Magnetic drive conveying processing system

Abstract

The magnetic drive conveying machining system comprises a magnetic drive conveying track, at least one rotor and a control processor, and the rotor runs on the magnetic drive conveying track; the magnetic drive conveying rail is provided with at least one machining area, and machining equipment is arranged on the machining area. A plurality of processing workpieces are placed on the rotor; when the rotor runs to the machining area, the control processor is used for controlling the machining equipment to machine at least two machining workpieces on the rotor, the multiple workpieces on the single rotor are utilized, the positioning and resetting frequency of the multiple workpieces is reduced, and the multiple workpieces on the single rotor are machined in parallel or in series through the machining equipment. In addition, a plurality of workpieces are arranged on a single rotor, so that the utilization rate of the rotor can be improved, the number of the rotor is reduced, the control cost is reduced, the setting complexity of the magnetic drive conveying machining system is reduced, and the machining efficiency of the magnetic drive conveying system for machining the workpieces is improved.

Description

Technical Field

[0001] This application relates to the field of industrial movement and transportation, and particularly to a magnetic drive transportation and processing system. Background Art

[0002] The magnetic drive conveyor line is a new type of conveyor line. The magnetic drive conveyor line adopts a modular design and can be flexibly configured according to different requirements. It has the characteristics of high precision, high reliability, and low maintenance, and has broad application prospects in the field of industrial automation. Moreover, through the magnetic drive conveyor line, the workpieces transported by the mover can be automatically processed in multiple processes in sequence, which can effectively improve the processing efficiency of the workpiece processing process.

[0003] In the related art, the existing magnetic drive conveyor line usually sets multiple movers carrying workpieces and multiple processes equipped with processing equipment. The mover runs on the magnetic drive conveyor track. When the mover runs to the processing equipment corresponding to each process, the processing equipment processes the workpiece on the mover, so as to realize the automatic processing operation. However, in the existing technology, when multiple movers carrying workpieces run on the magnetic levitation conveyor track, the processing equipment sequentially performs serial positioning, processing, and reset cycle processing on the workpieces on each mover, resulting in low efficiency of the automatic processing process of workpieces in the existing magnetic drive conveyor line. Summary of the Invention

[0004] The embodiments of the present application provide a magnetic drive transportation and processing system, which can improve the processing efficiency of workpieces on the magnetic drive conveyor line.

[0005] To achieve the above object, the first aspect of the embodiments of the present application proposes a magnetic drive transportation and processing system, and the system includes:

[0006] A magnetic drive conveyor track, at least one mover, and a control processor, and the mover runs on the magnetic drive conveyor track;

[0007] The magnetic drive conveyor track is provided with at least one processing area, and processing equipment is provided on the processing area;

[0008] Multiple processing workpieces are placed on the mover;

[0009] When the mover runs to the processing area, the control processor is used to control the processing equipment to process at least two of the processing workpieces on the mover.

[0010] In some embodiments, a plurality of workpiece slots are spaced on the mover, and the processing workpieces are placed in the workpiece slots;

[0011] The processing device is one. When the control processor executes the control to process at least two of the processed workpieces on the mover by the processing device, the execution steps of the control processor include:

[0012] Obtain the distance between the centers of every two adjacent workpiece slots;

[0013] Align the mover to the machining position corresponding to the first slot center as the first target position, and generate a second target position based on the first target position and the cumulative value of the slot distances;

[0014] Control the mover to run to the first target position, and control the processing device to process the first processed workpiece on the mover;

[0015] Control the mover to run to the second target position, and control the processing device to process the second processed workpiece on the mover.

[0016] In some embodiments, a plurality of the processing devices are arranged on the processing area;

[0017] When the mover runs to the processing area, when the control processor executes the control to process at least two of the processed workpieces on the mover by the processing device, the execution steps of the control processor include:

[0018] Control a plurality of the processing devices to process a plurality of the processed workpieces simultaneously.

[0019] In some embodiments, the distance between the centers of every two adjacent processing devices is the same as the slot distance;

[0020] When the control processor executes the control to process a plurality of the processed workpieces by a plurality of the processing devices simultaneously, the execution steps of the control processor include:

[0021] Obtain a third target position based on the matching positions of a plurality of the slot centers and a plurality of the device centers;

[0022] Control the mover to run to the third target position, and control a plurality of the processing devices to process a plurality of the processed workpieces on the mover.

[0023] In some embodiments, when the number of the processing devices is not less than the number of the processed workpieces, when the control processor executes to obtain a third target position based on the matching positions of a plurality of the slot centers and a plurality of the device centers, the execution steps of the control processor include:

[0024] Select a plurality of the processing devices that match the number of the workpieces from the plurality of the processing devices as parallel processing devices;

[0025] Based on the matching positions between the device centers of the parallel processing devices and the centers of the plurality of the slots, obtain the third target position.

[0026] In some embodiments, when the number of the processing devices is less than the number of the workpieces to be processed, when the control processor executes obtaining the third target position based on the matching positions between the centers of the plurality of the slots and the centers of the plurality of the devices, the execution steps of the control processor include:

[0027] Select the frontmost number of the workpieces equal to the number of the devices from the plurality of the workpieces of the mover as the first workpieces, and use the remaining workpieces as the second workpieces;

[0028] Based on the matching positions between the device centers of the plurality of the processing devices and the centers of the slots of the first workpieces, obtain the fourth target position;

[0029] Based on the matching positions between the device centers of the plurality of the processing devices and the centers of the slots of the second workpieces, obtain the fifth target position;

[0030] Based on the fourth target position and the fifth target position, obtain the third target position.

[0031] In some embodiments, after the control processor executes obtaining the third target position based on the matching positions between the centers of the plurality of the slots and the centers of the plurality of the devices, the execution steps of the control processor further include:

[0032] Obtain the processing completion information sent by any one of the parallel processing devices;

[0033] Control the mover to drive out of the current processing area.

[0034] In some embodiments, there are a plurality of the processing areas. When the control processor executes controlling the processing devices to process at least two of the workpieces on the mover, the execution steps of the control processor further include:

[0035] Generate a running compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing;

[0036] Based on the running compensation value, control the mover to run into the next processing area for workpiece processing.

[0037] In some embodiments, when the control processor generates an operation compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing, the execution steps of the control processor include:

[0038] Based on the first distance difference between the actual processing position of the processing equipment and the center of the first slot when the mover runs to the first target position for workpiece processing, generate the operation compensation value;

[0039] Or,

[0040] Based on the second distance difference between the actual processing position of the processing equipment and the center of the second slot when the mover runs to the second target position for workpiece processing, generate the operation compensation value.

[0041] In some embodiments, when the control processor generates an operation compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing, the execution steps of the control processor include:

[0042] Obtain the third distance difference between the actual processing position of each processing equipment and the corresponding slot center when the mover runs to the third target position for workpiece processing;

[0043] Perform an averaging process on all the third distance differences to obtain the operation compensation value.

[0044] The magnetic drive conveying and processing system proposed in the embodiments of the present application includes: a magnetic drive conveying track, at least one mover, and a control processor. The mover runs on the magnetic drive conveying track; the magnetic drive conveying track is provided with at least one processing area, and processing equipment is arranged on the processing area; a plurality of processing workpieces are placed on the mover; when the mover runs to the processing area, the control processor is used to control the processing equipment to process at least two processing workpieces on the mover. In the embodiments of the present application, by placing a plurality of processing workpieces on a single mover of the magnetic drive conveying and processing system, and when the mover runs to the processing area, the control processor coordinates and controls the processing equipment to process at least two workpieces on the mover, so as to utilize multiple workpieces on a single mover, reduce the positioning and resetting times of multiple workpieces, and use the processing equipment to perform parallel or serial processing on multiple workpieces on a single mover, thereby reducing the processing time. In addition, by arranging a plurality of workpieces on a single mover, the utilization rate of the mover can be improved, the number of movers and the control cost are reduced, the setting complexity of the magnetic drive conveying and processing system is reduced, and further the processing efficiency of the magnetic drive conveying system for workpiece processing is improved.

[0045] Other features and advantages of the present application will be described in the subsequent specification, and in part will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the specification, claims, and drawings. Description of the Drawings

[0046] Figure 1 is a schematic diagram of the working process of a magnetic drive conveyor line provided by an embodiment of the present application.

[0047] Figure 2 is a schematic diagram of the structure of a magnetic drive conveyor processing system provided by another embodiment of the present application.

[0048] Figure 3 is a control flowchart of a control processor for performing mover multi-workpiece processing in a processing area where only a single processing device is set.

[0049] Figure 4 is a schematic diagram of a single processing device processing a mover carrying multiple workpieces provided by another embodiment of the present application.

[0050] Figure 5 is a schematic diagram of the structure of a magnetic drive conveyor processing system provided with multiple processing devices according to another embodiment of the present application.

[0051] Figure 6 is a control flowchart of a control processor for performing mover multi-workpiece processing in a processing area where multiple processing devices are set according to another embodiment of the present application.

[0052] Figure 7 is Figure 6 the flowchart of step 601 in

[0053] Figure 8 is a schematic diagram of the processing positions of multiple processing devices with no less than multiple workpieces provided by another embodiment of the present application.

[0054] Figure 9 is Figure 6 another flowchart of step 601 in

[0055] Figure 10 is a schematic diagram of the processing positions of multiple processing devices with fewer than multiple workpieces provided by another embodiment of the present application.

[0056] Figure 11 is a control flowchart of a control processor for dynamically compensating the deviation of a mover provided by another embodiment of the present application.

[0057] Figure 12 isFigure 11 The flowchart of step 1101

[0058] Figure 13 is Figure 11 The flowchart of step 1101

[0059] Figure 14 It is a schematic diagram of the hardware structure of an electronic device provided by another embodiment of the present application Detailed implementation manners

[0060] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application

[0061] It should be noted that although functional module division is performed in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the flowchart

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application

[0063] The magnetic drive conveyor line is a new type of conveyor line. The magnetic drive conveyor line adopts a modular design and can be flexibly configured according to different requirements. It has the characteristics of high precision, high reliability, and low maintenance, and has broad application prospects in the field of industrial automation. Moreover, through the magnetic drive conveyor line, the workpieces transported by the mover can be automatically processed in multiple processes in sequence, which can effectively improve the processing efficiency of the workpiece processing process

[0064] Refer to Figure 1 , which is a schematic diagram of the working process of a magnetic drive conveyor line provided by an embodiment of the present application. As shown in Figure 1 , in the existing magnetic drive conveyor line, multiple movers carrying workpieces are usually provided, and multiple processes equipped with processing equipment are also provided. The movers run on the magnetic drive conveyor track. When the mover runs to the processing equipment corresponding to each process, the processing equipment processes the workpiece on the mover, so as to realize the automatic processing operation. However, in the existing technology, when multiple movers carrying workpieces run on the magnetic levitation conveyor track, the processing equipment sequentially performs serial positioning, processing, and resetting cycle processing on the workpieces on each mover, resulting in low efficiency of the automatic processing process of the workpieces in the existing magnetic drive conveyor line

[0065] In order to improve the efficiency of processing workpieces on a magnetic drive conveyor line, in the embodiments of the present application, multiple processing workpieces are placed on a single mover of a magnetic drive conveyor processing system. When the mover runs to the processing area, the control processor coordinates and controls the processing equipment to process at least two workpieces on the mover, thereby using multiple workpieces on a single mover to reduce the number of positioning and resetting operations for multiple workpieces, so as to use the processing equipment to perform parallel or serial processing on multiple workpieces on a single mover, thereby reducing the processing time. In addition, by arranging multiple workpieces on a single mover, the utilization rate of the mover can be improved, the number of movers and the control cost are reduced, the complexity of setting up the magnetic drive conveyor processing system is reduced, and further the processing efficiency of the magnetic drive conveyor system for processing workpieces is improved.

[0066] The magnetic drive conveyor processing system provided by the embodiments of the present application will be further described below. Refer to Figure 2 , which is a schematic structural diagram of a magnetic drive conveyor processing system provided by an embodiment of the present application. As Figure 2 shown, the magnetic drive conveyor processing system 200 includes a mover 210, a magnetic drive conveyor track 220, multiple processing areas (including Figure 2 processing area 1 to processing area N) located above the track, and a processing controller 130. A processing device 221 is arranged in each processing area. Multiple workpiece slots 212 are arranged on the mover 210, and usually one processing workpiece 211 is arranged in each workpiece slot 212. The processing controller 130 is directly or indirectly communicatively connected to the magnetic drive conveyor track 220 and the processing devices 221 in each processing area.

[0067] The mover 210 loaded with multiple processing workpieces 211 runs on the magnetic drive conveyor track 220 according to a preset running direction, and sequentially runs through each processing area where each processing workpiece 211 needs to perform processing operations according to a preset processing process.

[0068] Among them, the distance between the centers of every two adjacent workpiece slots 212 arranged on the mover 210 is the same, that is, for the mover 210 when conveying the same kind of processing workpiece 211, the distance between every two adjacent processing workpieces 211 arranged is the same.

[0069] When the mover 210 runs to any one of the processing areas, the control processor 230 controls the processing device 221 arranged in the processing area to process multiple processing workpieces 211 on the mover 210, thereby using the fixed distance between the workpiece slots 212 to reduce the number of positioning and resetting operations required when processing multiple processing workpieces 211, thereby improving the processing efficiency of the workpieces, and improving the utilization rate of the mover 210, reducing the number of movers 210 and the control cost.

[0070] Refer to Figure 3When the control processor executes to control the processing device to process at least two workpieces on the mover, the execution of the control processor includes the following steps 301 to 304.

[0071] Step 301: Obtain the distance between the centers of every two adjacent workpiece slots.

[0072] Step 302: Run the mover to align the center of the first slot with the processing position corresponding to the processing device as the first target position, and generate a second target position based on the first target position and the cumulative value of the slot distances.

[0073] Step 303: Control the mover to run to the first target position, and control the processing device to process the first workpiece on the mover.

[0074] Step 304: Control the mover to run to the second target position, and control the processing device to process the second workpiece on the mover.

[0075] The following is a detailed description of steps 301 to 304.

[0076] Refer to Figure 4 , which is a schematic diagram of a single processing device for processing a mover carrying multiple workpieces provided by an embodiment of the present application. As Figure 4 shown, when the mover 210 runs to a processing area with only one processing device 221, the control processor 230 runs the mover 210 to align the center of the first slot with the processing position corresponding to the processing device 221 in this processing area as the first target position (i.e., the working position pos), and generates a second target position based on the first target position and the cumulative value of the distances between the centers of every two adjacent workpiece slots 212 on the mover 210 determined in advance (that is, the position where the corresponding second slot center on the mover 210 is aligned with the processing position is: working position pos + slot pitch * 1, and the position where the corresponding third slot center on the mover 210 is aligned with the processing position is: working position pos + slot pitch * 2). Therefore, when determining the processing positions of multiple workpieces 211 on the mover 210, only one positioning process is required, and there is no need to repeatedly position the workpieces 211 on the mover 210.

[0077] Next, the control processor 230 controls the mover 210 to move to the first target position (i.e., the work station pos), and starts the processing device 221 to process the first workpiece 211. After the first workpiece 211 is processed, the control processor 230 controls the mover 210 to move to the second target position, and starts the processing device 221 to process the second workpiece 211 (and the subsequent third workpiece 211). For the case where there are multiple workpieces 211 to be processed on the carrier of a single mover 210, the multi-slot function can save the process of the control processor 230 searching for the next workpiece 211, improving the processing efficiency of the magnetic drive conveying and processing system.

[0078] Through the above steps 301 to 304, the pre-determined slot distance provides a basis for precisely controlling the movement of the mover. Generating subsequent target positions based on the accumulated value of the first target position and the slot distance avoids repeated calculations and improves efficiency. Controlling the mover to move to each target position in sequence and starting the processing device ensures that each workpiece can be precisely processed, thereby improving the processing accuracy and efficiency of the magnetic drive conveying and processing system.

[0079] It can be understood that compared with a conventional mechanical conveying line, the target position and operation planning of the mover 210 on the magnetic drive conveying line mainly lie in the control fineness and flexibility. The conventional mechanical conveying line usually adopts a fixed speed and a preset path, and the target position and operation planning of the mover are relatively simple, mainly focusing on the conveying efficiency and avoiding collisions. While the magnetic drive conveying line can achieve more precise position control and more flexible motion planning, and can dynamically adjust the speed, acceleration and target position of the mover according to the processing requirements of the workpiece. For example, the magnetic drive conveying line can eliminate the cumulative error through precise positioning algorithms and compensation mechanisms, achieve high-precision workpiece alignment, and can flexibly adjust the running trajectory of the mover according to the processing requirements of different workpieces to achieve parallel processing and optimize the production process. In addition, the magnetic drive conveying line can also achieve more complex motion modes through software control, such as flexible acceleration and deceleration, vibration suppression, etc., thereby improving the conveying efficiency and processing quality, which are difficult to achieve by the conventional mechanical conveying line.

[0080] Refer to Figure 5 , which is a schematic structural diagram of a magnetic drive conveying and processing system provided with multiple processing devices according to an embodiment of the present application. As Figure 5 shown in, multiple processing devices 221 performing the same processing process are arranged in the processing area, so that when the mover 210 runs to this processing area, the control processor 230 can control these processing devices 221 to perform simultaneous processing on multiple workpieces 211 loaded on the mover 210.

[0081] In addition, the distance between the centers of every two adjacent processing devices 221 is the same as the distance between every two adjacent workpiece slots 212 provided on the mover 210, so that multiple processing devices 221 can better simultaneously process multiple workpieces 211 loaded on the mover 210, thereby effectively improving the processing efficiency of the magnetically driven conveying and processing system 200 for processing the workpieces 211.

[0082] When multiple processing devices are provided in the processing area, referring to Figure 6 , when the control processor executes to control multiple processing devices to simultaneously process multiple workpieces, the execution of the control processor includes the following steps 601 to step 602.

[0083] Step 601: Obtain a third target position based on the matching positions of multiple slot centers and multiple device centers.

[0084] Step 602: Control the mover to run to the third target position, and control multiple processing devices to process multiple workpieces on the mover.

[0085] The following will describe steps 601 to 602 in detail.

[0086] In some embodiments, when the mover 210 carries multiple workpieces into the processing area (as shown in Figure 5 ) where multiple processing devices 221 are provided, the control processor 230 first calculates the third target position of the mover 210 in this processing area based on the matching relationship between the slot centers of multiple workpiece slots 212 on the mover 210 and the device centers of the corresponding multiple processing devices 221 as the optimal stop position for the multiple processing devices 221 to process the multiple workpieces carried on the mover 210.

[0087] Then, the control processor 230 controls the mover 210 to move to this third target position, so that multiple workpiece slots 212 on the mover 210 are accurately aligned with the corresponding processing devices 221, enabling the control processor 230 to simultaneously start multiple processing devices 221 to perform parallel processing on the multiple workpieces on the mover 210, thereby improving the processing efficiency of the workpieces in the magnetically driven conveying and processing system.

[0088] The following will further describe how to determine this third target position in different situations.

[0089] When the number of processing devices is not less than the number of workpieces, referring to Figure 7 , when the control processor executes to obtain a third target position based on the matching positions of multiple slot centers and multiple device centers, the execution of the control processor includes the following steps 701 to step 702.

[0090] Step 701: Select a plurality of processing devices that match the number of workpieces from multiple processing devices as parallel processing devices.

[0091] Step 702: Obtain a third target position based on the matching positions between the device centers of the parallel processing devices and the centers of multiple slots.

[0092] The following provides a detailed description of Steps 701 to 702.

[0093] Referring to Figure 8 , it is a schematic diagram of the processing positions of a multi-processing device with no less than multiple workpieces provided by an embodiment of the present application. As Figure 8 shown, when the number of devices of the processing device 221 in this processing area is sufficient to cover all the processing workpieces 211 corresponding to all the workpiece slots 212 on a single mover 210, that is, as Figure 8 shown, in a processing area, there are three processing devices 221 performing the same processing process and three processing workpieces 211 loaded on a single mover 210, or it can also be the case where there are five processing devices 221 performing the same processing process and three processing workpieces 211 loaded on a single mover 210 in a processing area.

[0094] In this case, the control processor 230 will select, from multiple processing devices 221, the processing devices 221 that match the number of workpieces of the processing workpieces 211 loaded on the mover 210 as the parallel processing devices for simultaneously performing parallel processing on multiple workpieces on the mover 210. It can be understood that when, as Figure 8 shown, the number of devices of the processing devices 221 performing the same processing process in this processing area is the same as the number of workpieces of the processing workpieces 211 loaded on the mover 210, all the processing devices 221 in this processing area are used as parallel processing devices; when the number of devices of the processing devices 221 performing the same processing process in a certain processing area is greater than the number of workpieces of the processing workpieces 211 loaded on the mover 210, randomly select the processing devices 221 that are the same as the number of workpieces of the processing workpieces 211 loaded on the mover 210 and are continuous as parallel processing devices to reduce the moving distance and processing time of the mover 210.

[0095] After that, the control processor 230 uses the center position of the selected parallel processing device and the corresponding positions of the centers of multiple workpiece slots 212 on the mover 210 as the third target position of the mover 210. It can be understood that since the distance between every two adjacent processing devices 221 and the distance between every two adjacent work slots on the mover 210 are the same, the third target position planned for the mover 210 can enable multiple parallel processing devices to just align with multiple processing workpieces 211 on the mover 210 simultaneously (as Figure 8As shown in [reference], it is convenient for the subsequent control processor 230 to control multiple parallel processing devices to process multiple workpieces 211 simultaneously.

[0096] The JOG action, often referred to as "jogging" or "inching", is a control mode that allows short-distance, precise, and step-by-step movement of a machine or component, usually at a low speed. This operation is mainly used for manual positioning, fine-tuning, equipment setup, or testing. Its characteristic is that the movement usually only lasts during the validity period of the JOG instruction, facilitating fine control by the operator.

[0097] Through the above steps 701 to 702, by making the center distance between adjacent processing devices the same as the distance between adjacent workpiece slots on the mover, and combining with the control processor to select a matching number of processing devices for parallel processing, it is possible to achieve efficient synchronous processing of multiple workpieces on the mover by multiple processing devices, avoid multiple JOG actions of the mover in the same processing process, reduce the positioning time and the computational burden of the control processor, significantly improve the processing efficiency of the workpieces to be processed, and reduce the energy consumption and maintenance costs caused by frequent start-stop, ultimately enhancing the overall efficiency and cost optimization ability of the magnetic drive conveying and processing system.

[0098] When the number of processing devices is less than the number of workpieces, refer to Figure 9 , when the control processor executes to obtain the third target position based on the matching positions of multiple slot centers and multiple device centers, the execution of the control processor includes the following steps 901 to 904.

[0099] Step 901: Select the first [number of devices] workpieces from the multiple workpieces on the mover as the first processing workpieces, and regard the remaining workpieces as the second processing workpieces.

[0100] Step 902: Obtain the fourth target position based on the matching positions of the device centers of multiple processing devices and the slot centers of the first processing workpieces.

[0101] Step 903: Obtain the fifth target position based on the matching positions of the device centers of multiple processing devices and the slot centers of the second processing workpieces.

[0102] Step 904: Obtain the third target position based on the fourth target position and the fifth target position.

[0103] The following describes steps 901 to 904 in detail.

[0104] Refer to Figure 10 , which is a schematic diagram of the processing positions of a multi-processing device less than multiple workpieces provided by an embodiment of the present application. As shown in Figure 10As shown in FIG. 1 , when the number of processing devices 221 in the processing area is insufficient to cover the processing workpieces 211 corresponding to all workpiece slots 212 on all single movers 210, that is, Figure 10 As shown in FIG. 1 , there are two processing devices 221 that perform the same processing flow in a processing area and three processing workpieces 211 are loaded on a single mover 210 .

[0105] like Figure 10 As shown in , in this case, the control processor 230 divides the multiple workpieces 211 on the mover 210 into at least two groups. The workpieces 211 that are in front and consistent with the number of equipment on the mover 210 are used as the first workpiece, and the remaining workpieces 211 are used as the second workpiece. This grouping strategy ensures that each processing can maximize the use of existing equipment.

[0106] It can be understood that when the number of workpieces in the second processing workpiece still exceeds the number of processing equipment 221 in the processing area, the division of the first processing workpiece and the second processing workpiece is still followed, and the front processing workpiece 211 that is consistent with the number of equipment is selected from the second processing workpiece as the first processing workpiece 211 to be processed first in the second processing workpiece, and the rest are used as the processing workpieces 211 to be processed later.

[0107] Next, the control processor 230 uses the corresponding positions of the center positions of the multiple processing equipment 221 and the center positions of the multiple workpiece slots 212 corresponding to the first processing workpiece as the fourth target position corresponding to the mover 210 when parallel processing is performed first; then the control processor 230 uses the corresponding positions of the center positions of the multiple processing equipment 221 and the center positions of the multiple workpiece slots 212 corresponding to the second processing workpiece as the fifth target position corresponding to the mover 210 when parallel processing is performed later, thereby combining the fourth target position and the fifth target position into the third target position (i.e., the third target position in this case includes multiple position information and corresponding serial numbers).

[0108] Finally, the control processor 230 first controls the mover 210 to move to the fourth target position, using the design feature that the distance between every two adjacent processing devices 221 and the distance between every two adjacent working slots on the mover 210 are the same. Figure 10 As shown, at the fourth target position, multiple processing workpieces 211 in the first processing workpiece are aligned with all processing equipment 221; then after the first processing workpiece is processed by multiple processing equipment 221, the control processor 230 controls the mover 210 to run to the fifth target position, and controls the processing equipment 221 to process the second processing target.

[0109] Through the above steps 901 to 904, when the number of processing devices is less than the number of workpieces, by preferentially processing the front workpieces and comprehensively considering the slot center positions of the subsequent workpieces, the final target position is calculated, which can also maximize the utilization of existing equipment resources, realize the synchronous processing of some workpieces, avoid complete serial processing, thereby improving the processing efficiency to a certain extent and creating conditions for further processing in subsequent processes.

[0110] In some embodiments, when in a scenario of a processing area where multiple processing devices 221 are arranged as shown in Figure 5 , since these processing devices 221 execute the same processing flow, when these processing devices 221 perform parallel processing on multiple processing workpieces 211 on the mover 210, their corresponding processing times should be the same. Therefore, in order to further improve the processing efficiency and reduce the processing cost of the magnetic drive conveying processing system in the embodiments of the present application, after multiple processing devices 221 perform parallel processing on multiple workpieces on the mover 210, when any one of the parallel processing devices 221 that perform parallel processing sends a processing completion message to the control processor 230, it is considered that these parallel processing devices 221 have all completed processing, so that the mover 210 can be controlled to drive away from the current processing area or the mover 210 can be controlled to run from the fourth target position to the fifth target position.

[0111] It can be understood that on the magnetic drive conveying line, by performing precise operation planning on the mover loaded with multiple processing workpieces to achieve parallel processing, compared with the traditional mechanical conveying line, it can bring significant beneficial effects. The mechanical conveying line usually can only perform serial processing, with low efficiency. The magnetic drive conveying line can use its precise position control and flexible motion planning capabilities to align multiple workpieces on the mover with different processing devices at the same time, realize parallel processing, greatly shorten the processing cycle, and improve production efficiency. In addition, the magnetic drive conveying line can also optimize the running trajectory of the mover, reduce unnecessary start-stop and positioning times, and reduce energy consumption and maintenance costs. More importantly, this parallel processing mode can better adapt to the flexible production requirements of multiple varieties and small batches, and improve the overall efficiency and competitiveness of the production line.

[0112] In some embodiments, when the mover 210 operates on the magnetic drive conveying system, due to various factors such as mechanical errors or control system delays, when the mover 210 operates according to the target position (such as the first target position, the second target position, the third target position, etc. mentioned above), its stop position may deviate from the target position. Although this deviation is generally small and has little impact on the general workpiece processing process, if this deviation accumulates continuously, it will inevitably affect the processing accuracy of the subsequent processed workpiece 211. Therefore, it is necessary to perform dynamic compensation for this deviation, which is described in detail below.

[0113] Referring to Figure 11 , after the control processor executes the control to process at least two workpieces on the mover, the control processor executes steps 1101 to 1102 as follows.

[0114] Step 1101: Generate an operation compensation value based on the distance difference generated when the mover runs to the processing area for workpiece processing.

[0115] Step 1102: Based on the operation compensation value, control the mover to run to the next processing area for workpiece processing.

[0116] The following is a detailed description of steps 1101 to 1102.

[0117] In some embodiments, after the mover 210 runs to any processing area for workpiece processing, the control processor 230 will generate an operation compensation value according to the distance difference between the actual stop position and the target position. This compensation value will be applied to the processing control when the mover 210 runs to the next processing area, thereby correcting potential deviations. It can be understood that this operation compensation value is a specific distance value, and then when planning the subsequent workpiece processing, the planned target position (such as the first target position, the second target position, the third target position, etc. mentioned above) is corrected again using this operation compensation value, so as to improve the control accuracy and processing reliability of workpiece processing in the magnetic drive conveying processing system.

[0118] Referring to Figure 12 , when the control processor generates an operation compensation value based on the distance difference generated when the mover runs to the processing area for workpiece processing, the control processor executes steps 1201 to 1202 as follows.

[0119] Step 1201: Generate an operation compensation value based on the first distance difference between the actual processing position of the processing equipment and the center of the first slot when the mover runs to the first target position for workpiece processing.

[0120] Step 1202: Alternatively, when the mover runs to the second target position for workpiece processing, a running compensation value is generated based on the difference between the actual processing position of the processing device and the center of the second slot.

[0121] The following provides a detailed description of steps 1201 to 1202.

[0122] In some embodiments, taking the example where there is only a single processing device 221 in the processing area as shown in Figure 4 During the processing flow mentioned in the above steps 301 to 304, when the control processor 230 runs the mover 210 to the first target position for workpiece processing, after the mover 210 plans to stop running according to the first target position, the first distance difference between the center of the first slot on the mover 210 and the actual processing position of the processing device 221 is used to generate the running compensation value.

[0123] Alternatively, when the control processor 230 runs the mover 210 to the second target position for workpiece processing, after the mover 210 plans to stop running according to the second target position, the second distance difference between the center of the second slot on the mover 210 and the actual processing position of the processing device 221 is used to generate the running compensation value.

[0124] Referring to Figure 13 , when the control processor generates a running compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing, the control processor performs the following steps 1301 to 1302.

[0125] Step 1301: Obtain the third distance difference between the actual processing position of each processing device and the corresponding slot center when the mover runs to the third target position for workpiece processing.

[0126] Step 1302: Average all the third distance differences to obtain the running compensation value.

[0127] The following provides a detailed description of steps 1301 to 1302.

[0128] In some embodiments, taking the example where there are multiple processing devices 221 in the processing area as shown in Figure 8 During the processing flow mentioned in the above steps 701 to 702, when the control processor 230 runs the mover 210 to the third target position for parallel workpiece processing, after the mover 210 plans to stop running according to the third target position, the third distance differences between the centers of multiple slots on the mover 210 and the actual processing positions of the multiple processing devices 221 are obtained, and these third distance differences are averaged to generate the running compensation value.

[0129] Through the above steps 1101 to 1102, steps 1201 to 1202, and steps 1301 to 1302, by calculating the difference between the actual stop position and the target position of the mover in different scenarios (i.e., the case where there is a single or multiple processing devices in the processing area), a running compensation value is generated and applied in subsequent movements, thereby correcting the cumulative error when the mover moves between multiple processing areas and improving the positioning accuracy.

[0130] The embodiment of the present application also provides an electronic device, including:

[0131] At least one memory;

[0132] At least one processor;

[0133] At least one program;

[0134] The program is stored in the memory, and the processor executes at least one program to implement the relevant process steps executed by the control processor in the magnetic drive conveying and processing system described above in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA for short), a vehicle-mounted computer, etc.

[0135] Please refer to Figure 14 , Figure 14 which shows the hardware structure of the electronic device in another embodiment. The electronic device includes:

[0136] A processor 1401, which can be implemented in ways such as a general-purpose CPU (Central Processing Unit, central processor), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0137] A memory 1402, which can be implemented in forms such as a ROM (Read Only Memory, read-only memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory, random access memory). The memory 1402 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1402 and are called by the processor 1401 to execute the relevant process steps executed by the control processor in the magnetic drive conveying and processing system of the embodiments of the present application;

[0138] An input / output interface 1403, which is used to implement information input and output;

[0139] A communication interface 1404 is used to implement communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0140] A bus 1405 transmits information between various components of the device (such as a processor 1401, a memory 1402, an input / output interface 1403, and a communication interface 1404).

[0141] Among them, the processor 1401, the memory 1402, the input / output interface 1403, and the communication interface 1404 achieve communication connections with each other inside the device through the bus 1405.

[0142] The embodiment of the present application also provides a storage medium. The storage medium is a computer-readable storage medium, and this storage medium stores a computer program. When the computer program is executed by a processor, it implements the relevant process steps executed by the control processor in the above-mentioned magnetic drive conveying and processing system.

[0143] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory can optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0144] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0145] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or combine certain steps, or different steps.

[0146] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in systems and devices, can be implemented as software, firmware, hardware, and their appropriate combinations.

[0148] As used in the specification of this application and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0149] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or a similar expression means any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0150] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above-mentioned unit division is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0151] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] In addition, the functional units in each embodiment of this application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0153] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of this application. The aforementioned storage medium includes: various media that can store programs such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0154] The preferred embodiments of the embodiments of this application have been described above with reference to the accompanying drawings. This does not limit the scope of the rights of the embodiments of this application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of this application shall be within the scope of the rights of the embodiments of this application.

Claims

1. A magnetic drive conveying and processing system, characterized in that, The system includes: a magnetic drive conveyor track, at least one mover, and a control processor, where the mover runs on the magnetic drive conveyor track; the magnetic drive conveyor track is provided with at least one processing area, and processing equipment is arranged on the processing area; a plurality of workpieces to be processed are placed on the mover; when the mover runs to the processing area, the control processor is used to control the processing equipment to perform processing on at least two of the workpieces to be processed on the mover.

2. The magnetic drive conveying and processing system according to claim 1, wherein It includes: a plurality of workpiece slots are arranged at intervals on the mover, the workpieces to be processed are placed in the workpiece slots, and the slot distance between the centers of every two adjacent workpiece slots is the same; there is one processing equipment. When the control processor executes the control to perform processing on at least two of the workpieces to be processed on the mover, the execution steps of the control processor include: acquiring the slot distance between the centers of every two adjacent workpiece slots; aligning the mover to the processing position corresponding to the first slot center as the first target position, and generating a second target position based on the first target position and the cumulative value of the slot distance; controlling the mover to run to the first target position, and controlling the processing equipment to perform processing on the first workpiece to be processed on the mover; controlling the mover to run to the second target position, and controlling the processing equipment to perform processing on the second workpiece to be processed on the mover.

3. The magnetic drive conveying and processing system according to claim 2, wherein It includes: a plurality of the processing equipment are arranged on the processing area; when the mover runs to the processing area, when the control processor executes the control to perform processing on at least two of the workpieces to be processed on the mover, the execution steps of the control processor include: controlling the plurality of processing equipment to perform simultaneous processing on the plurality of workpieces to be processed.

4. The magnetic drive conveying and processing system according to claim 3, wherein It includes: the distance between the centers of every two adjacent processing equipment is the same as the slot distance; when the control processor executes the control to perform simultaneous processing on the plurality of workpieces to be processed by the plurality of processing equipment, the execution steps of the control processor include: obtaining a third target position based on the matching positions of the plurality of slot centers and the plurality of equipment centers; controlling the mover to run to the third target position, and controlling the plurality of processing equipment to perform processing on the plurality of workpieces to be processed on the mover.

5. The magnetic drive conveying and processing system according to claim 4, wherein When the number of the processing equipment is not less than the number of the workpieces to be processed, when the control processor executes the step of obtaining the third target position based on the matching positions of the plurality of slot centers and the plurality of equipment centers, the execution steps of the control processor include: selecting a plurality of the processing equipment that matches the number of the workpieces from the plurality of processing equipment as parallel processing equipment; obtaining the third target position based on the matching positions of the equipment centers of the parallel processing equipment and the plurality of slot centers.

6. The magnetic drive conveying and processing system according to claim 4, wherein When the number of the processing devices is less than the number of the workpieces to be processed, when the control processor executes to obtain the third target position based on the matching positions of the plurality of slot centers and the plurality of device centers, the execution steps of the control processor include: Select the frontmost number of workpieces equal to the number of the processing devices from the plurality of workpieces of the mover as the first workpieces, and regard the remaining workpieces as the second workpieces; Obtain the fourth target position based on the matching positions of the device centers of the plurality of processing devices and the slot centers of the first workpieces; Obtain the fifth target position based on the matching positions of the device centers of the plurality of processing devices and the slot centers of the second workpieces; Obtain the third target position based on the fourth target position and the fifth target position.

7. The magnetic drive conveying and processing system according to claim 5, wherein After the control processor executes to obtain the third target position based on the matching positions of the plurality of slot centers and the plurality of device centers, the execution steps of the control processor further include: Obtain the processing completion information sent by any one of the parallel processing devices; Control the mover to drive out of the current processing area.

8. The magnetic drive conveying and processing system according to claim 4, wherein There are multiple processing areas. After the control processor executes to control the processing devices to process at least two workpieces on the mover, the execution steps of the control processor further include: Generate a running compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing; Control the mover to run into the next processing area for workpiece processing based on the running compensation value.

9. The magnetic drive conveying and processing system according to claim 8, wherein When the control processor executes to generate a running compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing, the execution steps of the control processor include: Generate the running compensation value based on the first distance difference between the actual processing position of the processing device and the first slot center when the mover runs to the first target position for workpiece processing; Or, Generate the running compensation value based on the second distance difference between the actual processing position of the processing device and the second slot center when the mover runs to the second target position for workpiece processing.

10. The magnetic drive conveying and processing system according to claim 8, wherein When the control processor executes to generate a running compensation value based on the distance difference generated when the mover runs into the processing area for workpiece processing, the execution steps of the control processor include: Obtain the third distance differences between the actual processing positions of each processing device and the corresponding slot centers when the mover runs to the third target position for workpiece processing; Perform an averaging process on all the third distance differences to obtain the running compensation value.

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