Compressor evacuation synchronous movement control method and device

Abstract

This invention relates to the field of automation control technology, and discloses a method and apparatus for synchronous movement control of a compressor vacuum pump. This method aims to solve the problems of low synchronization accuracy and high safety risks caused by factors such as initial installation stress and conveyor belt speed fluctuations during flexible connection operations with moving workpieces. The method includes: physically connecting the flexible pipeline of a vacuum pump installed on a synchronous movement platform to the compressor interface of a moving refrigerator on the conveyor belt; dynamically calibrating an optimal position point with the minimum theoretical tension as a digital anchor point by performing probing displacement and collecting position and tension data, and determining its corresponding reference tension. This invention also provides an apparatus for executing this method. This invention eliminates initial installation stress through dynamic calibration and, through dual closed-loop feedback of position and tension, can accurately compensate for dynamic disturbances, significantly improving the accuracy, reliability, and safety of synchronous operations.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a method and apparatus for synchronous movement control of a compressor during vacuuming. Background Technology

[0002] In modern automated production lines, especially in the final assembly lines of large products such as home appliances and automobiles, continuous moving conveyor belts or overhead chain systems are commonly used to transport workpieces. To improve production efficiency, many process steps, such as tightening, gluing, inspection, or, as discussed in this article, vacuuming of the refrigeration system, need to be completed while the workpiece is in continuous motion without stopping.

[0003] To achieve this "dynamic operation" or "following operation," a work cell or robot that can move parallel to the conveyor belt is typically deployed. The core technology lies in ensuring a precise relative positional relationship between the work cell and the moving workpiece, i.e., synchronous control. In existing technologies, a common synchronization method is based on encoders or vision systems. By acquiring speed information from the conveyor belt or directly tracking visual markings on the workpiece, the controller can drive the work cell to follow the speed or position.

[0004] However, when the work unit and the workpiece need to be connected through physical media such as flexible pipes and cables, the control scheme that relies solely on position information reveals its limitations. Because the initial connection position of the flexible pipe is almost impossible to be exactly the natural stress-free state of the pipe during manual installation or docking by a robotic arm, this introduces an imperceptible and persistent initial tensile or compressive stress into the system before synchronization begins.

[0005] During the subsequent synchronization process, this initial stress continues to affect the stability of the control system. More importantly, position-based closed-loop control cannot directly sense and compensate for the elastic deformation of the flexible pipeline itself, vibrations, or physical stress fluctuations caused by factors such as slight slippage of the conveyor belt or workpiece swaying. Even if the controller maintains a perfect relative position visually, the flexible pipeline may still be experiencing gradually accumulating or fluctuating tension. This unmanaged physical tension not only reduces the stability of the process, but in extreme cases, such as accidental snagging or sudden speed changes, it may also lead to overstretching and damage to the flexible pipeline, or even equipment shutdown, thus posing a direct threat to production safety and reliability. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a method and apparatus for synchronous movement control of compressor vacuuming, which solves the problems of low synchronization accuracy and uncontrollable physical stress caused by initial installation stress and dynamic disturbances when performing flexible connection operations with moving workpieces.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The first aspect of this invention provides a method for synchronous movement control of a compressor during vacuuming, applied to synchronized operation with a refrigerator on a conveyor belt. The method includes:

[0009] Step 1: Physically connect the flexible tubing of a vacuum pump installed on a synchronous moving platform to the compressor interface of the freezer.

[0010] Step 2: Based on the physical characteristics of the flexible pipeline, dynamically calibrate a digital anchor point and reference tension for subsequent synchronous control.

[0011] In one specific implementation, this step is performed as follows: After completing the physical connection in step one, the synchronous moving platform is controlled to perform a preset probing displacement. During the probing displacement, the spatial sensing module and tension sensing module synchronously collect the flexible pipeline tension value corresponding to the position of the synchronous moving platform at high frequency, thereby obtaining a set of data points containing multiple position coordinates and corresponding tension values. Subsequently, based on this data point set, a function model describing the relationship between tension and position is established. By solving for the minimum value of this function model, the optimal location point with the minimum theoretical tension can be calculated. Its mathematical expression is:

[0012] ;

[0013] in, This is a functional model of tension and position. This is the calculated optimal location point.

[0014] Finally, the optimal position point Determined as the digital anchor point And the theoretical minimum tension value corresponding to the optimal position point. Determined as the reference tension .

[0015] Step 3: When the freezer moves along the conveyor belt, control the synchronous moving platform to move synchronously. This control process integrates position feedback based on the digital anchor point and tension feedback based on the reference tension.

[0016] In one specific implementation, the final speed command sent to the synchronous mobile platform

[0017] It consists of three linearly superimposed parts. Its mathematical expression is:

[0018] ;

[0019] in:

[0020] This is a feedforward speed command corresponding to the set speed of the conveyor belt; The visual velocity correction value is generated by the spatial perception module continuously tracking the visual markers on the freezer to obtain their real-time position. And calculate its relationship with the digital anchor point. Position error vector between Then, closed-loop control adjustment is performed based on the position error vector to generate the control.

[0021] The tension velocity correction value is generated by continuously measuring the real-time tension of the flexible pipeline using the tension sensing module. And calculate its relationship with the reference tension. tension error between Then, closed-loop control adjustment is performed based on the tension error to generate the result.

[0022] Furthermore, the method may also include a safety protection step: during the execution of step three, if the real-time tension of the flexible pipeline is detected to exceed a preset safety threshold, the controller outputs a command to immediately stop the movement of the synchronous moving platform.

[0023] Furthermore, to ensure the effectiveness of the calibration process, the probing displacement can be set as a small trajectory movement in a two-dimensional plane centered on the current physical connection point.

[0024] Furthermore, to ensure the continuity of the process, the vacuum pump can begin vacuuming the compressor after step one is completed and before step two begins.

[0025] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0026] By performing a dynamic calibration step based on tension feedback, this method can determine a precise spatial coordinate representing the stress-free state of the flexible pipeline as a control reference, i.e., a digital anchor point. This effectively eliminates initial stress errors introduced by inaccurate initial installation positions or individual pipeline differences.

[0027] In the synchronous control process, by integrating vision-based position feedback with physical tension feedback, this method can simultaneously compensate for macroscopic position deviations and microscopic stress fluctuations, thereby maintaining the relative spatial relationship between the work unit and the workpiece more stably when the conveyor belt speed changes or other disturbances occur.

[0028] A second aspect of the present invention provides a compressor vacuum synchronous movement control device, which is used to execute the compressor vacuum synchronous movement control method described in any of the foregoing embodiments. The device includes: a synchronous movement platform disposed on a conveying track and movable along the track;

[0029] A vacuum pump is installed on the synchronous moving platform and has flexible piping for connecting to the compressor of the freezer.

[0030] The spatial perception module, installed on the synchronous mobile platform, is used to acquire the visual position information of the freezer.

[0031] The tension sensing module is used to measure the real-time tension of the flexible pipeline.

[0032] The collaborative controller establishes an electrical connection with the synchronous mobile platform, the spatial sensing module, and the tension sensing module. The collaborative controller internally stores program instructions, which, when executed, enable the collaborative controller to perform the steps of the method described in the first aspect of the present invention.

[0033] This invention provides a method and apparatus for synchronous movement control of compressor vacuuming. It has the following beneficial effects:

[0034] 1. This invention, by performing a dynamic calibration step before synchronous control begins—that is, actively finding and setting "digital anchor points" and "reference tensions" representing the stress-free state of flexible pipelines through probing displacement—effectively eliminates inherent stresses introduced by initial installation position deviations during manual physical connections or by individual differences in different flexible pipelines. This provides a precise control target calibrated by physical feedback for subsequent closed-loop control, thereby improving the initial accuracy of control.

[0035] 2. In the synchronous control process of this invention, visual position feedback and physical tension-based force feedback are integrated to form a composite control structure. Visual feedback is primarily used to correct macroscopic positional deviations caused by factors such as conveyor belt slippage, while tension feedback compensates for microscopic physical stress fluctuations caused by the elastic deformation of the pipeline itself. This synergistic effect of multi-dimensional information enables the system to maintain a more stable relative spatial relationship between the work unit and the workpiece when dealing with complex dynamic disturbances.

[0036] 3. By using the real-time tension of the flexible pipeline as a key closed-loop control variable and setting a safety threshold, this invention not only actively maintains the pipeline in a low-stress working state at the control level but also establishes a direct physical safety protection mechanism. This effectively prevents excessive stretching or damage to the pipeline caused by accidental contact or excessive speed differences, thereby reducing the risk of equipment failure and improving the reliability and safety of the entire automated operation process. Attached Figure Description

[0037] Figure 1 This is an overall diagram of the device of the present invention;

[0038] Figure 2 This is a schematic diagram of the compressor part of the present invention;

[0039] Figure 3 This is a schematic diagram of the method flow of the present invention.

[0040] The components include: 1. conveyor belt; 2. freezer; 3. conveyor track; 4. vacuum pump; 5. condenser; and 6. compressor. Detailed Implementation

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] See attached document Figure 1 , attached Figure 1 This is a schematic diagram of a compressor vacuuming synchronous movement control system according to an embodiment of the present invention. The system is applied to an automated production line, and its purpose is to ensure precise synchronous movement between a work unit and a moving refrigerator 2 on conveyor belt 1 to perform vacuuming operations.

[0043] The system includes a conveyor belt 1 arranged along its direction of movement to carry and transport the freezers 2 to be processed. A parallel conveyor track 3 is arranged on one side of the conveyor belt 1. A synchronous moving platform is mounted on the conveyor track 3 and is driven by an internal servo motor to perform precise linear displacement along the direction of the conveyor track 3.

[0044] A vacuum pump 4, including the vacuum pump and its control valve assembly, is fixedly mounted on the synchronous moving platform. The vacuum pump 4 extends a flexible pipe of predetermined length and elasticity, the end connector of which is used for physical connection to the vacuum interface of the compressor 6 on the freezer 2.

[0045] To implement the control method of this invention, the system also integrates the following functional modules: a spatial sensing module (a), a tension sensing module (b), and a cooperative controller (c). The spatial sensing module (a) (e.g., an industrial camera) is mounted on a synchronous moving platform, and its field of view covers a preset visual marking area on the freezer 20. The tension sensing module (b) (e.g., a tension / compression sensor) is integrated into the support structure of the flexible pipeline for real-time measurement of the physical tension on the pipeline.

[0046] The coordination controller (c) is the control core of the entire system. It has electrical connections and data communication links with the servo driver of the synchronous motion platform, the space sensing module (a), the tension sensing module (b), and the main controller of the production line. The coordination controller (c) stores program instructions internally for executing the synchronous motion control method detailed below.

[0047] See attached document Figure 3 The present invention provides a compressor vacuuming synchronous movement control method, which may include the following steps:

[0048] S101, Perform the connection step. When a freezer 2 is transported to the designated work area by the conveyor belt 1, triggered by an external sensor, the coordinating controller (c) instructs the synchronous moving platform to move to a preset docking preparation point. Subsequently, the flexible tubing of the vacuum pump 40 is physically connected to the compressor 6 interface on the freezer 2 by manual or automated robotic arm.

[0049] S102, Perform the calibration step. The goal of this step is to dynamically calibrate a digital anchor point and reference tension for subsequent closed-loop control based on the physical characteristics of the flexible pipeline. After completing the physical connection in S101, the cooperative controller (c) drives the synchronous moving platform to perform a preset, small-range exploratory displacement, such as a cross-shaped or spiral motion trajectory, centered on the current position.

[0050] Throughout this probing displacement process, the cooperative controller (c) synchronously acquires two sets of data at high frequency: the real-time position coordinates of the visual marker in the camera coordinate system output by the spatial sensing module (a). and the real-time tension value output by the tension sensing module (b) synchronized with that position. This process yields a dataset containing multiple data points. .

[0051] The collaborative controller (c) uses this dataset to perform surface fitting using mathematical methods such as least squares to establish a local function model describing the relationship between tension and position. Subsequently, the optimal location point with theoretically minimal tension is determined by solving for the minimum value of this function. The solution process can be expressed as follows:

[0052] ;

[0053] in, It is an established tension-position function model. These are the calculated coordinates of the optimal location point. It is the specific component of that coordinate.

[0054] Finally, the cooperative controller (c) will calculate the optimal location point. Set as the digital anchor point for this synchronization task and the theoretical minimum tension value corresponding to that point. Set as reference tension These two values ​​are stored as control references for the next step.

[0055] S103, execute the synchronization control step. After the freezer 2 starts moving along the conveyor belt 1, the coordination controller (c) continuously calculates and sends a final speed command to the servo drive of the synchronous moving platform. This is to drive the platform to move synchronously. The instruction consists of three linearly superimposed parts, as follows:

[0056] ;

[0057] in:

[0058] Is The final speed command is sent to the servo drive at all times. It is a feedforward speed command, which is obtained by the co-controller (c) from the main drive system of conveyor belt 1 and corresponds to the theoretical set speed of the conveyor belt.

[0059] It is a visual velocity correction value. It is generated as follows: the spatial perception module (a) continuously tracks the real-time position of the visual marker. The collaborative controller (c) calculates the current position relative to the calibrated digital anchor point. Position error vector between The error vector is input to a PID (Proportional-Integral-Derivative) controller, and the output is... .

[0060] This is the tension velocity correction value. It is generated by the tension sensing module (b) continuously measuring the real-time tension of the flexible pipeline. The co-controller (c) calculates the current tension and the calibrated reference tension. tension error between This error is input to another independent PID controller, and the output is... .

[0061] S104, Task End and Reset. When the vacuuming process reaches the preset duration or an external end signal is received, the coordinating controller (c) stops sending speed commands, and the synchronous moving platform stops moving. The flexible pipeline is disconnected from the compressor (6) interface, and then the synchronous moving platform is instructed to return to its initial standby position to prepare for the next work cycle.

[0062] See attached document Figure 3 This is a flowchart of a compressor vacuuming synchronous movement control method according to an embodiment of the present invention. The method is executed by a cooperative controller (c), which internally stores program instructions for implementing the method. The method can be specifically broken down into the following steps:

[0063] S201, Perform the initial docking step. When a freezer 2 moves along the conveyor belt 1 to the predetermined processing station, an external sensor (e.g., a photoelectric switch) sends a trigger signal to the coordinating controller (c). Upon receiving the signal, the coordinating controller (c) queries the pre-stored docking preparation point coordinates and instructs the synchronous moving platform to move to that position. Subsequently, the flexible pipe end connector of the vacuum pump 40 completes the physical connection with the compressor 6 interface on the freezer 20. In a specific embodiment, to optimize the production cycle, after the physical connection is completed in step S201 and before the next step S202 begins, the coordinating controller (c) can instruct the vacuum pump 4 to start and begin vacuuming the compressor 6.

[0064] S202, Perform the digital anchor point dynamic calibration step. This step is performed after the physical connection is established and before synchronous movement begins. The cooperative controller (c) controls the synchronous movement platform to perform a pre-set, small-range exploratory displacement centered on the current physical connection point. The trajectory of this displacement is designed to fully detect the tension response of the flexible pipeline in different poses within a two-dimensional plane, such as a cross-shaped, circular, or spiral motion trajectory.

[0065] Throughout this probing displacement, the cooperative controller (c) synchronously records the real-time position coordinates of the visual markers provided by the spatial perception module (a) at a set high sampling frequency. And the real-time tension value provided by the tension sensing module (b) that strictly corresponds to the coordinate timestamp. After data acquisition, the collaborative controller (c) uses the acquired data point set to establish a local function model describing the relationship between tension T and position (x,y) through a surface fitting algorithm (e.g., least squares method). .

[0066] Subsequently, by solving for the minimum value of the function model, the theoretically optimal location point with the minimum tension is determined. Finally, the cooperative controller (c) calculates the optimal location point. The coordinate values ​​are stored as digital anchor points for this task. At the same time, the theoretical minimum tension value corresponding to this point Stored as reference tension These two values ​​will serve as the absolute target benchmarks for closed-loop control in the next step.

[0067] S203, execute the composite cooperative synchronization control step. This step is activated when conveyor belt 1 starts and moves the freezer 2. The cooperative controller (c) enters a high-speed closed-loop control state. In each control cycle, it integrates multi-source information, generates and sends a final speed command to the synchronous moving platform. This command consists of a linear superposition of the feedforward speed command, the visual speed correction, and the tension speed correction.

[0068] The feedforward speed command is a basic speed component, the value of which comes from the theoretical set speed of conveyor belt 10, and is used to pre-compensate for most of the displacement caused by the movement of the conveyor belt. The visual speed correction is used to compensate for macroscopic position deviations. Its generation process is as follows: the spatial perception module (a) continuously tracks the real-time position of the visual marker, the cooperative controller (c) calculates the position error vector between it and the digital anchor point, and this error vector is sent to a PID controller, the output of which is the visual speed correction.

[0069] The tension velocity correction is used to compensate for microscopic physical stress. Its generation process is as follows: the tension sensing module (b) continuously measures the real-time tension; the co-controller (c) calculates the scalar error between this real-time tension and the reference tension; this error is fed into another independent PID controller, whose output is the tension velocity.

[0070] Correction amount. Throughout this step, the co-controller (c) also performs a safety monitoring task in parallel. It continuously compares the measured real-time tension with a preset safety threshold. If the real-time tension exceeds the safety threshold, the highest priority protection mechanism is triggered. The co-controller (c) immediately resets the speed command to zero and instructs the synchronous moving platform to stop urgently to prevent physical damage to the flexible pipeline or equipment.

[0071] S204, Perform the task completion and reset steps. When the vacuuming process timing ends or an external completion signal is received, the co-controller (c) stops the synchronous control cycle. The flexible pipeline is disconnected from the compressor 60 interface. Finally, the co-controller (c) instructs the synchronous moving platform to return to its initial standby position along the conveyor track 30, completing a full work cycle and waiting for the next task instruction.

[0072] See attached document Figure 3 , attached Figure 3 This is a schematic diagram of the various functional stages in a compressor vacuum synchronous movement control method according to an embodiment of the present invention. The detailed execution process of the method described in this embodiment may include the following steps:

[0073] S301, Perform system initialization and physical interface establishment. At the beginning of a work cycle, the coordinating controller (c) is in standby mode. When an external sensor detects that the conveyor belt 1 carrying the freezer 2 has entered the predetermined working area and triggers a signal, the coordinating controller (c) is activated. The controller first instructs the synchronous moving platform to move to a preset, easily operable docking preparation point. This position ensures that the flexible tubing of the vacuum pump 40 can be aligned with the compressor 60 interface of the freezer 20. At this position, the flexible tubing and the compressor 60 interface are physically connected, establishing a physical channel for vacuuming operations.

[0074] S302, perform self-calibration of the digital anchor point and reference tension. This step establishes a stress-free control reference for subsequent precise synchronous control. After the physical connection is completed, the co-controller (c) executes a preset calibration program. This program drives the synchronous moving platform to perform a short-range, multi-directional exploratory displacement. During this displacement, the spatial sensing module (a) and the tension sensing module (b) are instructed to continuously acquire and generate a set of data points with synchronized timestamps, where each data point contains the position coordinates of the visual marker. and the corresponding real-time tension value .

[0075] After receiving the complete set of data points, the collaborative controller (c) uses numerical analysis methods, such as polynomial surface fitting based on the least squares method, to establish a functional model that can describe the tension and position relationship within the local space. This function model objectively reflects the physical characteristics of the flexible pipeline within this region. Subsequently, the controller differentiates this function model or uses other numerical optimization algorithms to calculate the optimal function value. To achieve the minimum optimal position coordinates This coordinate point is defined as the unique digital anchor point for this mission. Its corresponding theoretical minimum tension It is then defined as the reference tension. .

[0076] S303 executes composite cooperative synchronous control. When conveyor belt 1 starts moving the freezer 2, the cooperative controller (c) enters high-speed closed-loop control mode. Within each control cycle, the controller performs the following operations to generate and output the final speed command. First, the theoretical set speed is obtained from the drive system of conveyor belt 1 and used as the feedforward speed command. This instruction is used to counteract most of the following motion. Secondly, the real-time position of the visual marker is obtained through the spatial perception module (a). And calculate its relationship with the already labeled digital anchor points. Position error vector between The error vector is input to a vision PID controller to generate a vision speed correction. The calculation of this correction amount can be expressed as:

[0077] ;

[0078] in, These are the proportional, integral, and differential gain coefficients of the visual position loop, respectively.

[0079] Next, the real-time tension of the flexible pipeline is obtained through the tension sensing module (b). And calculate its relationship with the calibrated reference tension. tension error between This error is input to another independent tension PID controller, which generates a tension speed correction. The calculation of this correction amount can be expressed as:

[0080] ;

[0081] in, These are the gain coefficients of the tension feedback loop. Finally, the cooperative controller (c) linearly superimposes the three velocity components to obtain the final velocity command. It is then sent to the servo drive of the synchronous mobile platform for execution.

[0082] S304, Task Termination and System Reset. During synchronous control execution, when the preset vacuuming process timer ends, the coordinating controller (c) stops the control cycle. At this time, the flexible tubing of the vacuum pump (4) is separated from the compressor (6). Subsequently, the coordinating controller (c) instructs the synchronous moving platform to return to its initial standby position, the entire system is reset, and it is ready to welcome the arrival of the next freezer 2, thus completing a complete work cycle. In the entire S303 step, if the real-time tension detected by the tension sensing module (b) exceeds the preset safety threshold, an interrupt will be triggered, forcibly executing the equipment stop and reset process in S304.

[0083] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the simultaneous movement of a compressor and a vacuum pump, applied to the simultaneous operation of a refrigerator (2) on a conveyor belt (1), characterized in that, Includes the following steps: Step 1: Connect the flexible pipeline of the vacuum pump (4) installed on the synchronous moving platform to the compressor (6) interface of the freezer (2); Step 2: Based on the physical characteristics of the flexible pipeline, dynamically calibrate a digital anchor point and reference tension for subsequent synchronous control; Step 3: When the freezer (2) moves along the conveyor belt (1), control the synchronous moving platform to move synchronously. This control process integrates position feedback based on the digital anchor point and tension feedback based on the reference tension. Step two specifically includes: After the physical connection is completed, the synchronous mobile platform is controlled to perform a preset exploratory displacement; During the probing displacement process, the tension value of the flexible pipeline corresponding to the position of the synchronous moving platform is collected simultaneously; Based on the correspondence between the collected locations and tension values, the optimal location point with the minimum theoretical tension is calculated. The optimal position point is determined as the digital anchor point, and the theoretical minimum tension value corresponding to the optimal position point is determined as the reference tension; In step three, the final speed command sent to the synchronous mobile platform consists of the following three parts: Feedforward speed command corresponding to the set speed of the conveyor belt (1); The visual velocity correction is generated based on the position error vector relative to the digital anchor point measured by the spatial perception module. The tension velocity correction is generated based on the tension error relative to the reference tension measured by the tension sensing module. The visual speed correction is generated in the following way: a visual mark on the freezer (2) is continuously tracked by the spatial perception module, the position error vector between the current position of the visual mark and the digital anchor point is calculated in real time, and closed-loop control adjustment is performed based on the position error vector. The tension speed correction is generated by continuously measuring the real-time tension of the flexible pipeline using the tension sensing module, calculating the tension error between the real-time tension and the reference tension in real time, and performing closed-loop control adjustment based on the tension error.

2. The compressor evacuation synchronization movement control method of claim 1, wherein, The step of calculating the optimal location point with the minimum theoretical tension is achieved by fitting a function to the correspondence between the collected location and the tension value, and then finding the minimum value of the function.

3. The compressor evacuation synchronization movement control method of claim 1, wherein, The method also includes a safety protection step: in step three, if the real-time tension of the flexible pipeline is detected to exceed a preset safety threshold, the movement of the synchronous moving platform is immediately stopped.

4. The compressor evacuation synchronization movement control method of claim 1, wherein, The probing displacement is a tiny trajectory movement within a two-dimensional plane centered on the current connection point.

5. The compressor evacuation synchronization movement control method of claim 1, wherein, After step one and before step two begins, the vacuum pump (4) begins to perform a vacuuming operation on the compressor (6).

6. A compressor vacuuming synchronous movement control device, used to execute the compressor vacuuming synchronous movement control method according to any one of claims 1-5, characterized in that, include: A synchronous mobile platform is set on the conveying track (3) and can move along the track; A vacuum pump (4) is installed on the synchronous moving platform and has a flexible pipeline for connecting the compressor (6) of the freezer (2); A spatial perception module is installed on the synchronous mobile platform to acquire the visual position information of the freezer (2); Tension sensing module, used to measure the real-time tension of the flexible pipeline; The collaborative controller is electrically connected to the synchronous mobile platform, the spatial sensing module and the tension sensing module, and is configured to perform the method as described in any one of claims 1 to 5.

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