Conveying system, and synchronous control method and device therefor

Abstract

A conveying system, and a control method and device therefor. The method comprises: when each communication connection in a conveying system is normal, outputting a synchronous control command to a slide unit driver and a roller bed driver; on the basis of the synchronous control command, the slide unit driver driving a slide unit to act until the slide unit moves to a transition position, and on the basis of the synchronous control command, the roller bed driver driving a roller bed to act, so that the slide unit and the roller bed operate synchronously; and in response to the slide unit at the transition position moving onto the roller bed, outputting a synchronous control release command to the slide unit driver and the roller bed driver, so that the slide unit driver and the roller bed driver stop driving.

Description

Conveying system and synchronous control method and device thereof Technical Field

[0001] The present application relates to the technical field of automated equipment, and in particular to a conveying system and a control method and device thereof. Background Art

[0002] The conveyor system is a key component influencing the production cycle of a production line. Conveying speed directly impacts the production cycle. Currently, most conveyor systems utilize roller friction drive, and positioning methods typically rely on sensors. This can easily cause wear on the rollers of a roller bed when docked with an ultra-high-speed conveyor slide. However, traditional open-loop conveyor speed control methods for roller beds have limitations and cannot meet the requirements for high-speed synchronous conveying control.

[0003] Summary of the Invention

[0004] Based on this, it is necessary to provide a conveying system and its control method and device that can reduce the speed synchronization error between the roller bed and the slide and meet the needs of high-speed conveying synchronization control of the equipment to address the above technical problems.

[0005] In a first aspect, the present application provides a synchronous control method for a conveying system, which is applied to a control device in the conveying system, wherein the conveying system further includes a slide drive and a roller bed drive that respectively establish communication connections with the control device; wherein the roller bed drive and the slide drive establish a communication connection; the method comprises:

[0006] When all communication connections are normal, a synchronization control command is output to the slide driver and the roller bed driver; the slide driver drives the slide according to the synchronization control command until the slide moves to the transition position, and the roller bed driver drives the roller bed according to the synchronization control command, so that the slide and the roller bed are operated synchronously;

[0007] In response to the slide in the transition position moving onto the roller bed, a desynchronization control command is output to the slide driver and the roller bed driver to stop driving the slide driver and the roller bed driver.

[0008] In one embodiment, the method further comprises:

[0009] Output control instructions to the roller bed driver and slide table driver respectively;

[0010] In response to receiving the status signals fed back by the roller bed driver and the slide table driver in response to the control instructions, it is confirmed that the communication connection between the control device and the roller bed driver and the slide table driver is normal.

[0011] In one embodiment, the synchronization control command includes a conveying direction;

[0012] The slide driver controls the speed of the slide conveying motor according to the synchronous control command and drives the slide to move in the conveying direction;

[0013] The roller bed driver controls the speed of the roller bed conveying motor according to the synchronous control command and drives the roller bed to move in the conveying direction so that the slide and the roller bed maintain speed synchronization.

[0014] In one embodiment, the communication connection between the control device and the roller bed drive comprises a Profinet communication connection; the communication connection between the control device and the slide drive comprises a Profinet communication connection;

[0015] The method also includes:

[0016] The roller bed operation command is output to the roller bed driver, and the roller bed driver drives the roller bed according to the roller bed operation command to move the slide to the slide positioning point.

[0017] In one embodiment, outputting a desynchronization control command includes:

[0018] In response to receiving a positioning completion signal sent by the slide driver, a desynchronization control command is output; the positioning completion signal is used to indicate that the slide in the transition position moves to the roller bed.

[0019] In a second aspect, the present application further provides a synchronous control device for a conveying system, which is applied to a control device in the conveying system, wherein the conveying system further includes a slide drive and a roller bed drive that respectively establish communication connections with the control device; wherein the roller bed drive and the slide drive establish a communication connection; the device includes:

[0020] The synchronous control module is used to output synchronous control commands to the slide driver and the roller bed driver when all communication connections are normal; the slide driver drives the slide according to the synchronous control command until the slide moves to the transition position, and the roller bed driver drives the roller bed according to the synchronous control command, so that the slide and the roller bed are operated synchronously;

[0021] The operation control module is used for outputting a desynchronization control command to the slide driver and the roller bed driver in response to the slide driver in the transition position moving onto the roller bed, so as to stop the slide driver and the roller bed driver from driving.

[0022] In a third aspect, the present application further provides a control device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0023] In a fourth aspect, the present application further provides a conveying system, including a control device, a slide drive and a roller bed drive respectively connected to the control device; the roller bed drive and the slide drive are connected to each other; wherein:

[0024] The control device is used to execute the steps of the above method.

[0025] In one embodiment, the conveying system further includes: a slide conveying motor connected to the slide drive, and a roller bed conveying motor connected to the roller bed drive.

[0026] In one embodiment, the conveying system is an elevator roller conveying system; the control device is a PLC controller;

[0027] The slide conveying motor is a synchronous servo motor; the roller bed conveying motor is a three-phase asynchronous motor; the slide drive and roller bed drive are both servo drives.

[0028] The above-mentioned conveying system and its control method and device output synchronization control commands to the slide driver and the roller bed driver when all communication connections in the conveying system are normal; the slide driver drives the slide to move according to the synchronization control command until the slide moves to the transition position, and the roller bed driver drives the roller bed to move according to the synchronization control command, so that the slide and the roller bed perform synchronous operation, and in response to the slide in the transition position moving to the roller bed, output a desynchronization control command to the slide driver and the roller bed driver to stop driving the slide driver and the roller bed driver; the present application reduces the speed synchronization error between the roller bed and the slide by instructing the slide and the roller bed to perform synchronous operation, meets the needs of high-speed conveying synchronization control of the equipment, and increases the conveying speed while increasing the stability and control accuracy of the conveying system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] FIG1 is a diagram showing an application environment of a control method for a conveying system according to an embodiment;

[0031] FIG2 is a schematic flow chart of a method for controlling a conveying system according to an embodiment;

[0032] FIG3 is a schematic flow chart of a control method for a conveying system in another embodiment;

[0033] FIG4 is a schematic diagram of a partial structure of a conveying system in one embodiment;

[0034] FIG5 is a specific flow chart of a method for controlling a conveying system according to one embodiment;

[0035] FIG6 is a structural block diagram of a control device of a conveying system in one embodiment. DETAILED DESCRIPTION

[0036] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0038] It can be understood that the "connection" appearing in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0039] It will be understood that "at least one" means one or more, and "a plurality of" means two or more.

[0040] When used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0041] At present, in automobile welding workshops, elevator roller bed conveying systems are common conveying equipment in automobile production lines. Elevator roller bed conveying systems are mostly equipped with three-phase asynchronous motors and use roller friction drive for conveying. The positioning method is mostly based on sensor positioning. The ultra-high-speed conveying slide is equipped with a synchronous servo motor. Since the synchronous servo motor has a fast response speed and high speed control accuracy, if it is docked with an ultra-high-speed conveying slide, especially in the acceleration and deceleration stages, there is no communication between the slide's inverter and the roller bed's inverter, and the speed changes cannot be tracked in real time, resulting in large synchronization errors. This will cause wear of the conveying roller bed roller assembly, high maintenance costs, and easily cause the automobile line to stop. Furthermore, due to the limitations of the existing roller bed conveying speed open-loop control technology, the speed control error is above ±50RPM (Revolutions Per Minute), which cannot meet the equipment's high-speed conveying synchronization control needs.

[0042] The synchronous control method of the conveying system provided in the embodiment of the present application can be applied to the application environment (conveyance system) as shown in Figure 1; wherein, the control device can establish communication connections with the slide driver and the roller bed driver respectively, and the roller bed driver can establish a communication connection with the slide driver. The slide driver can drive the corresponding motor to operate to move the slide, and the roller bed driver can drive the corresponding motor to operate to move the roller bed.

[0043] In an exemplary embodiment, as shown in FIG2 , a synchronous control method for a conveying system is provided, which is described by taking the method applied to the control device in FIG1 as an example, and includes the following steps 202 to 204 . Among them:

[0044] S202, when all communication connections are normal, output synchronization control commands to the slide driver and the roller bed driver; the slide driver drives the slide according to the synchronization control instructions until the slide moves to the transition position, and the roller bed driver drives the roller bed according to the synchronization control instructions, so that the slide and the roller bed can operate synchronously.

[0045] Specifically, the control device can perform power-on initialization and establish communication connections with the roller bed driver and the slide driver respectively. When each communication connection is normal, the control device can output a synchronous control command to instruct the slide driver to drive the corresponding motor to operate, and instruct the roller bed driver to drive the corresponding motor to operate, so that the slide and the roller bed can operate synchronously.

[0046] Optionally, both the roller bed drive and the slide table drive may include a frequency converter, wherein the frequency converter may be used to control the operating state of the motor.

[0047] Exemplarily, the roller bed driver and the slide driver can establish a communication connection to perform synchronous operation. The connection method between the roller bed driver and the slide driver can be limited according to actual conditions and is not limited in the embodiments of the present application.

[0048] In one embodiment, the communication connection between the control device and the roller bed drive comprises a Profinet communication connection; and the communication connection between the control device and the slide drive comprises a Profinet communication connection.

[0049] Specifically, the control device can be connected to the slide drive and the roller bed drive respectively through the ProfiNet protocol bus, and the control device can output synchronization control instructions and desynchronization control commands to the slide drive through the ProfiNet protocol bus; the control device can output synchronization control instructions, desynchronization control commands and roller bed operation commands to the roller bed drive through the ProfiNet protocol bus.

[0050] It should be noted that the control device and the roller bed driver can also be connected through other communication methods, which will not be described in detail in the embodiments of this application.

[0051] In one embodiment, as shown in FIG3 , the method further includes:

[0052] S302, output control instructions to the roller bed driver and the slide driver respectively.

[0053] Specifically, the control device can output control instructions to the roller bed driver and the slide driver through the bus, and the inverters in the roller bed driver and the slide driver can feedback status signals to the control device after receiving the control instructions. The control instructions can include command control words.

[0054] S304: In response to receiving the status signals fed back by the roller bed driver and the slide table driver in response to the control instructions, confirming that the communication connection between the control device and the roller bed driver and the slide table driver is normal.

[0055] The status signal can be used to represent the status of the communication connection between various components.

[0056] Specifically, the frequency converters in the roller bed drive and the slide drive can have built-in synchronous control commands. The control device only needs to send the control instructions through the bus. After the frequency converter receives the control instructions, the frequency converter will send a communication status feedback signal to the control device after the communication is successful. That is, the control device receives the status signal feedback from the roller bed drive and the slide drive in response to the control instructions, and the control device can confirm that the communication connection between the roller bed drive and the slide drive is normal.

[0057] In an embodiment of the present application, by outputting control instructions and responding to the status signals received from the roller bed driver and the slide driver in response to the control instructions, it is confirmed that the communication connection between the control device and the roller bed driver and the slide driver is normal, which facilitates the subsequent synchronous operation and meets the needs of high-speed conveying synchronous control of the equipment.

[0058] In one embodiment, the synchronization control command includes a conveying direction;

[0059] The slide driver controls the speed of the slide conveying motor according to the synchronous control command and drives the slide to move in the conveying direction;

[0060] The roller bed driver controls the speed of the roller bed conveying motor according to the synchronous control command and drives the roller bed to move in the conveying direction so that the slide and the roller bed maintain speed synchronization.

[0061] The conveying direction can be set according to actual conditions and is not limited in the embodiments of the present application.

[0062] Specifically, the control device can instruct the slide driver through control commands to control the speed of the slide by controlling the speed of the slide conveying motor, and instruct the slide driver to control the conveying direction of the slide by controlling the forward and reverse rotation of the slide conveying motor; the control device can instruct the roller bed driver through control commands to control the moving speed of the roller bed by controlling the speed of the roller bed conveying motor, and instruct the roller bed driver to control the conveying direction of the roller bed by controlling the forward and reverse rotation of the roller bed conveying motor; the control device can instruct the slide driver and the roller bed driver to control the speed of the corresponding motors respectively, so that the slide and the roller bed can move at the same speed.

[0063] Optionally, the slide drive and the roller bed drive can communicate synchronously to keep the slide and the roller bed in speed synchronization.

[0064] In the embodiment of the present application, compared with the traditional speed open-loop control, the speed synchronization error between the roller bed and the slide can be reduced by using speed synchronization automatic control. The speed adjustment time can be shortened through speed vector control. The synchronization control period is within 4 milliseconds (ms), and the synchronization speed error is controlled within ±10RPM, which meets the needs of high-speed conveying synchronization control of the equipment, improves the conveying speed, and increases the stability and control accuracy of the conveying system.

[0065] S204: In response to the slide in the transition position moving onto the roller bed, a desynchronization control command is output to the slide driver and the roller bed driver to stop driving the slide driver and the roller bed driver.

[0066] Among them, the transition position can be set according to actual conditions and is not limited in the embodiments of the present application.

[0067] Specifically, as shown in FIG4 , the control device may output a desynchronization control command when detecting that the slide in the transition position moves onto the roller bed. When the slide driver and the roller bed driver receive the desynchronization control command, the drive motors both stop running.

[0068] In one embodiment, the method further comprises:

[0069] The roller bed operation command is output to the roller bed driver, and the roller bed driver drives the roller bed according to the roller bed operation command to move the slide to the slide positioning point.

[0070] Among them, the sliding table positioning point can be set according to actual conditions and is not limited in the embodiments of this application.

[0071] Specifically, the control device can output a roller bed operation command to the roller bed driver to instruct the roller bed driver to drive the roller bed to move the slide to the slide positioning point.

[0072] In actual applications, a deceleration switch and a stop sensor can be provided in the conveying system. The position of the deceleration switch can be set according to actual conditions and is not limited in the embodiment of the present application. The stop sensor can be set at a position corresponding to the slide positioning point; when the roller bed driver drives the roller bed to move the slide to the deceleration switch, the deceleration switch is triggered, and the roller bed driver can reduce the speed of the roller bed conveying motor so that the roller bed drives the slide to decelerate. When the stop sensor detects the slide, it can be indicated that the slide has reached the slide positioning point. The stop sensor can output a corresponding signal to the roller bed sensor, and the roller bed sensor drives the roller bed conveying motor to stop running.

[0073] In one embodiment, outputting a desynchronization control command includes:

[0074] In response to receiving a positioning completion signal sent by the slide driver, a desynchronization control command is output; the positioning completion signal is used to indicate that the slide in the transition position moves to the roller bed.

[0075] Optionally, a positioning completion signal may be used to indicate that the slide in the transition position has moved to the target position on the roller bed.

[0076] Specifically, a sensor can be configured in the conveying system, and the position where the sensor is set can correspond to the target position. When the slide passes through the sensor, the slide driver can output a positioning completion signal to the control device. The control device responds to the received positioning completion signal and outputs a desynchronization control command, and both the roller bed conveying motor and the slide conveying motor stop running.

[0077] In an embodiment of the present application, by responding to the positioning completion signal sent by the slide driver, a synchronization control release command is output to indicate that the slide in the transition position moves to the roller bed, thereby improving the synchronization control accuracy, reducing the speed synchronization error between the roller bed and the slide, and increasing the stability of the conveying system.

[0078] To facilitate understanding by those skilled in the art, the synchronous control method of the conveying system is explained below with reference to a specific example. As shown in FIG5 , the PLC can be represented as a control device; when conveying starts, the conveying system is powered on, and each device in the conveying system is initialized. The PLC establishes communication links with the slide driver and the roller bed driver respectively, and the slide driver establishes a communication link with the roller bed driver; when the communication is established, synchronization is started, and the PLC outputs a synchronous control command to instruct the slide driver to drive the slide and the roller bed driver to drive the roller bed, so that the slide and the roller bed can perform synchronous operation; when it is detected that the slide in the transition position moves to the roller bed, the synchronous operation is confirmed to be completed, and the desynchronization control command and the roller bed operation command are output in sequence. When the slide driver and the roller bed driver receive the desynchronization control command, the drive motors both stop running, and the roller bed driver drives the roller bed to run in single step based on the roller bed operation command, driving the slide to move to the slide positioning point, and the conveying is completed.

[0079] In the control method of the above-mentioned conveying system, when all communication connections in the conveying system are normal, a synchronization control command is output to instruct the slide driver to drive the slide and to instruct the roller bed driver to drive the roller bed so that the slide and the roller bed can perform synchronous operation. When the slide in the transition position moves to the roller bed, a desynchronization control command is output in sequence to instruct the slide driver and the roller bed driver to stop driving, and a roller bed operation command is output to instruct the roller bed driver to drive the roller bed to move the slide to the slide positioning point. This reduces the speed synchronization error between the roller bed and the slide, meets the needs of high-speed conveying synchronization control of the equipment, and increases the conveying speed while increasing the stability and control accuracy of the conveying system.

[0080] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0081] Based on the same inventive concept, embodiments of the present application also provide a synchronous control device for a conveying system for implementing the aforementioned synchronous control method for a conveying system. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the embodiments of the synchronous control device for one or more conveying systems provided below can be found in the aforementioned limitations of the synchronous control method for a conveying system, and will not be further elaborated here.

[0082] In an exemplary embodiment, as shown in FIG6 , a synchronous control device 600 for a conveying system is provided, which is applied to a control device in the conveying system. The conveying system also includes a slide drive and a roller bed drive that are respectively connected to the control device. The roller bed drive and the slide drive are connected to each other. The device 600 includes:

[0083] The synchronization control module 601 is used to output synchronization control commands to the slide driver and the roller bed driver when all communication connections are normal. The slide driver drives the slide according to the synchronization control command until the slide moves to the transition position, and the roller bed driver drives the roller bed according to the synchronization control command to synchronize the operation of the slide and the roller bed.

[0084] The operation control module 602 is used to output a desynchronization control command to the slide driver and the roller bed driver in response to the slide in the transition position moving onto the roller bed, so as to stop the slide driver and the roller bed driver from driving.

[0085] In one embodiment, the device 600 further includes a communication module for outputting control instructions to the roller bed driver and the slide table driver respectively;

[0086] In response to receiving the status signals fed back by the roller bed driver and the slide table driver in response to the control instructions, it is confirmed that the communication connection between the control device and the roller bed driver and the slide table driver is normal.

[0087] In one embodiment, the synchronization control command includes a conveying direction;

[0088] The slide driver controls the speed of the slide conveying motor according to the synchronous control command and drives the slide to move in the conveying direction;

[0089] The roller bed driver controls the speed of the roller bed conveying motor according to the synchronous control command and drives the roller bed to move in the conveying direction so that the slide and the roller bed maintain speed synchronization.

[0090] In one embodiment, the communication connection between the control device and the roller bed drive comprises a Profinet communication connection; the communication connection between the control device and the slide drive comprises a Profinet communication connection;

[0091] The operation control module 602 is also used to output a roller bed operation command to the roller bed driver. The roller bed driver drives the roller bed according to the roller bed operation command to move the slide to the slide positioning point.

[0092] In one embodiment, the operation control module 602 is further configured to output a desynchronization control command in response to receiving a positioning completion signal sent by the slide driver; the positioning completion signal is used to indicate that the slide in the transition position moves to the roller bed.

[0093] Each module in the synchronous control device for the conveying system described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0094] In an exemplary embodiment, a control device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0095] Specifically, the control device in the embodiment of the present application may be a Siemens S7-1500 PLC.

[0096] In an exemplary embodiment, as shown in FIG1 , a conveying system is provided, including a control device, a slide drive and a roller bed drive respectively connected to the control device in communication; the roller bed drive and the slide drive are connected in communication; wherein:

[0097] The control device is used to execute the steps of the above method.

[0098] Specifically, both the roller bed drive and the slide drive may include a frequency converter, wherein the frequency converter may be used to control the operating state of the motor; a communication connection may be established between the frequency converters to improve synchronization accuracy so that the slide and the roller bed can operate synchronously.

[0099] In the embodiment of the present application, the slide drive and the roller bed drive in the conveying system respectively establish communication connections with the control device, and the bed drive and the slide drive establish communication connections, and the synchronization accuracy is controlled within ±10RPM, thereby solving the problem of excessive connection between the conveying slide and the roller bed, improving the conveying speed and increasing the stability and control accuracy of the conveying system.

[0100] In one embodiment, the conveying system further includes: a slide conveying motor connected to the slide drive, and a roller bed conveying motor connected to the roller bed drive.

[0101] Specifically, the slide driver can control the conveying direction of the slide by controlling the forward and reverse rotation of the slide conveying motor, and control the speed of the slide by controlling the speed of the slide conveying motor; the roller bed driver can control the conveying direction of the roller bed by controlling the forward and reverse rotation of the roller bed conveying motor, and control the speed of the roller bed conveying motor to control the moving speed of the roller bed.

[0102] In one embodiment, as shown in FIG1 , the conveying system is an elevator roller conveying system; the control device is a PLC controller;

[0103] The slide conveying motor is a synchronous servo motor; the roller bed conveying motor is a three-phase asynchronous motor; the slide drive and roller bed drive are both servo drives.

[0104] Specifically, the slide drive and the roller bed drive can be servo drives; it should be noted that an encoder can also be provided in the conveying system, and the encoder can be provided at the roller bed conveying motor and the roller bed conveying motor, and the encoder can be used to measure the position of the motor.

[0105] In the embodiment of the present application, compared with the traditional synchronous control equipment that uses a more expensive synchronous servo motor, a control method of a three-phase asynchronous motor plus an encoder is adopted, which saves costs while enhancing the stability and reliability of the conveying system.

[0106] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0107] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A synchronous control method for a conveying system, characterized in that, A control device applied to the conveying system, the conveying system further comprising a slider drive and a roller bed drive respectively establishing a communication connection with the control device; wherein, the roller bed drive and the slider drive establish a communication connection; the method comprises: Under the condition that each communication connection is normal, output a synchronization control command to the slider drive and the roller bed drive; the slider drive drives the slider to act according to the synchronization control instruction until the slider moves to the transition position, and the roller bed drive drives the roller bed to act according to the synchronization control instruction so that the slider and the roller bed perform a synchronization operation; In response to the slider in the transition position moving onto the roller bed, output a desynchronization control command to the slider drive and the roller bed drive so that the slider drive and the roller bed drive stop driving.

2. The method according to claim 1, wherein The method further comprises: Output control instructions to the roller bed drive and the slider drive respectively; In response to receiving the status signals fed back by the roller bed drive and the slider drive for the control instructions, confirm that the communication connections between the control device and the roller bed drive and the slider drive are normal.

3. The method according to claim 1, wherein The synchronization control command includes a conveying direction; The slider drive drives the slider to move in the conveying direction according to the synchronization control command by controlling the rotation speed of the slider conveying motor; The roller bed drive drives the roller bed to move in the conveying direction according to the synchronization control command by controlling the rotation speed of the roller bed conveying motor so that the slider and the roller bed maintain speed synchronization.

4. The method according to claim 1, wherein The communication connection between the control device and the roller bed drive includes a Profinet communication connection; the communication connection between the control device and the slider drive includes a Profinet communication connection; The method further comprises: Output a roller bed operation command to the roller bed drive, and the roller bed drive drives the roller bed to drive the slider to move to the slider positioning point according to the roller bed operation command.

5. The method according to any one of claims 1 to 4, characterized in that The output of the desynchronization control command includes: In response to receiving the positioning completion signal sent by the slider drive, output the desynchronization control command; the positioning completion signal is used to indicate that the slider in the transition position moves onto the roller bed.

6. A synchronous control device for a conveying system, characterized in that, A control device applied to the conveying system, the conveying system further comprising a slider drive and a roller bed drive respectively establishing a communication connection with the control device; wherein, the roller bed drive and the slider drive establish a communication connection; the device comprises: A synchronization control module, configured to output a synchronization control command to the slider drive and the roller bed drive under the condition that each communication connection is normal; the slider drive drives the slider to act according to the synchronization control instruction until the slider moves to the transition position, and the roller bed drive drives the roller bed to act according to the synchronization control instruction so that the slider and the roller bed perform a synchronization operation; The running control module is configured to output a desynchronization control command to the slide table driver and the roller bed driver in response to the movement of the slide table in the transition position to the roller bed, so as to stop driving the slide table driver and the roller bed driver.

7. A control device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A conveying system, characterized in that, It includes a control device, a slide table driver and a roller bed driver respectively establishing communication connections with the control device; the roller bed driver and the slide table driver establish a communication connection; wherein: The control device is configured to execute the steps of the method according to any one of claims 1 to 5.

9. The system according to claim 8, wherein The conveying system further includes: a slide table conveying motor connected to the slide table driver, and a roller bed conveying motor connected to the roller bed driver.

10. The system according to claim 9, characterized in that, The conveying system is a lift roller bed conveying system; the control device is a PLC controller; The slide table conveying motor is a synchronous servo motor; the roller bed conveying motor is a three-phase asynchronous motor; both the slide table driver and the roller bed driver are servo drivers.

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