Workpiece conveying control method, linear drive control device, control system, conveying system, and storage medium

Abstract

The application discloses a workpiece conveying control method and device, a control system, a conveying system and a storage medium, relates to the technical field of industrial automation, and is applied to linear driving control device. The linear driving control device is used for controlling at least one carrying module to move on a conveying guide rail. The carrying module comprises a position control mover and a force control mover arranged oppositely. The control method comprises the following steps: when a target workpiece moves to the position between the position control mover and the force control mover, the carrying module is controlled to move until the target workpiece is in a stable clamping state; and the carrying module is controlled to clamp the target workpiece to a target position. In the clamping process, the position control mover adopts a position control mode and becomes a position reference unit of the system, and the force control mover adopts a torque control mode and becomes a force control unit of the system. The unit is responsible for outputting appropriate clamping force to the workpiece until a stable clamping of the target workpiece is formed.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and in particular to workpiece conveying control methods, linear drive control devices, control systems, conveying systems and storage media. Background Technology

[0002] Currently, in linear drive control systems, multiple movers can be controlled to move collaboratively on a conveyor rail to complete complex tasks, such as clamping, transporting, and precisely placing workpieces.

[0003] In related technologies, the control system pre-sets a fixed target distance between the two movers, which is determined based on the nominal dimensions of the workpiece being clamped. During the clamping action, both movers operate in a high-precision position control mode, moving synchronously to the preset absolute coordinate point to achieve workpiece clamping. This clamping distance remains constant throughout the entire motion path. This method can meet the basic clamping requirements of workpieces of a single specification. However, as industrial intelligent manufacturing develops towards flexible and highly mixed production, the limitations of this solution have gradually become apparent: On the one hand, the fixed spacing relies entirely on the nominal size of the workpiece, making it incompatible with mixed-line production of workpieces of different specifications, and unable to adapt to the dimensional tolerances present in the actual production process of the workpiece, resulting in poor flexibility; on the other hand, due to the lack of perception of the actual state of the workpiece, when the workpiece is missing, misplaced, or has a large dimensional deviation, it is very easy to encounter problems such as clamping failure or rigid collision between the mover and the workpiece; in addition, this solution only controls clamping through position spacing and cannot regulate the clamping force. To ensure clamping reliability, it is often necessary to set an interference gap to achieve over-clamping, which poses a serious risk of crushing for precision and fragile workpieces, making it difficult to meet the stringent requirements of modern industry for the safety, adaptability, and accuracy of clamping operations. Summary of the Invention

[0004] The main objective of this application is to provide a workpiece conveying control method, a linear drive control device, a control system, a conveying system, and a storage medium. The aim is to clarify the roles of the two movers in the conveying module. By setting one mover as a position-controlled mover, making it the system's position reference unit, it provides a precise and stable position reference. The other mover is set as a force-controlled mover, making it the system's force control unit, thereby enabling the identification and adaptation to workpieces of different sizes and improving the workpiece clamping and conveying effect.

[0005] To achieve the above objectives, this application proposes a workpiece conveying control method applied to a linear drive control device. The linear drive control device controls at least one conveying module to move along a conveying guide rail. The conveying module includes a position-controlled mover and a force-controlled mover arranged opposite to each other. The workpiece conveying control method includes: When the target workpiece moves between the position control actuator and the force control actuator, the transport module is controlled to move until the target workpiece is in a stable clamping state; The transport module is controlled to clamp the target workpiece to the target position. In one specific embodiment, controlling the movement of the conveying module until the target workpiece is in a stable clamping state includes: The force-controlled actuator is controlled to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator; When in the clamping position, a first force is applied to the force-controlled actuator to bring the target workpiece to a stable clamping state.

[0006] In one specific embodiment, before the step of controlling the force-controlled actuator to move along a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator, the step includes: controlling the position-controlled actuator to move to the clamping position on the conveying guide rail; The step of controlling the transport module to clamp the target workpiece to the target position includes: using the first force to control the transport module to clamp the target workpiece from the position to be clamped to the target position.

[0007] In one specific embodiment, the step of controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator includes: obtaining a first feedback torque of the force-controlled actuator, and determining that the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator when the first feedback torque reaches a preset threshold.

[0008] In one specific embodiment, before the target workpiece moves between the position control actuator and the force control actuator, a preset distance is maintained between the position control actuator and the force control actuator.

[0009] In one specific embodiment, the step of applying a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state includes: obtaining a second feedback torque of the position-controlled actuator, determining the first force applied to the force-controlled actuator based on the second feedback torque, until the target workpiece reaches a stable clamping state.

[0010] In one specific embodiment, the step of controlling the transport module to clamp the target workpiece to the target position includes: acquiring the third feedback torque of the position control actuator in real time, determining that when the target workpiece loses the stable clamping state, and adjusting the first force applied to the force control actuator based on the third feedback torque of the position control actuator.

[0011] In one specific embodiment, before the step of controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator, the method further includes controlling the force-controlled actuator to operate with a second force.

[0012] In one specific embodiment, the first force is greater than the second force.

[0013] In addition, to achieve the above objectives, this application also proposes a linear drive control device, including the above-described workpiece conveying control method.

[0014] In addition, to achieve the above objectives, this application also proposes a linear drive control system, including a conveying guide rail, at least one transport module, and the aforementioned linear drive control device.

[0015] In addition, to achieve the above objectives, this application also proposes a linear conveying system, including the above-described linear drive control system and at least one robotic arm, which is used to move the target workpiece between the position-controlled actuator and the force-controlled actuator.

[0016] In addition, to achieve the above objectives, this application also proposes a linear drive control device, including: a memory, a processor, and a workpiece transport control program stored in the memory and executable on the processor, wherein the workpiece transport control program is configured to implement the steps of the above-described workpiece transport control method.

[0017] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the workpiece conveying control method described above.

[0018] The technical solution of this application embodiment clarifies the functional division of the two sets of movers in the handling module: one is configured as a position-controlled mover, and the other as a force-controlled mover. In implementation, when the target workpiece moves between the position-controlled mover and the force-controlled mover, the position-controlled mover and the force-controlled mover of the handling module are controlled to move until the target workpiece is in a stable clamping state. During clamping, the position-controlled mover adopts a position control mode, making it the system's position reference unit, while the force-controlled mover adopts a torque control mode, making it the system's force control unit. This unit is responsible for outputting a suitable clamping force to the workpiece until a stable clamping is achieved. During handling, the position-controlled mover provides precise position navigation, strictly following a preset motion trajectory, providing a precise and stable position reference for the entire clamping system. The force-controlled mover precisely regulates the clamping force to control the handling module to stably clamp the target workpiece to the target position.

[0019] The technical solution of this application, through the cooperation of position-controlled and force-controlled actuators, can automatically adapt to clamping operations of workpieces of different sizes, support mixed-line production, and effectively improve the flexible clamping effect of workpieces. Simultaneously, in situations where workpieces are missing, misaligned, or have large dimensional tolerances, it can avoid clamping failures and rigid collisions. The entire process requires no manual operation of the control system, such as pre-selecting the size of the workpiece and clamping force, making operation simple. It achieves flexible clamping and enhances the system's fault tolerance. During transport, the force-controlled actuator can precisely adjust the clamping force, avoiding over-clamping and unstable clamping, comprehensively improving the stability, safety, and versatility of workpiece clamping and transport. Furthermore, it eliminates the need for additional redundant hardware, resulting in a simple and compact overall structure that effectively reduces equipment investment and operating costs. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic flowchart of an embodiment of the workpiece conveying control method of this application; Figure 2 This is a schematic diagram showing the stable clamping state between the conveying module and the workpiece in this application. Figure 3 This is a schematic diagram of the overall process of the workpiece conveying control method of this application.

[0023] Figure 4 This is a schematic diagram of the linear drive control device of this application; Figure 5 This is a schematic diagram of the linear drive control system of this application.

[0024] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0026] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0027] In the field of industrial automation, linear drive control systems can control multiple movers to move collaboratively on a conveyor rail to complete complex tasks, such as clamping, transporting, and precisely placing workpieces.

[0028] In related technologies, various mover coordination control schemes have been developed to control the distance and trajectory of two movers. Among them, the fixed-distance position control method is one of the earliest and most fundamental technical solutions. The core design logic of this scheme revolves around the nominal dimensions of the workpiece: before the clamping operation, the control system pre-obtains the nominal dimensions of the workpiece and calculates a fixed target distance between the two clamping movers based on these dimensions. This distance must precisely match the nominal dimensions of the workpiece to ensure that the movers can clamp the workpiece precisely when they close. During the clamping action, both clamping movers are configured in high-precision position control mode. The controller sends synchronous motion commands to the two movers, driving them to move synchronously to their respective absolute coordinate points according to a preset trajectory. Since the target coordinates of the two movers are pre-calibrated based on the fixed distance, the clamping distance between them remains constant throughout the entire motion path. Ultimately, the workpiece is clamped and fixed by matching the distance with the workpiece size.

[0029] The control logic of this solution is simple, motion synchronization is easy to achieve, and it can meet the basic clamping requirements of a single-specification workpiece. However, as industrial intelligent manufacturing develops towards flexible and highly mixed production, the limitations of this solution are becoming increasingly apparent: On the one hand, the fixed spacing relies entirely on the nominal size of the workpiece, which cannot adapt to the dimensional tolerances that exist in the actual production process of the workpiece, nor can it be compatible with mixed-line production of workpieces of different specifications, resulting in poor flexibility; on the other hand, due to the lack of perception of the actual state of the workpiece, when the workpiece is missing, misaligned, or has a large dimensional deviation, clamping failure or rigid collision between the mover and the workpiece is very likely to occur; in addition, this solution only controls clamping through position spacing and cannot regulate the clamping force. To ensure clamping reliability, an interference gap is often required to achieve over-clamping, which poses a serious risk of crushing for precision and fragile workpieces, making it difficult to meet the stringent requirements of modern industry for the safety, adaptability, and accuracy of clamping operations.

[0030] In summary, the technical solutions adopted by the above-mentioned related technologies have the drawback of poor clamping effect on the target workpiece.

[0031] To address the aforementioned shortcomings, this application proposes a workpiece conveying control method applied to a linear drive control device, referring to... Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the workpiece conveying control method of this application.

[0032] In this embodiment, the linear drive control device is used to control at least one transport module to move on the transport guide rail. The transport module includes a position control actuator and a force control actuator arranged opposite to each other. When the target workpiece moves between the position control actuator and the force control actuator, the force control actuator is controlled to move along the direction close to the position control actuator until the target workpiece is in a stable clamping state; the transport module is controlled to clamp the target workpiece to the target position.

[0033] The technical solution of this application embodiment clarifies the functional division of the two sets of movers in the handling module: one is configured as a position-controlled mover, and the other as a force-controlled mover. In implementation, when the target workpiece moves between the position-controlled and force-controlled movers, the position-controlled and force-controlled movers of the handling module are controlled to move until the target workpiece is in a stable clamping state. During clamping, the position-controlled mover adopts a position control mode, making it the system's position reference unit, while the force-controlled mover adopts a torque control mode, making it the system's force control unit. This unit is responsible for outputting appropriate clamping force to the workpiece until a stable clamping is achieved. During handling, the position-controlled mover provides precise position navigation, strictly following a preset motion trajectory, providing a precise and stable position reference for the entire clamping system. The force-controlled mover precisely regulates the clamping force to control the handling module to stably clamp the target workpiece to the target position.

[0034] The technical solution of this application, through the cooperation of position-controlled and force-controlled actuators, can automatically adapt to clamping operations of workpieces of different sizes, support mixed-line production, and effectively improve the flexible clamping effect of workpieces. Simultaneously, in situations where workpieces are missing, misaligned, or have large dimensional tolerances, it can avoid clamping failures and rigid collisions. The entire process requires no manual operation of the control system, such as pre-selecting the size of the workpiece and clamping force, making operation simple. It achieves flexible clamping and enhances the system's fault tolerance. During transport, the force-controlled actuator can precisely adjust the clamping force, avoiding over-clamping and unstable clamping, comprehensively improving the stability, safety, and versatility of workpiece clamping and transport. Furthermore, it eliminates the need for additional redundant hardware, resulting in a simple and compact overall structure that effectively reduces equipment investment and operating costs.

[0035] It should be noted that in the embodiments of this application, one of the transport modules can be designated as a position-controlled mover and the other as a force-controlled mover in advance, and the function corresponding to the mover will not change during the clamping establishment stage and the stable clamping stage.

[0036] Specifically, in this embodiment, the workpiece conveying control method includes steps S10~S20: Step S10: When the target workpiece moves between the position control actuator and the force control actuator, control the transport module to move until the target workpiece is in a stable clamping state.

[0037] The type of the target workpiece is not limited; it can be a container or other item that can be clamped using the handling module of this application, and no specific limitation is made here. The size and specifications of the target workpiece need to be limited within the allowable clamping range of the handling module to ensure that the target workpiece can be clamped.

[0038] The target workpiece can be moved between two moving parts by the robotic arm of the linear conveyor system. Specifically, the robotic arm of the linear conveyor system can be positioned outside the conveyor rail and clamp the target workpiece between the two moving parts on the conveyor rail. Alternatively, the robotic arm of the linear conveyor system can clamp the target workpiece at a position on the conveyor rail and wait for the two moving parts to move to both sides of the target workpiece.

[0039] In another alternative approach, while the robotic arm is moving the target workpiece to the position-controlled mover and the force-controlled mover, but before it is positioned between the position-controlled mover and the force-controlled mover, it simultaneously sends a control command to the linear drive control device. Based on the control command, the linear drive control device controls the force-controlled mover and the position-controlled mover to move synchronously onto the conveyor rail, i.e., to move the target workpiece between the position-controlled mover and the force-controlled mover.

[0040] The stable clamping state refers to a state in which the target workpiece, after being clamped by the position control actuator and the force control actuator, is in force balance, without slippage, without risk of falling off, and without damage. At this state, the clamping force is moderate and remains stable. That is, in this state, the forces between the position control actuator and the target workpiece and the forces between the force control actuator and the target workpiece are in balance.

[0041] It should be noted that the target workpiece is pushed by the force-controlled mover and eventually contacts the position-controlled mover, which acts as a rigid fulcrum. The force-controlled mover can no longer move forward, and a first force is applied to it, causing the target workpiece to be stably clamped. At this point, the target workpiece is stably clamped between the rigid position of the position-controlled mover and the constant force of the force-controlled mover, thus achieving a stable clamping state for the target workpiece.

[0042] In a specific embodiment, step S10: when the target workpiece moves between the position-controlled mover and the force-controlled mover, controlling the transport module to move until the target workpiece is in a stable clamping state includes: Step S11: Control the force-controlled actuator to move along the direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator; Step S12: When the workpiece is in the clamping position, apply a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state.

[0043] In other words, when the target workpiece moves between the position-controlled mover and the force-controlled mover, the control transport module moves, that is, the force-controlled mover and the position-controlled mover move, gradually reducing the distance between them until all three are in contact. Then, at the clamping position, a first force is applied to the force-controlled mover to balance the forces on the target workpiece, resulting in a stable clamping state. There are various specific movement states between the three: the position-controlled mover may reach the precise position (referred to as the clamping position in the following embodiment) first, and then the three make contact; or the three may reach the clamping position simultaneously and then make contact; or the three may make contact first and then move to the clamping position. The target workpiece may contact the position-controlled mover first, or it may contact the force-controlled mover first; there are various forms, which will not be elaborated here. It should be noted that in extreme cases, such as when the target workpiece moves between the position-controlled mover and the force-controlled mover, all three are already in contact. In this case, the force-controlled mover will not move significantly but will only output a pushing force. For ease of description, this article will use the description of the force-controlled mover moving towards the position-controlled mover.

[0044] Understandably, the force-controlled actuator remains in torque control mode throughout the entire process. The force-controlled actuator starts working with minimum preload and increases the force applied to the force-controlled actuator after contacting the bottle. When the three reach the clamping position, the first force applied to the force-controlled actuator is controlled. This first force is used to stably clamp the target workpiece.

[0045] The first force can be a specific torque value or a range of torque values. The magnitude of the first force is preset according to the workpiece material, size, and conveying requirements, ensuring stable clamping of the workpiece without damage. In this embodiment, when the target workpiece moves between the position control actuator and the force control actuator, the target workpiece is first controlled to contact both the force control actuator and the position control actuator. Then, at the clamping position, the first force is applied to bring the target workpiece to a stable clamping state, ensuring that the target workpiece can be stably clamped.

[0046] In one specific embodiment, before step S11, which controls the force-controlled mover to move in a direction close to the position-controlled mover until the target workpiece is in contact with both the force-controlled mover and the position-controlled mover, the method further includes: controlling the position-controlled mover to move to the clamping position on the conveying guide rail.

[0047] In other words, before entering a stable clamping state, the position control actuator must be controlled to move to a preset precise position. That is, the position control actuator serves as a spatial reference, limiting the target workpiece during the process of the force control actuator pushing the workpiece to move. Specifically, before the target workpiece contacts both the force control actuator and the position control actuator, the position control actuator can be controlled to move to the clamping position on the conveyor guide rail.

[0048] The position control actuator serves as a spatial reference. It can move to the clamping position beforehand or synchronously with the force control actuator and the target workpiece. In other words, the position control actuator arrives at the clamping position before or at the moment of contact between the three components (as described previously). By moving the position control actuator to the preset clamping position in advance and achieving precise positioning, a fixed reference surface is provided for clamping the target workpiece. The early arrival and precise positioning and locking of the position control actuator prevents the force control actuator from pushing the workpiece beyond its travel range, effectively constraining the workpiece's end travel and preventing displacement deviation and travel errors during clamping, ensuring a smooth and controllable clamping operation.

[0049] It should be noted that a corresponding encoder can be installed on the conveyor rail to detect the position of the position-controlled mover. After detecting the position of the position-controlled mover, the encoder sends the position information to the linear drive control device. Upon receiving the position information from the encoder, the linear drive control device determines whether the position-controlled mover has moved to the clamping position based on the position information. In this scheme, the encoder is preferably an inductive encoder. Excitation coils and induction coils are arranged on the stator side of the conveyor rail, and a copper-plated induction area is set on the surface of the mover. The position detection of the mover is accurately achieved through the electromagnetic coupling between the copper-plated area and each set of coils.

[0050] Specifically, when the target workpiece moves between the position-controlled mover and the force-controlled mover, the process of all three moving to a stable clamping state is unrestricted and can be achieved in various ways, such as: Example 1: The position-controlled mover first moves to the precise position that serves as a rigid fulcrum, i.e., to the clamping position. At this point, the target workpiece is not in contact with either the position-controlled mover or the force-controlled mover. The force-controlled mover moves towards the target workpiece. After contacting the target workpiece, it issues a torque command to the force-controlled mover. The force-controlled mover generates a thrust through the torque, pushing the target workpiece towards the position-controlled mover until all three are in contact. At this point, the initial force of the force-controlled mover is increased to ensure a stable clamping state between the target workpiece, the force-controlled mover, and the position-controlled mover. Specifically, the strength and direction of the electromagnetic force can be changed by adjusting the magnitude and direction of the current in the stator coil, thereby controlling the torque on the force-controlled mover. For example, in a linear drive control system, increasing the current can increase the electromagnetic force, causing the force-controlled mover to accelerate or generate a larger thrust; changing the direction of the current can change the direction of the force, achieving forward or reverse movement or braking of the force-controlled mover.

[0051] Example 2: The position control mover first moves to the precise position that serves as the rigid fulcrum, that is, the position control mover moves to the clamping position. At this time, the target workpiece is also in contact with the position control mover, but the target workpiece is not in contact with the force control mover. The force control mover moves towards the position control mover until all three are in contact. Example 3: The force-controlled mover, the target workpiece, and the position-controlled mover move together. During the movement of the three, the position-controlled mover moves first to the precise position that serves as the rigid fulcrum, or the three move synchronously to the precise position that serves as the rigid fulcrum.

[0052] The motion states in Example 3 also include various types. For example, the target workpiece first contacts the position control mover, the position control mover pushes the target workpiece to the clamping position, and then the force control mover is controlled to move along the direction close to the position control mover until the target workpiece is in a stable clamping state.

[0053] Alternatively, the target workpiece may first contact the position control actuator, and the force control actuator may move toward the target workpiece until it contacts the target workpiece, and then push the target workpiece until all three reach the clamping position simultaneously. Or, the position control actuator may reach the clamping position first, and then the force control actuator and the target workpiece may reach the clamping position later.

[0054] Alternatively, the target workpiece can first come into contact with the force-controlled actuator, which then pushes the target workpiece, and the position-controlled actuator also moves to the precise position, with all three reaching the clamping position simultaneously. Or, after the force-controlled actuator comes into contact with the target workpiece, the position-controlled actuator can be waited for to move to the clamping position on the conveyor guide rail before the force-controlled actuator is controlled to move along the direction close to the position-controlled actuator to the clamping position.

[0055] In other words, before the target workpiece reaches a stable clamping state in step S10, the motion states of the position control mover, the force control mover, and the target workpiece are varied, but ultimately the position control mover stops moving after it moves to the precise position (the clamping position) on the conveying guide rail, and this position serves as a rigid fulcrum.

[0056] In one specific embodiment, the position-controlled mover and the force-controlled mover can be driven to move together to a preset working area before the subsequent clamping control logic is executed. Specifically, the two movers can enter the working area before the position-controlled mover reaches the clamping position; alternatively, both movers can arrive at the working area simultaneously when the position-controlled mover reaches the clamping position. After entering the working area, the clamping actions of the two movers are uniformly controlled to avoid excessive distance between the position-controlled and force-controlled movers, effectively shortening the clamping engagement stroke and improving the overall response efficiency of clamping establishment.

[0057] In one feasible approach, step S11, which involves controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator, includes: acquiring a first feedback torque of the force-controlled actuator; and determining that the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator when the first feedback torque reaches a preset threshold.

[0058] The preset threshold is a torque threshold used to determine whether the mover is in contact with the workpiece. This preset threshold can be set according to actual conditions; for example, it can be set to 2.5N. The comparison between the first feedback torque and the preset threshold serves as the basis for determining whether the target workpiece is in contact with both the force-controlled mover and the position-controlled mover, thus improving the accuracy of contact determination.

[0059] The first feedback torque can be calculated by detecting the current of the force-controlled actuator through the driver. Alternatively, it can be the reaction torque collected by the force-controlled actuator through a built-in torque sensor, indirectly reflecting the pressure exerted by the target workpiece on the force-controlled actuator. The greater the pressure, the larger the absolute value of the first feedback torque; conversely, the smaller the pressure, the smaller the absolute value of the first feedback torque.

[0060] The steps of obtaining the first feedback torque of the force-controlled mover and determining that the target workpiece is in contact with both the force-controlled mover and the position-controlled mover when the first feedback torque reaches a preset threshold include one of the following: Example 1: When the target workpiece is located between the force-controlled mover and the position-controlled mover, and is not in contact with either of them, the linear drive control device controls the force-controlled mover to move in the direction closer to the position-controlled mover. When the force-controlled mover contacts the target workpiece, it continues to push the target workpiece toward the position-controlled mover. During the process of the force-controlled mover pushing the target workpiece toward the position-controlled mover, the first feedback torque of the force-controlled mover is acquired in real time. When the first feedback torque reaches a preset threshold, it is determined that the target workpiece is in contact with both the force-controlled mover and the position-controlled mover, thereby achieving the purpose of ensuring contact between both the force-controlled mover and the position-controlled mover.

[0061] Example 2: When the target workpiece is in contact with the position control actuator, the linear drive control device controls the force control actuator to move in the direction closer to the position control actuator. During the movement of the force control actuator towards the position control actuator, the first feedback torque of the force control actuator is acquired in real time. When the first feedback torque reaches a preset threshold, it is determined that the target workpiece is in contact with both the force control actuator and the position control actuator, thereby achieving the purpose of contact between the force control actuator and the position control actuator.

[0062] Example 3: When the target workpiece is in contact with the force-controlled mover, the linear drive control device controls the force-controlled mover to move in the direction closer to the position-controlled mover. During the process of the force-controlled mover pushing the target workpiece towards the position-controlled mover, the first feedback torque of the force-controlled mover is acquired in real time. When the first feedback torque reaches a preset threshold, it is determined that the target workpiece is in contact with both the force-controlled mover and the position-controlled mover, thereby achieving the purpose of both the force-controlled mover and the position-controlled mover being in contact.

[0063] In one feasible implementation, before the target workpiece is moved between the position control actuator and the force control actuator as described in step S10, a preset distance is maintained between the position control actuator and the force control actuator.

[0064] In mixed-line production, the size of the workpiece is not unique, that is, the maximum diameter of different workpieces is not unique. In order to clamp workpieces of different sizes, the preset distance needs to be greater than the diameter of the workpiece with the largest diameter in mixed-line production. This can meet the clamping requirements of workpieces of different sizes in mixed-line production.

[0065] In one alternative approach, a preset distance can be maintained between the position actuator and the force actuator after the previous target workpiece is released.

[0066] In another alternative approach, the preset distance between the position-controlled mover and the force-controlled mover can be maintained at any point in time before the target workpiece moves between them. For example, after releasing the previous target workpiece, the preset distance can be maintained between the position-controlled mover and the force-controlled mover during the movement of the two movers. Alternatively, the preset distance can be maintained between the position-controlled mover and the force-controlled mover at the instant the target workpiece moves between them after releasing the previous target workpiece.

[0067] It should be noted that after the target workpiece reaches the target position and is gripped by the robot arm at the target position, the two moving parts switch from one being in position control mode and the other in force control mode to both being in position control mode and then move to grip the next target workpiece. For example, after both movers enter the working area, they switch back to one being in position control mode and the other in force control mode.

[0068] In this embodiment, by controlling the position control actuator and the force control actuator to maintain a preset distance, preparation is made for subsequent clamping, and the preset distance can accommodate the target workpiece with the largest diameter that the system can operate on, so as to achieve smooth clamping of the target workpiece.

[0069] Reference Figure 2 , Figure 2 This is a schematic diagram of the transport module and the target workpiece in a stable clamping state according to this application. Figure 2 One of them is a position-controlled mover, and the other is a force-controlled mover. For example, mover A is set as the position-controlled mover, and mover B is set as the force-controlled mover. It should be noted that each mover also includes a clamping part. The position-controlled mover and the force-controlled mover can clamp the target workpiece through their respective clamping parts, and the position-controlled mover and the force-controlled mover are controlled by a linear drive control device to move along the conveying guide rail where the stator is located, so as to realize the transportation of the workpiece.

[0070] In one alternative approach, as the robotic arm moves the target workpiece between the position-controlled actuator and the force-controlled actuator, the linear drive control device sends a control command to control the transport module to move until the target workpiece is in a stable clamping state.

[0071] Furthermore, in one feasible implementation, before the step of controlling the force actuator to move in a direction close to the position actuator until the target workpiece is in contact with both the force actuator and the position actuator, the step further includes controlling the force actuator to operate with a second force.

[0072] The second force can be a specific torque value or a range of torque values. The magnitude of the second force is preset according to the workpiece material, size, and conveying requirements. The second force can be set to a preset value, such as 1N. For example, during the system initialization phase, before the force-controlled actuator has contacted the target workpiece, the second force is used to control the actuator to operate, enabling its slow exploratory movement.

[0073] In this embodiment, when the target workpiece moves between the position control actuator and the force control actuator, the force control actuator is controlled to operate with a second force. In one feasible implementation, the first force is set to be greater than the second force. With this setting, the force control actuator can gradually approach the target workpiece and the position control actuator with a gentle force, making the clamping process more stable, safe, and reliable.

[0074] In one alternative approach, when the target workpiece moves between the position control actuator and the force control actuator, the force control actuator is controlled to operate with a second force. After the force control actuator contacts the target workpiece, the pressure on the force control actuator increases. At this time, the control system increases the force applied to the force control actuator. At the clamping position, a first force is applied to the force control actuator to bring the target workpiece to a stable clamping state. For example, in one embodiment, at the clamping position, the position control actuator, the force control actuator, and the target workpiece are already in contact. At this time, the pressure on the force control actuator increases, requiring an increase in the force applied to the force control actuator, such as applying a first force to bring the target workpiece to a stable clamping state. The transport module is then controlled to clamp the target workpiece to the target position. In this embodiment, by controlling the force control actuator to operate with a second force, the smooth movement of the force control actuator is achieved. At the clamping position, the first force is applied to the force control actuator to achieve stable clamping of the workpiece.

[0075] In one feasible implementation, the step of applying a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state includes: acquiring a second feedback torque of the position-controlled actuator, determining the first force applied to the force-controlled actuator based on the second feedback torque, until the target workpiece is in a stable clamping state.

[0076] The second feedback torque can be calculated by detecting the current of the position control actuator through the driver. Alternatively, it can be the reaction torque collected by the position control actuator through a built-in torque sensor, indirectly reflecting the pressure exerted by the target workpiece on the position control actuator. The greater the pressure, the larger the absolute value of the second feedback torque; conversely, the smaller the pressure, the smaller the absolute value of the second feedback torque.

[0077] In one alternative approach, after obtaining the second feedback torque of the position-controlled mover, the second feedback torque is input into a pre-constructed force feedback calculation model. The output of this force feedback calculation model is the first force applied to the position-controlled mover. This force feedback calculation model can be expressed as: .

[0078] in, This is the second feedback torque of the position-controlled actuator, where K is the proportional coefficient. As the first force, The target clamping force is the target value that the force-controlled actuator must achieve when the target workpiece reaches a stable clamping state. The target clamping force can be set according to the workpiece's rigidity, material, and weight.

[0079] In another alternative approach, a pre-defined correspondence between the feedback torque and the applied force of different position-controlled actuators can be established. Based on this correspondence, the first applied force to the force-controlled actuator is determined and applied until the target workpiece reaches a stable clamping state.

[0080] In a specific embodiment, determining the first force applied to the force-controlled actuator based on the second feedback torque is a gradual exploratory process. That is, this process requires continuously acquiring the feedback torque of the position-controlled actuator and adjusting the force to control the target workpiece to a stable clamping state, avoiding damage to the workpiece due to excessive force and avoiding unstable workpiece clamping due to insufficient force.

[0081] Understandably, the target workpiece is pushed toward and eventually contacts the position-controlled mover, which acts as a rigid fulcrum. Once contact is made, the force-controlled mover can no longer move forward, and its output torque stabilizes at the fixed clamping force, meaning the system reaches force equilibrium. At this point, the workpiece is stably clamped between the rigid position of the position-controlled mover and the constant thrust of the force-controlled mover.

[0082] In this embodiment, when the target workpiece moves between the position control actuator and the force control actuator, the system first obtains the second feedback torque of the position control actuator, and then dynamically determines the first force applied to the force control actuator based on the second feedback torque, until the target workpiece reaches a stable clamping state. Subsequently, the system controls the transport module to move the target workpiece to the designated position.

[0083] This solution achieves stable clamping of the target workpiece by precisely controlling the initial force of the force-controlled mover based on the feedback torque of the position-controlled mover during the clamping establishment phase. This design effectively overcomes clamping challenges under specific working conditions: for example, during high-speed operation or when the workpiece is under heavy load, the position-controlled mover may accelerate, decelerate, turn, or vibrate. Due to the inertia of the target workpiece, relying solely on the feedback torque of the force-controlled mover can lead to lag in response and untimely adjustment, resulting in unstable clamping. Simultaneously, this control method possesses excellent adaptability and fault tolerance. Regardless of workpiece size or conditions such as missing parts, positional offsets, or large dimensional tolerances, it ensures stable clamping of the target workpiece, guaranteeing the reliability and stability of the clamping process. Furthermore, by using the feedback torque of the position-controlled mover as the controlled variable, a specific control law compensates for the initial force of the force-controlled mover in real time, forming an indirect, high-precision closed-loop clamping force control system. The entire process does not require manual input or selection of workpiece size, clamping force, etc., and has a high degree of automation. Without relying on expensive external force sensors, it achieves clamping force accuracy and stability that match or even surpasses that of direct force control.

[0084] Step S20, the step of controlling the transport module to clamp the target workpiece to the target position includes: using the first force to control the transport module to clamp the target workpiece from the clamping position to the target position.

[0085] The target position refers to the preset coordinate point to which the target workpiece needs to be transported, which is the unified target of the coordinated motion of the moving parts. For example, the target position can be a specific location on the conveyor rail. After reaching the specified location, the robotic arm can be controlled to release the target workpiece.

[0086] After clamping is established, the linear control system still acquires the second feedback torque of the position control actuator, inputs the second feedback torque into the force feedback calculation model, determines the first force applied to the force control actuator based on the second feedback torque, and uses the first force to control the transport module to clamp the target workpiece from the position to be clamped to the target position. The technical solution of this application embodiment clarifies the functional division of the two sets of movers in the handling module: one is configured as a position-controlled mover, and the other as a force-controlled mover. In implementation, when the target workpiece moves between the position-controlled mover and the force-controlled mover, the position-controlled mover and the force-controlled mover of the handling module are controlled to move until the target workpiece is in a stable clamping state. During clamping, the position-controlled mover adopts a position control mode, making it the system's position reference unit, while the force-controlled mover adopts a torque control mode, making it the system's force control unit. This unit is responsible for outputting a suitable clamping force to the workpiece until a stable clamping is achieved. During handling, the position-controlled mover provides precise position navigation, strictly following a preset motion trajectory, providing a precise and stable position reference for the entire clamping system. The force-controlled mover precisely regulates the clamping force to control the handling module to stably clamp the target workpiece to the target position.

[0087] The technical solution of this application, through the cooperation of position-controlled and force-controlled actuators, can automatically adapt to clamping operations of workpieces of different sizes, support mixed-line production, and effectively improve the flexible clamping effect of workpieces. Simultaneously, in situations where workpieces are missing, misaligned, or have large dimensional tolerances, it can avoid clamping failures and rigid collisions. The entire process requires no manual operation of the control system, such as pre-selecting the size of the workpiece and clamping force, making operation simple. It achieves flexible clamping and enhances the system's fault tolerance. During transport, the force-controlled actuator can precisely adjust the clamping force, avoiding over-clamping and unstable clamping, comprehensively improving the stability, safety, and versatility of workpiece clamping and transport. Furthermore, it eliminates the need for additional redundant hardware, resulting in a simple and compact overall structure that effectively reduces equipment investment and operating costs.

[0088] In one feasible implementation, the step of controlling the transport module to clamp the target workpiece to the target position includes: acquiring the third feedback torque of the position control actuator, determining that when the target workpiece loses its stable clamping state, adjusting the first force applied to the force control actuator based on the third feedback torque of the position control actuator.

[0089] The method for obtaining the third feedback torque is the same as that for obtaining the second feedback torque; for details, please refer to the second feedback torque described above.

[0090] In one alternative approach, during the process of clamping the target workpiece to the target position, a third feedback torque of the position control actuator can be acquired. The first force is compared with the third feedback torque. For example, the system determines whether the difference between the two is within a preset range. If it exceeds the preset range, the preset range can be adjusted accordingly. Relatedly, it is determined that the target workpiece has lost its stable clamping state. Specifically, a third feedback torque can be input into the pre-constructed force feedback calculation model mentioned above, and the output of this force feedback calculation model is a new force. The first force applied to the force-controlled actuator can be adjusted to this new force based on the third feedback torque of the position-controlled actuator. The force feedback calculation model can be referred to above.

[0091] It should be noted that in high-speed operation scenarios where the dual-movement mechanism clamps the target workpiece, such as when the movers are running at a speed of 1 m / s, the workpiece's inertia is significant at high speeds. This can cause the force-controlled mover to lag behind the position-controlled mover, leading to a loss of stable clamping and resulting in clamping instability. Similarly, a heavy workpiece also exhibits greater inertia, making it prone to instability as the force-controlled mover may not follow the position-controlled mover promptly. Furthermore, during acceleration, deceleration, turning, or vibration scenarios involving the dual-movement mechanism clamping the target workpiece, insufficient or excessive clamping force can occur. Insufficient clamping force leads to unstable clamping, while excessive force can damage the workpiece. Therefore, in the above scenarios, if the control is based solely on the feedback torque of the force-controlled mover, the force-controlled mover may experience lag in response and untimely adjustment, leading to unstable clamping. Therefore, the third feedback torque of the position-controlled mover can be obtained in real time. When the target workpiece loses its stable clamping state, the first force applied to the force-controlled mover can be adjusted in real time based on the third feedback torque of the position-controlled mover, so that the target workpiece can be stably clamped in the above scenarios.

[0092] Example 1: Compensation mechanism for insufficient clamping force. Due to vibration or slight slippage of the target workpiece, the pressure on the position control mover side decreases, that is, the absolute value of the feedback torque of the position mover decreases. It is necessary to automatically increase the first action force of the force control mover to re-clamp the workpiece.

[0093] Example 2: Protection mechanism against excessive clamping force. For example, when the path turns, the target workpiece may be squeezed, causing the pressure on the position control actuator side to increase. The absolute value of the feedback torque of the position control actuator detected by the position control actuator increases, and the first force of the force control actuator needs to be reduced to release the excessive pressure and effectively protect the workpiece.

[0094] Example 3: Dynamic compensation for inertial effects. During the acceleration and deceleration phases of the system, the inertial effect of the workpiece will reduce or increase the pressure on the positioning actuator. The inertial effect is overcome by increasing or decreasing the first force of the force-controlled actuator, thus maintaining a stable clamping state.

[0095] In this embodiment, by acquiring the third feedback torque of the position control actuator during the process of controlling the transport module to clamp the target workpiece to the target position, and determining when the target workpiece loses its stable clamping state, the first force applied to the force control actuator is adjusted based on the third feedback torque of the position control actuator. This ensures constant force clamping during dynamic transport, enabling the system to effectively resist inertial forces and disturbances generated during high loads, high-speed motion, acceleration, deceleration, and path bending, maintain constant clamping force, and prevent the target workpiece from sliding, falling off, or being damaged by overpressure.

[0096] In one feasible implementation, step S12, before applying a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state in the clamping position, and before applying a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state in the clamping position, further includes determining whether the first force is within a preset torque limit range. If so, the applied first force is executed; otherwise, an alarm signal is output.

[0097] The preset torque limit range refers to the boundary range of the output torque of the force-controlled mover set to protect the workpiece and the mover. It includes an upper limit and a lower limit. The upper limit is used to prevent over-clamping and damage to the workpiece, and the lower limit is used to prevent under-clamping and workpiece falling off.

[0098] In one optional approach, after calculating the first force, the linear drive control device compares it with the upper and lower limits of a preset torque limit range. If the first force falls within this range, it is determined to be safe and controllable, and a command is issued to instruct the force-controlled actuator to operate at that first force. This ensures that the first force of the force-controlled actuator is always within a safe range, avoiding force exceeding limits due to abnormal operating conditions. This protects the workpiece from over-clamping damage and prevents workpiece detachment due to insufficient force, thus improving system reliability.

[0099] In another optional approach, if the initial force exceeds the upper or lower limit of the preset range, the linear drive control device determines it to be a clamping abnormality, such as over-clamping or under-clamping risk, and immediately outputs an alarm signal, such as an audible and visual alarm or a system pop-up notification, and can also stop the conveying action. This method achieves timely early warning and safety protection for abnormal working conditions, avoids equipment damage or workpiece scrapping, reduces production risks, and improves system safety and maintainability.

[0100] In this embodiment, after determining the first force, the first force is compared with the preset torque limit range to make corresponding control actions, ensuring that the first force applied to the force-controlled actuator is always within the safe range, avoiding the force exceeding the limit due to abnormal working conditions, protecting the workpiece from over-clamping damage, and preventing the workpiece from falling off due to insufficient force, thus improving the reliability of the system.

[0101] For example, to help understand the implementation flow of the workpiece conveying control method obtained by combining the above embodiments, please refer to... Figure 3 , Figure 3 A simplified flowchart of a workpiece transport control method is provided. Specifically, the workpiece transport control method of this application is mainly divided into three stages: a clamping establishment stage, a cooperative transport stage, and a release stage. The workpiece transport control method of this application will be described below in conjunction with each stage.

[0102] (1) During the clamping establishment stage, when the target workpiece moves between the position control mover and the force control mover, the transport module is controlled to move, and the distance between the two movers is gradually reduced until the target workpiece is in a stable clamping state.

[0103] In this stage, the position control actuator can be controlled to move to the clamping position on the conveyor rail. The position control actuator serves as the system's spatial reference, controlling the force control actuator to push the target workpiece until all three are in contact. A first force is applied at the clamping position to ensure the workpiece is stably clamped. In one embodiment, when the force control actuator contacts the target workpiece, the force closed loop can be activated, increasing the force applied to the force control actuator. At this point, because the target workpiece has not yet contacted the position control actuator, the feedback torque of the position control actuator is 0, and the force applied to the force control actuator is less than the first force applied at the clamping position. In other words, the first force can represent the force used to clamp the target workpiece.

[0104] During this stage, before the target workpiece moves between the position control actuator and the force control actuator, a preset distance is maintained between the position control actuator and the force control actuator.

[0105] Specifically, the steps of controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator include: obtaining the first feedback torque of the force-controlled actuator; and determining that the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator when the first feedback torque reaches a preset threshold.

[0106] Specifically, the step of applying a first force to the force-controlled actuator at the clamping position to bring the target workpiece to a stable clamping state includes: obtaining the second feedback torque of the position-controlled actuator, determining the first force applied to the force-controlled actuator based on the second feedback torque, until the target workpiece is in a stable clamping state.

[0107] Specifically, before the step of controlling the force actuator to move along the direction close to the position actuator until the target workpiece is in contact with both the force actuator and the position actuator, the step further includes controlling the force actuator to operate with a second force. The first force is greater than the second force.

[0108] (2) During the collaborative conveying stage, the control and handling module clamps the target workpiece to the target position.

[0109] During this stage, the first force control module clamps the target workpiece from the clamping position to the target position. That is, during the conveying stage, the feedback torque of the position control actuator is acquired in real time, the force closed loop is started, and the first force applied to the force control actuator is adjusted in real time to overcome special working conditions such as high speed, large load, turning, and vibration, ensuring that the target workpiece does not lose its stable clamping state and is smoothly transported to the target position.

[0110] At this stage, it is determined whether the first force is within the preset torque limit range. If so, the applied first force is executed. The third feedback torque of the position control actuator is obtained. When it is determined that the target workpiece loses its stable clamping state, the first force applied by the force control actuator is adjusted in real time based on the third feedback torque of the position control actuator.

[0111] (3) During the release phase, after detecting that the target workpiece has been located at the target position, the target workpiece is released and the next workpiece is clamped.

[0112] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the workpiece conveying control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0113] Based on the same inventive concept, referring to Figure 4 This application proposes a linear drive control device, which includes the workpiece conveying control method of this application.

[0114] The linear drive control device may include a controller and a stator driver on the conveyor rail. The connection method between the controller and the driver can be determined according to the actual situation; it can be one driver per controller or multiple drivers per controller.

[0115] The linear drive control device provided in this application employs the workpiece conveying control method described in the above embodiments. Compared with the prior art, the beneficial effects of the linear drive control device provided in this application are the same as those of the workpiece conveying control method.

[0116] The linear drive control device in this embodiment serves as the core execution carrier for realizing the workpiece conveying control method, used to precisely control at least one conveying module to run smoothly along the conveying guide rail. The linear drive control device includes, but is not limited to, a PLC (Programmable Logic Controller), a PAC (Programmable Automation Controller), or an IPC (Industrial Computer). These three types of control units can be selected and configured individually to adapt to linear conveying drive control scenarios with different computational complexity, control precision, and on-site working conditions. The device has a compact overall structure and excellent control precision, capable of meeting the operational requirements of dual-actuator clamping conveying. It also integrates various functional modules, with each component working collaboratively to complete the entire process control operation, including signal acquisition, command issuance, and motion regulation. Taking a programmable logic controller (PLC) as an example, it serves as the control core of the entire linear drive control device. It receives external control commands, collects feedback signals from various components, and issues action commands to each execution component according to the preset control logic (i.e., the workpiece conveying control method steps described in this application), thereby achieving precise scheduling of the conveying module and the moving part. Its built-in storage unit can store key data such as preset motion parameters, clamping distance thresholds, and target position coordinates. It also has logic operation and timing control functions, which can flexibly adapt to the conveying requirements of workpieces of different specifications, ensuring the continuity and reliability of the control process.

[0117] Drive module: Electrically connected to the PLC, it receives control commands from the PLC and converts the weak electrical control signals output by the PLC into strong electrical drive signals to drive the movement of the moving parts of the conveying module; specifically, a servo drive module can be used, which can accurately control the movement speed, torque, and displacement of the moving parts, ensuring the synchronization of the two moving parts when clamping and coordinating, avoiding workpiece clamping deviation or unstable conveying, and adapting to the control requirements of stable clamping and precise conveying.

[0118] 3. Position Detection Module: Electrically connected to the PLC and the mover respectively, it is used to collect the spatial position information of the two movers in real time and feed back the collected position signals to the PLC. Specifically, it can use components such as displacement sensors and encoders, which are installed on the mover or the conveyor rail. It can accurately capture the real-time displacement data of the mover, providing data support for the PLC to calculate the clamping distance between the movers and adjust the movement trajectory of the movers. It is a key component for realizing workpiece size recognition and accurate conveying.

[0119] 4. Signal Processing Module: Electrically connected to the position detection module and PLC respectively, it is used to filter, amplify, and shape the raw position signal collected by the position detection module to remove signal interference and transmit the processed stable signal to the PLC. This ensures that the position data received by the PLC is accurate and avoids errors in clamping distance calculation and mover motion control due to signal distortion.

[0120] 5. Power Supply Module: Provides a stable power supply for all components of the entire linear drive control device (PLC, drive module, position detection module, signal processing module, etc.). It can output the corresponding DC or AC voltage according to the power supply requirements of each component, ensuring the long-term stable operation of each component and avoiding control device failure and workpiece conveying interruption due to unstable power supply.

[0121] 6. Communication Interface Module: Located on the PLC, it is used to realize the communication connection between the linear drive control device and external devices (such as host computer, client control terminal). It can realize the uploading of control commands and the feedback of motion data, which makes it convenient for the staff to monitor the motion status of the mover in real time and adjust the control parameters. At the same time, it facilitates the coordinated linkage of multiple linear drive control devices and is suitable for large-scale workpiece conveying scenarios.

[0122] The aforementioned components cooperate and work together to form a complete linear drive control system: the PLC, as the control core, receives external commands through the communication interface, combines the position data of the mover fed back by the position detection module, and issues commands according to the preset control method; the drive module drives the mover to move according to the commands, the signal processing module ensures accurate data transmission, and the power supply module provides stable power supply, ultimately realizing precise control of the handling module and the mover, completing the entire process of workpiece clamping and conveying, and perfectly adapting to the various execution requirements of the workpiece conveying control method described in this application.

[0123] Based on the same inventive concept, referring to Figure 5 This application provides a linear drive control system, which includes a conveying guide rail, at least one transport module, and the aforementioned linear drive control device.

[0124] The conveyor rail is a fundamental component in the system that provides a motion path for the transport module. The mover can move along it in a directional manner, providing a stable trajectory for workpiece transport. Multiple stators are installed on the conveyor rail, and their core function is to generate driving force through an electromagnetic field, providing power support for the movement of the mover. The conveyor rail is usually composed of multiple stators spliced ​​together, and can be assembled into regular shapes such as straight lines, arcs, squares, and circles, or other irregular shapes.

[0125] The transport module is the core functional unit in the system that performs workpiece clamping and transport. It consists of a position-controlled actuator and a force-controlled actuator positioned opposite each other. The two actuators work together to clamp, move, and release the workpiece. There can be one or more transport modules. Each transport module includes a position-controlled actuator and a force-controlled actuator positioned opposite each other.

[0126] The form of the linear drive control system is not limited; it can be the aforementioned magnetic drive system, or it can be an air flotation system or a magnetic levitation system.

[0127] The aforementioned magnetic drive system is a transmission system that uses the force of a magnetic field as a power source to drive moving parts (i.e., the position-controlled mover and force-controlled mover of this application) to achieve linear or rotary motion, transmitting power without mechanical contact. Its working principle is based on the law of electromagnetic induction or the principle of attraction between opposite poles and repulsion between like poles of permanent magnets. By controlling the strength, direction, or distribution of the magnetic field, an electromagnetic thrust or pull force is generated between the mover and the stator, driving the target workpiece to move.

[0128] Specifically, in one embodiment, taking a magnetic drive system as an example, a stator assembly composed of multiple stators, a position-controlled mover, and a force-controlled mover are arranged on the conveyor rail. One of the stator assembly, the position-controlled mover, and the force-controlled mover is equipped with a coil, and the other with a permanent magnet. When the coil is energized, it generates a magnetic force with the permanent magnet, driving the position-controlled mover and the force-controlled mover to move along the conveyor rail. Specifically, the stator assembly can be equipped with a coil, and the position-controlled mover and the force-controlled mover can be equipped with a permanent magnet; when the coil is energized, it generates a magnetic force with the permanent magnet, driving the position-controlled mover and the force-controlled mover to move along the conveyor rail. Alternatively, the position-controlled mover and the force-controlled mover can be equipped with coils, and the stator assembly can be equipped with a permanent magnet; when the coil is energized, it generates a magnetic force with the permanent magnet, driving the position-controlled mover and the force-controlled mover to move along the conveyor rail.

[0129] The aforementioned air flotation system utilizes the buoyancy and supporting force of high-pressure gas to form a micron-level air film between the moving parts (i.e., the position-controlled mover and force-controlled mover of this application) and the fixed base (i.e., the stator), achieving contactless suspension and motion. Its working principle involves using core components such as air bearings and air flotation guides to eject high-pressure gas, typically air or nitrogen, from a throttling orifice, forming an air film in the gap between the moving parts. The pressure of the air film balances the load's gravity, suspending the moving parts and reducing friction to near zero.

[0130] The aforementioned magnetic levitation system integrates magnetic levitation force and magnetic driving force, allowing the load (i.e., the target workpiece of this application) to completely detach from the support surface, achieving an integrated system of levitation and motion. Its working principle is to counteract the load's gravity and maintain a stable levitation gap through the repulsive force between the electromagnet and the permanent magnet, or the repulsive force between the permanent magnets themselves; consistent with the principle of a magnetic drive system, it drives the suspended mover to perform linear or rotational motion by controlling the change in the stator's magnetic field.

[0131] The linear drive control system provided in this application employs the workpiece conveying control method described in the above embodiments. Compared with the prior art, the beneficial effects of the linear drive control system provided in this application are the same as those of the workpiece conveying control method.

[0132] Based on the same inventive concept, this application provides a linear conveying system, which includes the above-described linear drive control system and at least one robotic arm, which is used to move the target workpiece between the position-controlled actuator and the force-controlled actuator.

[0133] The same robotic arm can be used to move the target workpiece from its storage position to between the position-controlled and force-controlled actuators, and to move the target workpiece from the conveyor rail to the storage position. Alternatively, different robotic arms can be used: one to move the target workpiece from its storage position to between the position-controlled and force-controlled actuators, and the other to move the target workpiece from the conveyor rail to the storage position.

[0134] The linear conveying system provided in this application employs the workpiece conveying control method described in the above embodiments. Compared with the prior art, the beneficial effects of the linear conveying system provided in this application are the same as those of the workpiece conveying control method.

[0135] Based on the same inventive concept, this application also provides a linear drive control device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the workpiece transport control method in the above embodiments.

[0136] The linear drive control device provided in this application has the same beneficial effects as the workpiece conveying control method provided in the above embodiments compared with the prior art. Furthermore, other technical features of this linear drive control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0137] Based on the same inventive concept, this application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the workpiece conveying control method in the above embodiments.

[0138] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (EPROM), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0139] The aforementioned computer-readable storage medium may be included in the linear drive control device; or it may exist independently and not assembled into the linear drive control device.

[0140] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the linear drive control device, enable the linear drive control device to achieve the same effect as the workpiece conveying control method described above.

[0141] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0142] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0143] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0144] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-described workpiece transport control method. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the workpiece transport control method provided in the above embodiments, and will not be repeated here.

[0145] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A workpiece conveying control method, characterized in that, An application is made to a linear drive control device, which controls at least one conveying module to move along a conveyor rail. The conveying module includes a position-controlled mover and a force-controlled mover arranged opposite to each other. The workpiece conveying control method includes: When the target workpiece moves between the position control actuator and the force control actuator, the transport module is controlled to move until the target workpiece is in a stable clamping state; The transport module is controlled to clamp the target workpiece to the target position.

2. The workpiece conveying control method as described in claim 1, characterized in that, Controlling the movement of the conveying module until the target workpiece is in a stable clamping state includes: The force-controlled actuator is controlled to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator; When in the clamping position, a first force is applied to the force-controlled actuator to bring the target workpiece to a stable clamping state.

3. The workpiece conveying control method as described in claim 2, characterized in that: Before the step of controlling the force-controlled actuator to move along a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator, the method includes: controlling the position-controlled actuator to move to the clamping position on the conveying guide rail; The step of controlling the transport module to clamp the target workpiece to the target position includes: using the first force to control the transport module to clamp the target workpiece from the position to be clamped to the target position.

4. The workpiece conveying control method as described in claim 2, characterized in that, The step of controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator includes: obtaining a first feedback torque of the force-controlled actuator, and determining that the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator when the first feedback torque reaches a preset threshold.

5. The workpiece conveying control method as described in claim 1, characterized in that, Before the target workpiece moves between the position control actuator and the force control actuator, a preset distance is maintained between the position control actuator and the force control actuator.

6. The workpiece conveying control method as described in claim 2, characterized in that, The step of applying a first force to the force-controlled actuator to bring the target workpiece to a stable clamping state includes: obtaining a second feedback torque of the position-controlled actuator, determining the first force applied to the force-controlled actuator based on the second feedback torque, until the target workpiece reaches a stable clamping state.

7. The workpiece conveying control method according to any one of claims 1 to 6, characterized in that, The step of controlling the transport module to clamp the target workpiece to the target position includes: acquiring the third feedback torque of the position control actuator in real time, determining when the target workpiece loses the stable clamping state, and adjusting the first force applied to the force control actuator based on the third feedback torque of the position control actuator.

8. The workpiece conveying control method as described in claim 2, characterized in that, Before the step of controlling the force-controlled actuator to move in a direction close to the position-controlled actuator until the target workpiece is in contact with both the force-controlled actuator and the position-controlled actuator, the method further includes controlling the force-controlled actuator to operate with a second force.

9. The workpiece conveying control method as described in claim 8, characterized in that, The first force is greater than the second force.

10. A linear drive control device, characterized in that, The linear drive control device includes the workpiece conveying control method as described in any one of claims 1 to 9.

11. A linear drive control system, characterized in that, It includes a conveyor rail, at least one transport module, and the linear drive control device as described in claim 10.

12. The linear drive control system as described in claim 11, characterized in that, The conveying guide rail is provided with a stator assembly composed of multiple stators, a position-controlled mover, and a force-controlled mover; one of the stator assembly, the position-controlled mover, and the force-controlled mover is equipped with a coil, and the other is equipped with a permanent magnet; when the coil is energized, it generates a magnetic force with the permanent magnet, driving the position-controlled mover and the force-controlled mover to move along the conveying guide rail.

13. A linear conveying system, characterized in that, The linear conveying system includes the linear drive control system as described in claim 11 and at least one robotic arm for moving a target workpiece between the position-controlled actuator and the force-controlled actuator.

14. A linear drive control device, characterized in that, The linear drive control device includes: a memory, a processor, and a workpiece transport control program stored in the memory and executable on the processor, the workpiece transport control program being configured to implement the steps of the workpiece transport control method as described in any one of claims 1 to 9.

15. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and the storage medium stores a workpiece transport control program, which, when executed by a processor, implements the steps of the workpiece transport control method as described in any one of claims 1 to 9.

Images