the servo motor being connected with the driving wheel, the servo motor being used to drive the driving wheel to rotate, the driven wheel being provided with an encoder, the encoder being used to collect the displacement of the rotation of the driven wheel, the servo motor and the encoder being configured to rotate periodically, and the rotation length of the servo motor and the encoder in one period being equal, the method comprising:

[0005] In the case that the belt is in a running state, a first rotation displacement of the servo motor in one period is obtained, and a second rotation displacement of the encoder in one period is obtained;

[0006] Based on the first rotation displacement and the second rotation displacement, a transmission displacement deviation of the belt is obtained;

[0007] In the case that the transmission displacement deviation exceeds a permitted displacement deviation, the belt is controlled to stop running.

[0008] According to the control method of the belt transmission system of the present application, by configuring the servo motor and the encoder to rotate periodically, the first rotation displacement of the servo motor in one period and the second rotation displacement of the encoder in one period are compared to obtain the real-time transmission displacement deviation, the running state of the belt can be monitored in real time, the belt can be stopped in time, and the risk of collision caused by reasons such as slip and tooth skipping can be reduced.

[0009] According to one embodiment of the present application, the belt has at least two parallel belts, each of the belts is connected with one of the driven wheels, each of the driven wheels is provided with one of the encoders, the transmission displacement deviation of the belt is obtained based on the first rotation displacement and the second rotation displacement, and the method comprises:

[0010] calculating the transmission displacement deviation between any two of the first rotation displacement and the at least two second rotation displacements;

[0011] in a case where it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running, and the method comprises:

[0012] controlling the belt to stop running in a case where any of the transmission displacement deviations exceeds the allowable displacement deviation.

[0013] According to one embodiment of the present application, the calculating the transmission displacement deviation between any two of the first rotation displacement and the at least two second rotation displacements comprises:

[0014] obtaining a first transmission displacement deviation based on the first rotation displacement and the second rotation displacement;

[0015] obtaining a second transmission displacement deviation based on two of the second rotation displacements;

[0016] in a case where any of the transmission displacement deviations exceeds the allowable displacement deviation, controlling the belt to stop running, and the method comprises:

[0017] controlling the belt to stop running in a case where any of the first transmission displacement deviations exceeds a first allowable displacement deviation or any of the second transmission displacement deviations exceeds a second allowable displacement deviation.

[0018] According to one embodiment of the present application, one cycle of rotation of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from a zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and in a case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, the belt is controlled to stop running, and the method comprises:

[0019] controlling the belt to stop running in a case where the first rotation displacement is located in the second rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation.

[0020] According to one embodiment of the present application, one cycle of rotation of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and the control of the belt to stop running in the case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation comprises:

[0021] In the case where the first rotation displacement is located in the first rotation interval, and the transmission displacement deviation is greater than the allowable displacement deviation and less than a target difference value, the belt is controlled to stop running;

[0022] The target difference value is the difference between the length of one cycle of rotation of the servo motor and the allowable displacement deviation.

[0023] According to one embodiment of the present application, one cycle of rotation of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and the control of the belt to stop running in the case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation comprises:

[0024] In the case where the first rotation displacement is located in the third rotation interval, and the transmission displacement deviation is greater than the allowable displacement deviation and less than a target difference value, the belt is controlled to stop running;

[0025] The target difference value is the difference between the length of one cycle of rotation of the servo motor and the allowable displacement deviation.

[0026] According to one embodiment of the present application, the length of one cycle of rotation of the servo motor and the encoder is equal to the conveying step distance of the belt.

[0027] In a second aspect, the present application provides a control device of a belt conveying system, the belt conveying system comprising a belt, a driving wheel, a driven wheel and a servo motor, the belt being sleeved on the driving wheel and the driven wheel, the servo motor being connected with the driving wheel, the servo motor being used to drive the driving wheel to rotate, the driven wheel being provided with an encoder, the encoder being used to collect the displacement of the rotation of the driven wheel, the servo motor and the encoder being configured to rotate in cycles, and the length of one cycle of rotation of the servo motor and the encoder being equal, and the device comprising:

[0028] The acquisition module is used to acquire the first rotation displacement of the servo motor in one cycle of rotation and the second rotation displacement of the encoder in one cycle of rotation in the case where the belt is in a running state;

[0029] The first processing module is configured to obtain a transmission displacement deviation of the belt based on the first rotation displacement and the second rotation displacement.

[0030] The second processing module is configured to control the belt to stop running in a case where it is determined that the transmission displacement deviation exceeds an allowable displacement deviation.

[0031] According to the control device of the belt transmission system, the servo motor and the encoder are configured to rotate periodically, and the transmission displacement deviation is obtained based on the first rotation displacement of the servo motor in one period and the second rotation displacement of the encoder in one period. The running state of the belt can be monitored in real time, and the belt can be stopped in time, so that the risk of machine collision caused by reasons such as slipping and tooth skipping is reduced.

[0032] In a third aspect, the present application provides a belt transmission system, comprising:

[0033] The belt, the driving wheel, the driven wheel and the servo motor, the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected with the driving wheel, the servo motor is used for driving the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used for collecting the displacement of the driven wheel rotation, the servo motor and the encoder are configured to rotate periodically, and the rotation length of the servo motor and the encoder in one period is equal.

[0034] The control device of the belt transmission system as described in the second aspect above, the control device of the belt transmission system is connected with the servo motor.

[0035] According to an embodiment of the present application, further comprising:

[0036] The coupling, the encoder is connected with the driven wheel through the coupling.

[0037] In a fourth aspect, the present application provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the control method of the belt transmission system as described in the first aspect above.

[0038] In a fifth aspect, the present application provides a non-transitory computer readable storage medium, having a computer program stored thereon, and the computer program is executed by a processor to realize the control method of the belt transmission system as described in the first aspect above.

[0039] In a sixth aspect, the present application provides a computer program product, comprising a computer program, and the computer program is executed by a processor to realize the control method of the belt transmission system as described in the first aspect above.

[0040] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood by considering the following description in conjunction with the accompanying drawings, in which:

[0042] Figure 1 is one of flow schematic diagrams of the control method of the belt conveying system provided by the embodiments of the present application;

[0043] Figure 2 is another of flow schematic diagrams of the control method of the belt conveying system provided by the embodiments of the present application;

[0044] Figure 3 is a schematic diagram of a rotation range of a servo motor of the belt conveying system provided by the embodiments of the present application in one cycle;

[0045] Figure 4 is one of structural schematic diagrams of the belt conveying system provided by the embodiments of the present application;

[0046] Figure 5 is Figure 4 is a partial enlarged schematic diagram at E in FIG. 6;

[0047] Figure 6 is a structural schematic diagram of the control device of the belt conveying system provided by the embodiments of the present application;

[0048] Figure 7 is another of structural schematic diagrams of the belt conveying system provided by the embodiments of the present application;

[0049] Figure 8 is a structural schematic diagram of the electronic device provided by the embodiments of the present application.

[0050] Reference Signs:

[0051] belt 310, servo motor 320, encoder 330, driven wheel 340, coupling 350, driver 360,

[0052] human-computer interface 510, control device 600, acquisition module 610, first processing module 620, second processing module 630. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0054] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0055] The control method of the belt transmission system, the control device 600 of the belt transmission system, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0056] The control method of the belt transmission system can be applied to the belt transmission system, and can be specifically executed by hardware or software in the belt transmission system.

[0057] The belt transmission system of the embodiment of the present application includes a belt 310 , a driving pulley, a driven pulley 340 and a servo motor 320 .

[0058] like Figure 4 As shown, the belt 310 is sleeved on the driving wheel and the driven wheel 340, and the servo motor 320 is connected to the driving wheel. The servo motor 320 is used to drive the driving wheel to rotate. The rotation of the driving wheel drives the belt 310 to move, and the driven wheel 340 rotates accordingly. The rotation of the servo motor 320, the driving wheel and the driven wheel 340 remains synchronized.

[0059] It should be noted that the servo motor 320 is a high-precision actuator that converts electrical signals into displacement and angle changes. While providing power to the belt 310, it accurately controls the rotational displacement and angle and precisely positions the movement of the belt 310.

[0060] The servo motor 320 is connected to the driving wheel, and the servo motor 320 can collect the displacement of the driving wheel in real time; the driven wheel 340 is provided with an encoder 330, and the encoder 330 is used to collect the displacement of the driven wheel 340.

[0061] The encoder 330 is an electromechanical device that can measure motion or position. The encoder 330 is mounted on the driven wheel 340 . When the driven wheel 340 rotates, the encoder 330 can collect the displacement of the driven wheel 340 in real time.

[0062] In actual implementation, Figure 5As shown, the encoder 330 and the driven wheel 340 can be connected via a coupling 350 , which allows the encoder 330 and the driven wheel 340 to rotate securely together.

[0063] The servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal.

[0064] The servo motor 320 rotates cyclically according to a certain cycle. In one cycle of the servo motor 320 , the servo motor 320 starts to rotate from a zero position, rotates a fixed length, and then returns to the zero position.

[0065] For example, Figure 3 As shown, point A is the zero position. In one cycle of the servo motor 320, the servo motor 320 starts to rotate from point A, rotates a fixed length S, and then returns to point A.

[0066] The encoder 330 rotates cyclically according to a certain period. In one period of the encoder 330 , the encoder 330 starts to rotate from a zero position, rotates for a fixed length, and then returns to the zero position.

[0067] In this embodiment, the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal, and the fixed rotation length of the encoder 330 in one cycle is equal to the fixed rotation length of the servo motor 320 in one cycle.

[0068] For example, the rotation length of the servo motor 320 in one cycle is S, and the rotation length of the encoder 330 in one cycle is also S.

[0069] The control method of the belt transmission system of the embodiment of the present application can monitor the running status of the belt 310 in real time, stop the belt 310 in time, and reduce the risk of collision caused by slipping, tooth jumping, etc.

[0070] like Figure 1 As shown, the control method of the belt transmission system includes: step 110, step 120 and step 130.

[0071] Step 110 : When the belt 310 is in a running state, obtain a first rotational displacement of the servo motor 320 in one rotation cycle, and obtain a second rotational displacement of the encoder 330 in one rotation cycle.

[0072] The servo motor 320 drives the driving wheel to rotate, the belt 310 is in a moving state, and the driven wheel 340 also rotates accordingly.

[0073] In this embodiment, when the belt 310 is in motion, a first rotation displacement of the servo motor 320 in a cycle is obtained, and a second rotation displacement of the encoder 330 in the cycle is obtained, wherein the first rotation displacement can represent the displacement information of the rotation of the driving wheel, and the second rotation displacement can represent the displacement information of the rotation of the driven wheel 340.

[0074] It can be understood that the servo motor 320 and the encoder 330 are configured to rotate in cycles, and the rotation lengths of the servo motor 320 and the encoder 330 in a cycle are equal. For example, the rotation length of a cycle is S, the rotation displacement of the servo motor 320 in a cycle can be represented as from 0 to S, and the rotation displacement of the encoder 330 in a cycle can also be represented as from 0 to S.

[0075] It should be noted that the first rotation displacement and the second rotation displacement are displacements obtained at the same time, the first rotation displacement represents the rotation displacement of the servo motor 320 at a certain time in a cycle, and the second rotation displacement represents the rotation displacement of the encoder 330 at the same time in the cycle.

[0076] In step 120, based on the first rotation displacement and the second rotation displacement, the transmission displacement deviation of the belt 310 is obtained.

[0077] In this step, according to the first rotation displacement of the servo motor 320 and the second rotation displacement of the encoder 330, real-time position comparison is performed to obtain the transmission displacement deviation of the belt 310 in the running process. The transmission displacement deviation can be used to determine whether the belt 310 slips, jumps teeth, or the like.

[0078] For example, the rotation length of a cycle is S.

[0079] At T1, the first rotation displacement S1 of the servo motor 320 is obtained, and 0<S1<S; at T1, the second rotation displacement S2 of the encoder 330 is obtained, and 0<S2<S.

[0080] In this embodiment, according to S1 and S2, the transmission displacement deviation between the driving wheel and the driven wheel 340 in the belt transmission system can be determined, and whether the belt 310 slips, jumps teeth, or the like can be determined.

[0081] In step 130, when it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running.

[0082] The allowable displacement deviation is a preset displacement deviation value that can be allowed in the motion process of the belt 310.

[0083] When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, it indicates that the belt 310 may slip, skip teeth, or the like, and the risk of machine collision is large. When the transmission displacement deviation of the belt 310 does not exceed the allowable displacement deviation, the belt 310 moves normally, and the risk of machine collision is small.

[0084] It can be understood that different allowable displacement deviations can be set according to different conveying requirements of the belt conveying system or different device models.

[0085] It should be noted that the first rotation displacement is the displacement of the servo motor 320 in one cycle, and the second rotation displacement is the displacement of the encoder 330 in one cycle. The transmission displacement deviation determined according to the first rotation displacement and the second rotation displacement represents the displacement deviation of the belt 310 in one cycle of the servo motor 320.

[0086] The servo motor 320 and the encoder 330 perform cyclic displacement comparison. In a certain cycle of the servo motor 320, if the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the servo motor 320 is controlled to stop rotating, and the movement of the belt 310 can be stopped in time in the cycle. If the transmission displacement deviation does not exceed the allowable displacement deviation in the cycle, the servo motor 320 can enter the rotation of the next cycle, and the encoder 330 also enters the rotation of the next cycle.

[0087] In the related art, the motor of the control end cannot perform fault recognition. When problems such as slipping or skipping occur, the control end cannot immediately stop power output, thereby causing the risk of machine collision of the device.

[0088] In the embodiment of the application, the servo motor 320 and the encoder 330 are configured to rotate in cycles, and the rotation lengths of one cycle are equal. According to the first rotation displacement of the servo motor 320 in one cycle and the second rotation displacement of the encoder 330 in one cycle, the servo motor 320 and the encoder 330 perform cyclic displacement comparison to determine the transmission displacement deviation of the belt 310. The real-time transmission displacement deviation is compared with the allowable displacement deviation to effectively monitor the displacement deviation state of the belt 310 during operation. When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, the servo motor 320 is controlled to stop rotating, and the belt 310 is controlled to stop moving, thereby reducing the risk of machine collision caused by reasons such as slipping and skipping.

[0089] According to the control method of the belt conveying system provided in the embodiment, the servo motor 320 and the encoder 330 are configured to rotate periodically, the first rotation displacement of the servo motor 320 in one period and the second rotation displacement of the encoder 330 in one period are compared, the real-time conveying displacement deviation is obtained, the running state of the belt 310 can be monitored in real time, and the belt 310 can be stopped in time, so that the risk of machine collision caused by slipping, tooth skipping and the like is reduced.

[0090] In some embodiments, the rotation length of the servo motor 320 and the encoder 330 in one period is equal to the conveying step distance of the belt 310.

[0091] The conveying step distance of the belt 310 can be the distance covered by the belt 310 each time it moves or steps.

[0092] In actual execution, the running process of the belt 310 can be divided into the execution of multiple running steps, and the conveying step distance is the stroke length of each running step.

[0093] For example, the total length of the belt 310 is 10 m, the conveying step distance of the belt 310 is 1 m, the workpiece to be processed can be placed on the belt 310 at intervals of 1 m, and the belt 310 can be advanced by one running step each time, so that the workpiece to be processed can be conveyed by 1 m.

[0094] In this embodiment, the rotation length of the servo motor 320 and the encoder 330 in one period is equal to the conveying step distance of the belt 310, and the displacement comparison of the servo motor 320 and the encoder 330 can be used to monitor the displacement deviation in the execution process of each running step of the belt 310 in real time. If the conveying displacement deviation exceeds the allowable displacement deviation, the belt 310 can be controlled to stop running in time, and if the conveying displacement deviation does not exceed the allowable displacement deviation, the belt 310 can enter the execution process of the next running step.

[0095] In the related art, whether the belt 310 is offset is detected by obtaining the displacement information of the belt 310 after completing a running step, so that the displacement deviation in the running step execution process cannot be detected in real time, and when problems such as slipping or tooth skipping occur, the power output cannot be stopped in time, and the risk of machine collision is high.

[0096] In the embodiment, the servo motor 320 and the encoder 330 are configured to rotate periodically, and the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying step distance of the belt 310. Through the cyclic displacement comparison of the servo motor 320 and the encoder 330, the displacement deviation of the belt 310 in the execution process of the running step can be monitored in real time. When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the belt 310 is controlled to stop moving in time, thereby reducing the risk of machine collision. When the transmission displacement deviation of the belt 310 does not exceed the allowable displacement deviation, the belt 310 can enter the execution process of the next running step, thereby ensuring the normal operation of the belt transmission system.

[0097] It should be noted that the belt 310 of the belt transmission system can be one or more, and one servo motor 320 can be used to control the conveying of all the belts 310. Each belt 310 is connected with a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. The encoder 330 can collect the displacement information of the rotation of the driven wheel 340 connected therewith.

[0098] In some embodiments, the belt 310 of the belt transmission system has at least two parallel belts, and step 120, based on the first rotation displacement and the second rotation displacement, obtaining the transmission displacement deviation of the belt 310, can include:

[0099] calculating the transmission displacement deviation between any two of the first rotation displacement and the at least two second rotation displacements;

[0100] In the case where it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, which includes:

[0101] In the case where any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running.

[0102] It can be understood that two or more belts 310 can be arranged in parallel and can jointly undertake the transmission or conveying task.

[0103] In this embodiment, each belt 310 is connected with a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. When the belt 310 is in a moving state, at a certain moment, a first rotation displacement and at least two second rotation displacements can be obtained.

[0104] In actual execution, the transmission displacement deviation between any two of the first rotation displacement and the at least two second rotation displacements can be calculated to obtain at least three transmission displacement deviations of the belt 310. When any of the at least three transmission displacement deviations exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, the servo motor 320 stops rotating, and the belt 310 stops moving.

[0105] For example, the belt transmission system has two belts 310 arranged in parallel.

[0106] like Figure 4 As shown, two belts 310 are arranged in parallel, each belt 310 is connected to a driven wheel 340, each driven wheel 340 is provided with an encoder 330, and the rotation length of one cycle of the servo motor 320 and the encoder 330 is S.

[0107] At time T1, the first rotational displacement of the servo motor 320 is obtained as S1, 0<S1<S; at time T1, the second rotational displacement of one encoder 330 is obtained as S2, 0<S2<S, and the second rotational displacement of the other encoder 330 is obtained as S3, 0<S3<S.

[0108] In this embodiment, the transmission displacement deviation between any two of the first rotational displacement and at least two second rotational displacements is calculated. According to S1 and S2, a transmission displacement deviation can be determined. According to S1 and S3, a transmission displacement deviation can be determined. According to S2 and S3, a transmission displacement deviation can be determined.

[0109] S1, S2 and S3 perform cyclic displacement comparison and judgment with each other. When any transmission displacement deviation exceeds the allowable displacement deviation, the servo motor 320 is controlled to stop rotating and the belt 310 stops moving, reducing the risk of collision caused by slipping, tooth jumping, etc.

[0110] In some embodiments, calculating the transmission displacement deviation between the first rotational displacement and any two of the at least two second rotational displacements includes:

[0111] obtaining a first transmission displacement deviation based on the first rotational displacement and the second rotational displacement;

[0112] Based on the two second rotational displacements, a second transmission displacement deviation is obtained;

[0113] In the event that any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, including:

[0114] In the event that any first transmission displacement deviation exceeds the first allowable displacement deviation, or any second transmission displacement deviation exceeds the second allowable displacement deviation, the belt 310 is controlled to stop running.

[0115] Among them, the first transmission displacement deviation represents the displacement deviation between the servo motor 320 and the encoder 330, that is, the displacement deviation of the belt 310 between the driving pulley and the driven pulley 340; the second transmission displacement deviation represents the displacement deviation between the two encoders 330, that is, the displacement deviation between the parallel belts 310.

[0116] For example, as shown in FIG. 3, two parallel belts 310 are arranged, each of which is connected with a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. The length of one cycle of rotation of the servo motor 320 and the encoder 330 is S. Figure 4

[0117] At T1, the first rotation displacement of the servo motor 320 is S1, 0<S1<S; at T1, the second rotation displacement of one of the encoders 330 is S2, 0<S2<S, and the second rotation displacement of the other encoder 330 is S3, 0<S3<S.

[0118] In this embodiment, according to S1 and S2, a first transmission displacement deviation can be obtained, according to S1 and S3, a first transmission displacement deviation can be obtained, and according to S2 and S3, a second transmission displacement deviation can be obtained.

[0119] It can be understood that the first allowable displacement deviation is the allowable displacement deviation between the driving wheel and the driven wheel 340 in the movement process of the belt 310, and the second allowable displacement deviation is the allowable displacement deviation between the parallel belts 310 in the movement process of the belt 310. In the same belt transmission system, the first allowable displacement deviation and the second allowable displacement deviation can be different.

[0120] In the related art, parallel belts 310 are used for transmission. When some of the belts 310 have problems such as skipping teeth and slipping, the motor of the control end cannot identify the fault, which causes the parallel belts 310 to run out of synchronization and causes the risk of equipment collision.

[0121] In the embodiments of the present application, for two or more parallel belts 310, by comparing the first transmission displacement deviation with the first allowable displacement deviation, it is judged whether the displacement deviation between the belt 310 and the driving wheel and the driven wheel 340 is out of limit, and by comparing the second transmission displacement deviation with the second allowable displacement deviation, it is judged whether the displacement deviation between the parallel belts 310 is out of limit. The single-row belt 310 can be monitored in real time whether it has problems such as skipping teeth and slipping, and the parallel belts 310 can be monitored in real time whether they have problems such as running out of synchronization. The servo motor 320 is stopped from rotating, and the belt 310 is stopped from moving in time, thereby reducing the risk of collision.

[0122] The comparison and judgment logic of the transmission displacement deviation and the allowable displacement deviation will be described in detail below.

[0123] It should be noted that one cycle of rotation of the servo motor 320 starts from the zero position and is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence, and the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation.​

[0124] As shown in the figure, A is the zero point position of the start of the rotation of the servo motor 320, and the interval from A to B is the first rotation interval, the interval from B to C is the second rotation interval, and the interval from C to A is the third rotation interval. Figure 4

[0125] In this embodiment, the lengths of the first rotation interval and the third rotation interval are both equal to the pre-set allowable displacement deviation d, and the rotation length of the servo motor 320 in one cycle is S, and the length of the second rotation interval is S-2d.

[0126] In actual execution, the first rotation displacement of the servo motor 320 in one cycle can be located in any one of the first rotation interval, the second rotation interval, and the third rotation interval.

[0127] It should be noted that the transmission displacement deviation is the absolute value of the difference between the first rotation displacement and the second rotation displacement, or, for two parallel belts 310, the transmission displacement deviation is the absolute value of the difference between the two second rotation displacements.

[0128] I. The first rotation displacement obtained is located in the second rotation interval.

[0129] In some embodiments, step 130, in the case where the transmission displacement deviation is greater than the allowable displacement deviation, the belt 310 is controlled to stop running, which can include:

[0130] In the case where the first rotation displacement is located in the second rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt 310 is controlled to stop running.

[0131] In this embodiment, the first rotation displacement read by the servo motor 320 is located in the second rotation interval, when the transmission displacement deviation is greater than the allowable displacement deviation, it is judged as an out-of-limit condition, and the belt 310 is controlled to stop running, when the transmission displacement deviation is less than or equal to the allowable displacement deviation, it is judged as an allowable condition, and the belt transmission system can continue to run.

[0132] For example, the rotation length of the servo motor 320 and the encoder 330 in one cycle is S, the first rotation displacement is b, the second rotation displacement is b1, and the pre-set allowable displacement deviation is d.

[0133] In this embodiment, the first rotation displacement is located in the second rotation interval, d≤b≤(S-d), if -d≤b1-b≤d is satisfied, it is judged that the deviation value is allowable, if b1-b<-d or b1-b>d is satisfied, it is judged that the deviation value is out-of-limit, and the belt 310 is controlled to stop running.

[0134] ​Wherein, b1-b<-d or b1-b>d, can be expressed as |b1-b|>d, |b1-b| is the transmission displacement deviation, that is, the transmission displacement deviation is greater than the allowable displacement deviation.

[0135] II. The obtained first rotation displacement is located in the first rotation interval.

[0136] In some embodiments, the step 130, in the case of determining that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt 310 to stop running, can include:

[0137] In the case that the first rotation displacement is located in the first rotation interval, and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference value, the belt 310 is controlled to stop running;

[0138] Wherein, the target difference value is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0139] In this embodiment, the first rotation displacement of the servo motor 320 reading is located in the first rotation interval, when the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference value, it is judged as an out-of-limit working condition, and the belt 310 is controlled to stop running, when the transmission displacement deviation is less than the allowable displacement deviation, or the transmission displacement deviation is greater than the target difference value, it is judged as an allowable working condition, and the belt transmission system can continue to run.

[0140] For example, the rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement is b, the second rotation displacement is b1, and the pre-set allowable displacement deviation is d.

[0141] In this embodiment, the first rotation displacement is located in the first rotation interval, 0≤b<d, if 0≤b1≤d+b or S+b-d≤b1≤S is met, it is judged that the deviation value is allowable, and if it is not met, it is judged that the deviation value is out-of-limit.

[0142] Wherein, the displacement recording ranges of b1 and b are both 0 to S, when the condition of 0≤b1≤d+b or S+b-d≤b1≤S is not met, d+b<b1<S+b-d, that is, d<b1-b<S-d, the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference value, the transmission displacement deviation is b1-b, b1-b is a positive number greater than 0, and the target difference value is S-d.

[0143] III. The obtained first rotation displacement is located in the third rotation interval.

[0144] In some embodiments, the step 130, in the case of determining that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt 310 to stop running, can include:

[0145] When the first rotation displacement is within the third rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the belt 310 is controlled to stop running;

[0146] The target difference is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0147] In this embodiment, the first rotational displacement read by the servo motor 320 is within the third rotational range. When the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, it is judged as an out-of-limit condition, and the belt 310 is controlled to stop running. When the transmission displacement deviation is less than the allowable displacement deviation, or the transmission displacement deviation is greater than the target difference, it is judged as an allowable condition, and the belt transmission system can continue to operate.

[0148] For example, the rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement is b, the second rotation displacement is b1, and the preset allowable displacement deviation is d.

[0149] In this embodiment, the first rotational displacement is within the third rotational interval, Sd<b≤S, and if bd≤b1≤S or 0≤b1≤b+dS is satisfied, the deviation value is determined to be allowed; if not, the deviation value is determined to be out of limit.

[0150] Among them, the displacement recording range of b1 and b is both 0 to S. When the conditions of bd≤b1≤S or 0≤b1≤b+dS are not satisfied, b+dS<b1<bd, that is, dS<b1-b<-d, b1-b is a negative value, and the inequality is transformed into Sd>b-b1>d. b-b1 can be regarded as the absolute value of b1-b, b-b1 is a positive number greater than 0, and the target difference is Sd.

[0151] A specific embodiment is described below.

[0152] like Figure 2 As shown, the allowable deviation value (i.e., the allowable displacement deviation) is d, the cycle length (the rotation length of the servo motor 320 and the encoder 330 in one cycle) is S, and the motor displacement b (i.e., the first rotation displacement) and the encoder 330 displacement b1 (i.e., the second rotation displacement) are obtained in real time.

[0153] Determining whether the displacement deviation between the servo motor 320 and the encoder 330 exceeds the limit can be divided into the following three branches:

[0154] 1. The first rotation displacement is located in the second rotation range.

[0155] When d≤b≤(Sd), if -d≤b1-b≤d is satisfied, the deviation value is judged to be allowed; if b1-b<-d, or b1-b>d is satisfied, the deviation value is judged to be out of limit, and the belt 310 is controlled to stop running.

[0156] 2. The first rotational displacement is located in the first rotational range.

[0157] When 0≤b<d, if 0≤b1≤d+b or S+bd≤b1≤S is satisfied, the deviation value is judged to be allowed; if not, the deviation value is judged to be out of limit, and the belt 310 is controlled to stop running.

[0158] 3. The first rotational displacement is located in the third rotational interval.

[0159] When Sd<b≤S, if bd≤b1≤S or 0≤b1≤b+dS is satisfied, the deviation value is judged to be allowed; if not, the deviation value is judged to be out of limit, and the belt 310 is controlled to stop running.

[0160] The control method for the belt transmission system provided in the embodiment of the present application can be executed by the control device 600 of the belt transmission system. In the embodiment of the present application, the control device 600 of the belt transmission system is used as an example to illustrate the control method for the belt transmission system provided in the embodiment of the present application.

[0161] An embodiment of the present application also provides a control device 600 for a belt transmission system, wherein the belt transmission system includes a belt 310, a driving pulley, a driven pulley 340, and a servo motor 320. The belt 310 is sleeved on the driving pulley and the driven pulley 340. The servo motor 320 is connected to the driving pulley. The servo motor 320 is used to drive the driving pulley to rotate. The driven pulley 340 is provided with an encoder 330. The encoder 330 is used to collect the displacement of the driven pulley 340. The servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation length of the servo motor 320 and the encoder 330 in one cycle is equal.

[0162] like Figure 6 As shown, the control device 600 of the belt transmission system includes:

[0163] an acquisition module 610 for acquiring a first rotational displacement of the servo motor 320 during one rotation cycle and acquiring a second rotational displacement of the encoder 330 during one rotation cycle when the belt 310 is in a running state;

[0164] A first processing module 620 is configured to obtain a transmission displacement deviation of the belt 310 based on the first rotational displacement and the second rotational displacement;

[0165] The second processing module 630 is configured to control the belt 310 to stop running in a case where it is determined that the transmission displacement deviation exceeds the allowable displacement deviation.

[0166] According to the control device 600 of the belt transmission system provided in the embodiments of the present application, the servo motor 320 and the encoder 330 are configured to rotate periodically, and the real-time transmission displacement deviation is obtained by comparing the first rotation displacement of the servo motor 320 in one period and the second rotation displacement of the encoder 330 in one period, so that the running state of the belt 310 can be monitored in real time, and the belt 310 can be stopped in time, thereby reducing the risk of machine collision caused by reasons such as slipping and tooth skipping.

[0167] In some embodiments, the belt 310 has at least two parallel belts, each of the belts 310 is connected with a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. The first processing module 620 is configured to obtain the transmission displacement deviation of the belt 310 based on the first rotation displacement and the second rotation displacement, including:

[0168] calculating the transmission displacement deviation between the first rotation displacement and any two of the at least two second rotation displacements;

[0169] controlling the belt 310 to stop running in a case where it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, including:

[0170] controlling the belt 310 to stop running in a case where any of the transmission displacement deviations exceeds the allowable displacement deviation.

[0171] In some embodiments, the first processing module 620 is configured to calculate the transmission displacement deviation between the first rotation displacement and any two of the at least two second rotation displacements, including:

[0172] obtaining a first transmission displacement deviation based on the first rotation displacement and the second rotation displacement;

[0173] obtaining a second transmission displacement deviation based on the two second rotation displacements;

[0174] controlling the belt 310 to stop running in a case where any of the transmission displacement deviations exceeds the allowable displacement deviation, including:

[0175] controlling the belt 310 to stop running in a case where any of the first transmission displacement deviations exceeds the first allowable displacement deviation or any of the second transmission displacement deviations exceeds the second allowable displacement deviation.

[0176] In some embodiments, one cycle of rotation of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and the second processing module 630 is configured to control the belt 310 to stop running in a case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0177] In a case where the first rotation displacement is located in the second rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt 310 is controlled to stop running.

[0178] In some embodiments, one cycle of rotation of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and the second processing module 630 is configured to control the belt 310 to stop running in a case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0179] In a case where the first rotation displacement is located in the first rotation interval, the transmission displacement deviation is greater than the allowable displacement deviation and less than a target difference value, the belt 310 is controlled to stop running.

[0180] The target difference value is a difference between the length of one cycle of rotation of the servo motor 320 and the allowable displacement deviation.

[0181] In some embodiments, one cycle of rotation of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the lengths of the first rotation interval and the third rotation interval are equal to the allowable displacement deviation, and the second processing module 630 is configured to control the belt 310 to stop running in a case where it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0182] In a case where the first rotation displacement is located in the third rotation interval, the transmission displacement deviation is greater than the allowable displacement deviation and less than a target difference value, the belt 310 is controlled to stop running.

[0183] The target difference value is a difference between the length of one cycle of rotation of the servo motor 320 and the allowable displacement deviation.

[0184] In some embodiments, the length of one cycle of rotation of the servo motor 320 and the encoder 330 is equal to the conveying step distance of the belt 310.

[0185] The control device 600 of the belt conveying system provided in the embodiments of the present application can implement the various processes implemented by the control method embodiments of the belt conveying system described above, and thus the details are not repeated here.

[0186] An embodiment of the present application also provides a belt transmission system.

[0187] The belt transmission system includes a belt 310 , a driving pulley, a driven pulley 340 , a servo motor 320 and a control device 600 of the belt transmission system as described above. The control device 600 is connected to the servo motor 320 .

[0188] like Figure 4 As shown, the belt 310 is sleeved on the driving wheel and the driven wheel 340, and the servo motor 320 is connected to the driving wheel. The servo motor 320 is used to drive the driving wheel to rotate. The rotation of the driving wheel drives the belt 310 to move, and the driven wheel 340 rotates accordingly. The rotation of the servo motor 320, the driving wheel and the driven wheel 340 remains synchronized.

[0189] The servo motor 320 is connected to the driving wheel, and the servo motor 320 can collect the displacement of the driving wheel in real time; the driven wheel 340 is provided with an encoder 330, and the encoder 330 is used to collect the displacement of the driven wheel 340.

[0190] In this embodiment, the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal.

[0191] The servo motor 320 rotates cyclically according to a certain cycle. In one cycle of the servo motor 320 , the servo motor 320 starts to rotate from a zero position, rotates a fixed length, and then returns to the zero position.

[0192] For example, Figure 3 As shown, point A is the zero position. In one cycle of the servo motor 320, the servo motor 320 starts to rotate from point A, rotates a fixed length S, and then returns to point A.

[0193] The encoder 330 rotates cyclically according to a certain period. In one period of the encoder 330 , the encoder 330 starts to rotate from a zero position, rotates for a fixed length, and then returns to the zero position.

[0194] In this embodiment, the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal, and the fixed rotation length of the encoder 330 in one cycle is equal to the fixed rotation length of the servo motor 320 in one cycle.

[0195] For example, the rotation length of the servo motor 320 in one cycle is S, and the rotation length of the encoder 330 in one cycle is also S.

[0196] In some embodiments, the belt transmission system may further include a coupling 350 , through which the encoder 330 is connected to the driven pulley 340 .

[0197] In this embodiment, the encoder 330 can be connected with the driven wheel 340 through a coupling 350, which enables the encoder 330 and the driven wheel 340 to rotate firmly together.

[0198] In the following, the control device 600 is taken as an example of a programmable logic controller (PLC).

[0199] As shown in FIG. 6, the two parallel belts 310 are respectively provided with encoders 330, and a PLC controls a servo motor 320 to rotate through a driver 360. Figure 3 As shown in FIG. 6, the two parallel belts 310 are respectively provided with encoders 330, and a PLC controls a servo motor 320 to rotate through a driver 360. Figure 7 The servo motor 320 and the encoders 330 are configured to rotate periodically, and the length of one period of rotation of the servo motor 320 and the encoders 330 is equal to the conveying step distance of the belts 310.

[0200] The servo motor 320 and the encoders 330 are configured to rotate periodically, and the length of one period of rotation of the servo motor 320 and the encoders 330 is equal to the conveying step distance of the belts 310.

[0201] The human-machine interface 510 can be a touch screen for inputting parameters such as the allowable displacement deviation.

[0202] The PLC performs axis configuration and control on the servo motor 320 and the two encoders 330, and performs transmission displacement deviation calculation on the obtained first rotation displacement and second rotation displacement, to obtain two first transmission displacement deviations and one second transmission displacement deviation.

[0203] The PLC compares the first transmission displacement deviation with the first allowable displacement deviation to determine whether the displacement deviation between the belts 310 between the driving wheel and the driven wheel 340 is out of limit, and compares the second transmission displacement deviation with the second allowable displacement deviation to determine whether the displacement deviation between the parallel belts 310 is out of limit.

[0204] The two encoders 330 can be denoted as A1 and A2, the allowable displacement deviation between the servo motor 320 and A1 is set as a1, the allowable displacement deviation between the servo motor 320 and A2 is set as a2, and the allowable displacement deviation between A1 and A2 is set as a3.

[0205] The length of one period of rotation of the servo motor 320 and the encoders 330 is S, the first rotation displacement of the servo motor 320 is b, the second rotation displacement of A1 is b1, and the second rotation displacement of A2 is b2.

[0206] The logic for determining whether the transmission displacement deviation between the servo motor 320 and A1 is out of limit is as follows:

[0207] When a1≤b≤(S-a1), if -a1≤b1-b≤a1 is satisfied, the deviation value is determined to be allowable, if b1-b<-a1 or b1-b>a1 is satisfied, the deviation value is determined to be out of limit, and the belt 310 is controlled to stop running.

[0208] When 0≤b

[0209] When S-a1

[0210] The logic of determining whether the transmission displacement deviation between the servo motor 320 and A2 is out of limit is as follows:

[0211] When a2≤b≤(S-a2), if -a2≤b2-b≤a2 is satisfied, the deviation value is determined to be allowable, if b2-b<-a2 or b2-b>a2 is satisfied, the deviation value is determined to be out of limit, and the belt 310 is controlled to stop running.

[0212] When 0≤b

[0213] When S-a2

[0214] It can be understood that one cycle of rotation of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position, the rotation length of one cycle of rotation of the encoder 330 and the servo motor 320 is equal, and one cycle of rotation of the encoder 330 is also divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence from the zero position.

[0215] The logic of determining whether the transmission displacement deviation between A1 and A2 is out of limit is as follows:

[0216] When a3≤b1≤(S-a3), if -a3≤b2-b1≤a3 is satisfied, the deviation value is determined to be allowable, if b2-b1<-a3 or b2-b1>a3 is satisfied, the deviation value is determined to be out of limit, and the belt 310 is controlled to stop running.

[0217] When 0≤b1

[0218] When S-a3

[0219] According to the belt conveying system of the embodiment of the present application, the servo motor 320 and the encoder 330 are configured to rotate periodically, the first rotation displacement of the servo motor 320 in one period and the second rotation displacement of the encoder 330 in one period are compared, the real-time conveying displacement deviation is obtained, the running state of the belt 310 can be monitored in real time, the belt 310 can be stopped in time, and the risk of machine collision caused by reasons such as slipping and tooth skipping is reduced.

[0220] In some embodiments, as shown in Figure 8 The electronic device of the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device as described above.

[0221] It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device as described above.

[0222] The embodiment of the present application further provides a non-transitory computer readable storage medium, and the non-transitory computer readable storage medium stores a computer program. When the computer program is executed by a processor, each process of the control method of the belt conveying system is implemented, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0223] The processor is the processor in the electronic device in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0224] The embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the control method of the belt conveying system is implemented.

[0225] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0226] The chip provided by the embodiment of the application includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions to realize each process of the control method of the belt conveying system and achieve the same technical effects. To avoid repetition, details are not described herein.

[0227] It should be understood that the chip mentioned in the embodiment of the application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0228] It should be noted that in this document, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the application is not limited to the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from the described order, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0229] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk, etc.), including a plurality of instructions for making a terminal (which can be a mobile phone, computer, server or network equipment, etc.) execute the method described in each embodiment of the present application.

[0230] The embodiments of the present application are described above with reference to the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, all of which belong to the protection of the present application.

[0231] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0232] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for a belt transmission system, characterized in that: The belt transmission system includes a belt, a driving wheel, a driven wheel, and a servo motor. The belt is sleeved on the driving wheel and the driven wheel. The servo motor is connected to the driving wheel and is used to drive the driving wheel to rotate. The driven wheel is provided with an encoder. The encoder is used to collect the displacement of the driven wheel. The servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal. The method includes: When the belt is in a running state, obtaining a first rotational displacement of the servo motor in one cycle, and obtaining a second rotational displacement of the encoder in one cycle; obtaining a transmission displacement deviation of the belt based on the first rotational displacement and the second rotational displacement; When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running; The belts have at least two arranged in parallel, each of the belts is connected to a driven pulley, and each driven pulley is provided with an encoder. The transmission displacement deviation of the belts is obtained based on the first rotational displacement and the second rotational displacement, including: calculating the transmission displacement deviation between the first rotational displacement and any two of at least two of the second rotational displacements; When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running includes: In the event that any of the transmission displacement deviations exceeds the allowable displacement deviation, the belt is controlled to stop running.

2. The control method of the belt transmission system according to claim 1, characterized in that: The calculating the transmission displacement deviation between the first rotational displacement and any two of the at least two second rotational displacements includes: obtaining a first transmission displacement deviation based on the first rotational displacement and the second rotational displacement; obtaining a second transmission displacement deviation based on the two second rotational displacements; When any of the transmission displacement deviations exceeds the allowable displacement deviation, controlling the belt to stop running includes: When any of the first transmission displacement deviations exceeds a first allowable displacement deviation, or when any of the second transmission displacement deviations exceeds a second allowable displacement deviation, the belt is controlled to stop running.

3. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from a zero position, wherein the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotational displacement is within the second rotational interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt is controlled to stop running.

4. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from a zero position, wherein the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotation displacement is within the first rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, controlling the belt to stop running; The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

5. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from a zero position, wherein the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotational displacement is within the third rotational interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than a target difference, controlling the belt to stop running; The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

6. The control method of the belt transmission system according to any one of claims 1 to 5, characterized in that: The rotation length of one cycle of the servo motor and the encoder is equal to the conveying pitch of the belt.

7. A control device for a belt transmission system, characterized in that: The belt transmission system includes a belt, a driving wheel, a driven wheel and a servo motor. The belt is sleeved on the driving wheel and the driven wheel. The servo motor is connected to the driving wheel and is used to drive the driving wheel to rotate. The driven wheel is provided with an encoder. The encoder is used to collect the displacement of the driven wheel. The servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal. The device includes: an acquisition module, configured to acquire, when the belt is in a running state, a first rotational displacement of the servo motor in one cycle, and acquire a second rotational displacement of the encoder in one cycle; a first processing module, configured to obtain a transmission displacement deviation of the belt based on the first rotational displacement and the second rotational displacement; a second processing module, configured to control the belt to stop running if it is determined that the transmission displacement deviation exceeds the allowable displacement deviation; There are at least two belts arranged in parallel, each belt is connected to a driven wheel, and each driven wheel is provided with an encoder; The first processing module is configured to obtain a transmission displacement deviation of the belt based on the first rotational displacement and the second rotational displacement, including: calculating the transmission displacement deviation between the first rotational displacement and any two of at least two of the second rotational displacements; When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running includes: In the event that any of the transmission displacement deviations exceeds the allowable displacement deviation, the belt is controlled to stop running.

8. A belt transmission system, characterized in that: include: A belt, a driving pulley, a driven pulley, and a servo motor, wherein the belt is sleeved on the driving pulley and the driven pulley, the servo motor is connected to the driving pulley, the servo motor is used to drive the driving pulley to rotate, the driven pulley is provided with an encoder, the encoder is used to collect the displacement of the driven pulley, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal; The control device for the belt transmission system according to claim 7, wherein the control device for the belt transmission system is connected to the servo motor.

9. The belt transmission system according to claim 8, characterized in that: Also includes: A coupling, the encoder is connected to the driven wheel through the coupling.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method of the belt transmission system according to any one of claims 1 to 6 is implemented.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the belt transmission system according to any one of claims 1 to 6 is implemented.

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