Force position control bottle cap screwing method and device supporting digital twinning technology

Abstract

The invention discloses a force-position control bottle cap screwing device and method supporting the digital twinning technology. The force-position control bottle cap screwing device comprises a screwing clamping jaw mechanism used for screwing a bottle cap; the Z-axis executing mechanism and the X-axis executing mechanism are used for adjusting the position of the screwing clamping jaw mechanism, the screwing clamping jaw mechanism is fixed to the output end of the Z-axis executing mechanism, and the Z-axis executing mechanism is fixed to the output end of the X-axis executing mechanism; the force sensor and the position sensor are used for detecting the stress and position information of the screwing clamping jaw mechanism; and the control unit is used for receiving signals of the force sensor and the position sensor and regulating and controlling the stress and the position of the screwing clamping jaw mechanism according to the received signals. The requirement for opening and closing the cell culture fluid bottle cap to take fluid in the intelligent and automatic production process of the organoids can be met, and technical and theoretical possibilities are provided for successful research and development of the intelligent and automatic production line for culturing and observing the organoids.

Description

Technical Field

[0001] The present invention relates to a force-position control method and device for screwing bottle caps that supports digital twin technology, and belongs to the technical field of automated equipment. Background Art

[0002] Automated equipment can accurately complete various fixed mechanical actions to liberate human labor, and thus is gradually applied to various industries. The existing bottle cap screwing module uses mechanical transmission and realizes the functions of bottle cap positioning, clamping, rotating upward, and rotating downward through programming control and mechanical transmission. There are problems such as low accuracy, complex algorithms, and easy malfunctions. Moreover, when the diameter of the bottle cap or its thread parameters are different, computer programming is required for all cases, and the workload is huge. Therefore, the existing technical solutions have defects and need to be improved. Summary of the Invention

[0003] The technical objective of the present invention is to propose a force-position control device and method for screwing bottle caps that supports digital twin technology. The present invention analyzes the reasons for the complex programming and easy mechanical failures of the existing bottle cap screwing module. By introducing a force-position control algorithm, the goal of only positioning the bottle cap position in the programming link without programming a unique bottle cap screwing solution for different diameters and thread parameters is achieved, simplifying the control algorithm; by introducing a position sensor, a force sensor, an encoder, and their externally accessible interfaces, it supports visual digital twin technology.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A force-position control device for screwing bottle caps that supports digital twin technology, comprising:

[0006] A screwing jaw mechanism for screwing the bottle cap;

[0007] A Z-axis actuator and an X-axis actuator for realizing the position adjustment of the screwing jaw mechanism. The screwing jaw mechanism is fixed to the output end of the Z-axis actuator, and the Z-axis actuator is fixed to the output end of the X-axis actuator;

[0008] A force sensor and a position sensor for detecting the force magnitude and position information of the screwing jaw mechanism;

[0009] A control unit that receives the signals from the force sensor and the position sensor and regulates the force and position of the screwing jaw mechanism according to the received signals.

[0010] The Z-axis actuator and the X-axis actuator are mainly used to adjust the position of the screwing jaw mechanism in the Z-axis direction and the X-axis direction. In some implementable solutions, a Y-axis actuator for adjusting the screwing jaw mechanism in the Y-axis direction can also be provided. In this way, arbitrary adjustment of the screwing jaw mechanism in three-dimensional coordinates can be achieved.

[0011] As an implementation, both the Z-axis actuator and the X-axis actuator include:

[0012] Linear guideway slider table;

[0013] A slider slidably disposed on the linear guideway slider table;

[0014] Wherein the screwing jaw mechanism is fixed on the slider of the Z-axis actuator, and the linear guideway slider table of the Z-axis actuator is fixed on the slider of the X-axis actuator.

[0015] Furthermore, the Z-axis actuator and the X-axis actuator further include a driving mechanism for driving the corresponding slider to move, which may be a motor and corresponding necessary components (such as other transmission mechanisms such as couplings, synchronous belts, screw drive mechanisms, etc.).

[0016] For example, the X-axis actuator for transporting the Z-axis actuator includes a linear guideway slider table α, a servo motor α, and an X-axis slider. The linear guideway slider table α is fixed to the working platform, and a screw drive mechanism is arranged inside it; an X-axis slider is arranged above the screw drive mechanism to realize the transportation of the Z-axis actuator; the X-axis slider is connected to the Z-axis support plate above, and the two move synchronously.

[0017] For example, the Z-axis actuator includes a linear guideway slider table β, a servo motor β, and a Z-axis slider. The linear guideway slider table β is indirectly connected to the X-axis by connecting with the Z-axis support plate, and a synchronous belt drive mechanism is arranged inside it; a Z-axis slider is arranged in front of the synchronous belt drive mechanism to realize the transportation of the screwing jaw mechanism. A servo motor β, an encoder β, a coupling β, and a braking mechanism are arranged below the synchronous belt drive mechanism to realize the adaptive control of the bottle cap opening and closing.

[0018] As an option, a pedometer for recording the number of screwing turns when unscrewing the bottle cap is further included. The pedometer is used to record the number of turns required to unscrew the bottle cap; in this way, when performing the tightening operation, the tightening operation of the bottle cap can be directly completed using this turn number information.

[0019] As an option, the position sensor is a photoelectric gate position sensor arranged on the linear guideway slider table for controlling the zero calibration position of the corresponding slider thereon.

[0020] Of course, sensors for controlling the movement range of the corresponding slider can also be set as needed. For example, by setting a photoelectric gate position sensor α, a photoelectric gate position sensor β, and a photoelectric gate position sensor γ on the linear guide slider α, the movement range and zero calibration of the Z-axis actuator can be controlled; by setting a coupling α on one side of the linear guide slider α, the servo motor α and the encoder α can be connected and provide moving power for the Z-axis actuator. For example, by setting a photoelectric gate position sensor δ, a photoelectric gate position sensor ε, and a photoelectric gate position sensor ζ on one side of the linear guide slider β, the movement range and zero calibration of the screwing jaw mechanism can be controlled.

[0021] As an option, the screwing jaw mechanism includes at least two sub-jaws arranged circumferentially and a driving mechanism for driving the sub-jaws to approach or separate. The driving mechanism can be a motor or the like.

[0022] Further, the screwing jaw mechanism includes a servo motor γ, which contains two sets of servo systems inside. By setting a jaw mechanism below, the two functions of clamping the bottle cap and rotating it to open and close can be realized; by setting a three-sided surrounding motor support plate fixed to the Z-axis slider behind the servo motor γ, indirect connection with the Z-axis can be achieved.

[0023] Further, each sub-jaw has an arc surface structure that fits the bottle cap and a limiting surface that can abut against the top of the bottle cap during screwing. Furthermore, a serrated anti-slip surface is provided on the arc surface structure.

[0024] Further, the control unit includes an unscrewing force position control module for unscrewing the bottle cap and a screwing force position control module for screwing the bottle cap tightly.

[0025] Further, the unscrewing force position control module and the screwing force position control module both sequentially include:

[0026] Sub-module I for detecting the acting force F1 borne by the output end of the Z-axis actuator;

[0027] Sub-module II for adjusting the output acting force F2 of the output end of the Z-axis actuator according to the initial value of the acting force F1;

[0028] It also includes sub-module III, which is executed when F1 is zero; there are slight differences in sub-module III in the unscrewing force position control module and the screwing force position control module; in the unscrewing force position control module, sub-module III controls the screwing jaw mechanism to reach a preset clamping force threshold and perform a screwing operation in the set direction I; in the screwing force position control module, since the clamping force is always there, there is no need to adjust the clamping force additionally in this module. At this time, sub-module III controls the screwing jaw mechanism to perform a screwing operation in the set direction II

[0029] In the tightening force position control module, sub-module IV that records the number of turns of screwing is provided for the need of controlling the number of turns of screwing in the unscrewing force position control module;

[0030] When F1 meets the set threshold or the number of turns of screwing meets the requirement, exit the corresponding force position control module.

[0031] Furthermore, the acting force F2 is slightly less than the initial value of the acting force F1; and F2 is greater than the critical force value of the gravity of the screwing jaw mechanism - bottle body deformation.

[0032] Furthermore, for the unscrewing force position control module, at the moment when the bottle cap is completely unscrewed, the upward thrust (feedback force) of the bottle body on the screwing jaw mechanism disappears. At this time, the acting force F1 borne by the output end of the Z-axis actuator changes. By comparing with the threshold value (0 or a value slightly greater than 0), it can be determined that the operation of screwing the bottle cap is completed at this time, and the unscrewing force position control module is exited. For the tightening force position control module, when the number of turns of screwing meets the set requirement (the number of unscrewing turns recorded by the unscrewing force position control module), the complete screwing operation is performed, and the corresponding tightening force position control module is exited.

[0033] For the unscrewing force position control module, the initial value of the acting force F1 is the self-gravity of the screwing jaw mechanism. The acting force F2 is slightly less than the initial value of the acting force F1. In this way, there is a downward force on the screwing jaw mechanism. Under the action of this force, the screwing jaw mechanism moves towards the bottle body until it contacts the bottle cap. The bottle cap gives an upward supporting force to the screwing jaw mechanism. When the two reach equilibrium, the screwing jaw mechanism stops moving. At this time, the acting force F1 is zero; at this time, a preset clamping force threshold is given to the screwing jaw mechanism, and the driving mechanism in the screwing jaw mechanism starts to operate, and the clamping force gradually increases to this threshold. After reaching this threshold, the screwing operation is performed in the set direction. After starting to screw, the thread generates a certain upward feedback force on the screwing jaw mechanism. The sum of this feedback force and F2 is slightly greater than the gravity of the screwing jaw mechanism. At this time, the bottle cap and the screwing jaw mechanism start to rise, and at the same time, the stepper counts the number of turns of screwing. When the bottle cap rises to the top of the thread, the upward feedback force generated by the thread disappears, and F1 is the sum of the gravity of the bottle cap and the screwing jaw mechanism. At this time, the unscrewing force position control module is exited; the Z-axis actuator and the X-axis actuator drive the screwing jaw mechanism and the bottle cap clamped inside the jaw to rise uniformly to the set height and move along the X-axis to the set position to complete the process of opening the bottle cap.

[0034] For the tightening force position control module, the initial value of the acting force F1 is the sum of the gravity of the screwing jaw mechanism and the bottle cap. The acting force F2 is slightly less than the initial value of the acting force F1. In this way, there is a downward force on the screwing jaw mechanism. Under the action of this force, the screwing jaw mechanism moves towards the bottle body until it contacts the top of the bottle body. The bottle body gives an upward supporting force to the screwing jaw mechanism and the bottle cap. When the two reach equilibrium, the screwing jaw mechanism stops moving. At this time, the acting force F1 is zero. The screwing jaw mechanism starts to tighten the bottle cap in the reverse direction. The thread generates a downward feedback force on the screwing jaw mechanism. At this time, the bottle cap and the screwing jaw mechanism start to move downward. According to the number of screwing turns recorded by the stepper, the screwing jaw mechanism is driven in the reverse direction to tighten the bottle cap. The screwing jaw mechanism opens and exits the tightening force position control module to complete the process of tightening the bottle cap.

[0035] As a further option, it further includes a display. The controller uses this display to real-time display the working state of the screwing jaw mechanism according to the information of the position sensor.

[0036] The present invention also provides a force position control method for screwing the bottle cap supporting digital twin technology, which is implemented by using the device described in any one of the above, including:

[0037] Initial stage: After the Z-axis actuator and the X-axis actuator perform zero calibration, the screwing jaw mechanism is moved to the set position.

[0038] When performing the operation of unscrewing the bottle cap: The Z-axis actuator and the X-axis actuator move the screwing jaw mechanism to the set position, start the unscrewing force position control, realize the operation of unscrewing the bottle cap, complete the unscrewing of the bottle cap, and record the number of screwing turns of the corresponding bottle cap. The Z-axis actuator and the X-axis actuator move the screwing jaw mechanism and the unscrewed bottle cap to the set position.

[0039] When performing the operation of tightening the bottle cap: The Z-axis actuator and the X-axis actuator move the screwing jaw mechanism to the set position, start the tightening force position control, and according to the recorded number of screwing turns, realize the operation of tightening the bottle cap and complete the process of tightening the bottle cap.

[0040] Further, both the unscrewing force position control and the tightening force position control include the following steps:

[0041] (1) Detect the acting force F1 borne by the output end of the Z-axis actuator;

[0042] (2) Adjust the acting force F2 output by the output end of the Z-axis actuator according to the initial value of the acting force F1;

[0043] (3) When F1 is zero, in the unscrewing force-position control, a preset clamping force threshold is given to the screwing jaw mechanism, and the screwing operation is performed in the set direction I according to this threshold; in the screwing force-position control, the screwing jaw mechanism is controlled to perform the screwing operation in the set direction II (opposite to the set direction I); at the same time, the number of screwing turns is recorded.

[0044] (4) When F1 meets the set threshold or the number of screwing turns meets the requirement, the corresponding force-position control is ended.

[0045] The force-position control bottle cap screwing device supporting digital twin technology of the present invention includes a position sensor, a force sensor, an encoder, and its external accessible interface to support visual digital twin technology. A force-position control algorithm is introduced into the Z-axis actuator, achieving the goal that only the bottle cap position needs to be positioned in the programming link without programming a unique bottle cap screwing scheme for different diameters and thread parameters, simplifying the control algorithm; an X-axis actuator for driving the module to move in the X-axis direction is connected below the Z-axis actuator; a screwing jaw mechanism for controlling the opening and closing of the bottle cap is provided on the front side of the Z-axis actuator, and a storage tank for storing bottles and bottles with different bottle cap sizes are provided below the screwing jaw mechanism. A clamping force threshold is given in the screwing jaw mechanism, and this clamping force threshold can be determined according to the bearing capacity of each type of bottle body, a general threshold can be given, or a suitable threshold can be correspondingly given, achieving the goal of avoiding mechanical failures caused by minor errors during operation, and improving the system fault tolerance and controllability. The present invention can meet the requirements during the opening and closing of the cell culture medium bottle cap for liquid extraction in the intelligent automated production process of organoids, providing technical and theoretical possibilities for the successful research and development of an intelligent automated production line for culturing and observing organoids.

[0046] Compared with the existing structure, the beneficial effects of the present invention are: the present invention has advantages such as higher integration, higher fault tolerance rate, simplified algorithm, and support for digital twin technology than the existing bottle cap screwing module, and can meet the new requirements during the opening and closing of the cell culture medium bottle cap for liquid extraction in the intelligent automated production process of organoids, providing technical and theoretical possibilities for the success of the intelligent automated production line for organoid culture and observation. To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given in conjunction with the accompanying drawings. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0048] Figure 1It is a schematic structural diagram of a force-position control bottle-capping device supporting digital twin technology in the embodiment.

[0049] Figure 2 It is a schematic structural diagram of the X-axis actuator.

[0050] Figure 3 It is a schematic structural diagram of the Z-axis actuator.

[0051] Figure 4 It is a left view of the Z-axis actuator.

[0052] Figure 5 It is a schematic structural diagram of the screwing jaw mechanism.

[0053] Figure 6 It is a partial enlarged structural diagram of the jaw part of the screwing jaw mechanism.

[0054] Figure 7 It is a bottom view of the screwing jaw mechanism.

[0055] Figure 8 It is a structural diagram of the bottle group positioning component and the bottle group.

[0056] 1. X-axis actuator; 1-1. Encoder α; 1-2. Servo motor α; 1-3. Coupling α; 1-4. Linear guide slide α; 1-5. Photoelectric gate position sensor α; 1-6. Photoelectric gate position sensor β; 1-7. X-axis slider; 1-8. Light-shielding plate α; 1-9. Photoelectric gate position sensor γ; 2. Z-axis actuator; 2-1. Encoder β; 2-2. Servo motor β; 2-3. Coupling β; 2-4. Synchronous belt drive mechanism; 2-5. Brake mechanism; 2-6. Linear guide slide β; 2-7. Z-axis slider; 2-8. Light-shielding plate β; 2-9. Z-axis support plate; 2-10. Photoelectric gate position sensor δ; 2-11. Photoelectric gate position sensor ε; 2-12. Photoelectric gate position sensor ζ; 3. Screwing jaw mechanism; 3-1. Force sensor α; 3-2. Motor support plate 3-4; 3-3. Servo motor γ; 3-5. Rotary translation block; 3-6. Jaw; 3-7. Arc surface structure; 3-8. Limiting surface; 4. Bottle group positioning component; 4-1. Storage groove; 5. Bottle group; 5-2. Large bottle; 5-3. Large bottle cap; 5-4. Small bottle; 5-5. Small bottle cap. Detailed implementation manners

[0057] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0058] As Figure 1As shown in the figure, in this embodiment, a force-position control bottle-capping device supporting digital twin technology includes an X-axis actuator 1, a Z-axis actuator 2, a screwing jaw mechanism 3, and a bottle group positioning component 4. When in use, a bottle group 5 is placed in the positioning component.

[0059] As Figure 2 shown in the figure, in this embodiment, the X-axis actuator 1 includes a linear guideway slider α1-4. An optoelectronic gate position sensor α1-5, an optoelectronic gate position sensor β1-6, and an optoelectronic gate position sensor γ1-9 are provided on the linear guideway slider α1-4. A coupling α1-3 connecting a servo motor α1-2 and an encoder α1-1 is provided on one side of the linear guideway slider α1-4. An X-axis slider 1-7 is slidably arranged on the linear guideway slider α1-4, and there is a light-shielding plate α1-8 in front of the X-axis slider 1-7. The X-axis slider 1-7 is slidably fitted on the linear guideway slider α1-4 and can reciprocally slide (or move) in the direction defined by the linear guideway slider α1-4. The servo motor α1-2 is the driving unit in the X-axis actuator 1, and a lead screw structure can be used as the transmission mechanism. The two cooperate to drive the X-axis slider 1-7 to move along the linear guideway slider α1-4 to a set position. The optoelectronic gate position sensor α1-5 and the optoelectronic gate position sensor γ1-9 are respectively used to define the left and right moving boundary positions of the X-axis slider 1-7, and the optoelectronic gate position sensor β1-6 is used to determine the zero position of the X-axis slider 1-7.

[0060] As Figure 3 and 4As shown in the figure, in this embodiment, the Z-axis actuator 2 includes a linear guide slide β2-6. A Z-axis slider 2-7 is slidably arranged on the linear guide slide β2-6. There is a light-shielding plate β2-8 on the right side of the Z-axis slider 2-7. A Z-axis support plate 2-9 is provided behind the linear guide slide β2-6. There are a photoelectric gate position sensor δ2-10, a photoelectric gate position sensor ε2-11, and a photoelectric gate position sensor ζ2-12 on the right side of the linear guide slide β2-6. There is a servo motor β2-2, an encoder β2-1, a coupling β2-3, a synchronous belt transmission mechanism 2-4, and a braking mechanism 2-5 below the linear guide slide β2-6. Similarly, the Z-axis slider 2-7 is slidably and fittingly arranged on the linear guide slide β2-6. The servo motor β2-2 is the driving unit in the Z-axis actuator, and the synchronous belt transmission mechanism 2-4 is its transmission mechanism. The two cooperate to drive the Z-axis slider 2-7 to move to a set position along the linear guide slide β2-6. The photoelectric gate position sensor δ2-10 and the photoelectric gate position sensor ζ2-12 are respectively used to define two moving boundary positions on the Z-axis slider 2-7. The photoelectric gate position sensor ε2-11 is used to determine the zero position of the Z-axis slider 2-7. The linear guide slide β2-6 is fixed on the X-axis slider 1-7 by means of the Z-axis support plate 2-9. The servo motor β2-2 is fixed on the bottom of the linear guide slide β2-6 and the Z-axis support plate 2-9. The linear guide slide β2-6 is of a cylindrical tubular structure. The driving pulley in the synchronous belt transmission mechanism 2-4 is synchronously fixed to the output shaft of the servo motor β2-2 arranged at the bottom of the linear guide slide β2-6, and its driven pulley is installed in the cavity of the linear guide slide β2-6.

[0061] As Figure 5 , 6 and Figure 7 As shown in the figure, in this embodiment, the screwing jaw mechanism 3 includes a servo motor γ3-3. There are motor support plates 3-2 and 3-4 behind the servo motor γ3-3 and the force sensor α3-1. There is a rotary translation block 3-5 and a jaw 3-6 below the servo motor γ3-3. The servo motor γ3-3 contains two sets of servo systems (the linear motor is responsible for clamping / releasing the bottle cap, and the rotary motor is responsible for rotating / opening and closing the bottle cap). By arranging a jaw mechanism below, the two functions of clamping the bottle cap and rotating / opening and closing can be realized; by arranging motor support plates 3-2 and 3-4 that are fixed to the Z-axis slider and surround the servo motor γ3-3 at the back, indirect connection with the Z-axis is achieved. Each sub-jaw has an arc surface structure 3-7 that cooperates with the bottle cap and a limiting surface 3-8 that can abut against the top of the bottle cap during screwing. The arc surface structure is provided with a serrated anti-slip surface.

[0062] As Figure 8As shown in the figure, in this embodiment, the bottle group positioning assembly 5 includes a storage groove 4-1 fixed to the working platform. Inside the storage groove, a bottle group 5 is fixed. The bottle group 5 includes large bottles 5-2, with large bottle caps 5-3 provided on the large bottles 5-2, small bottles 5-4, and small bottle caps 5-5 provided on the small bottles 5-4.

[0063] In this embodiment, during use, the power is turned on, and the servo motor α1-2 and the servo motor β2-2 are respectively controlled by the host computer (which can be a computer with a display screen). The servo motor α1-2 drives the rotation of the lead screw in the linear guide slide α1-4 through the coupling α1-3, so that the X-axis slider 1-7 fixed on the lead screw moves along the X-axis direction at a preset speed. The light shielding plate α1-8 fixed on the X-axis slider 1-7 moves to the position of the photoelectric gate position sensor β1-6 to complete zero calibration and then moves to the set position;

[0064] The servo motor β2-2 drives the synchronous belt transmission mechanism 2-4 through the coupling β2-3, so that the Z-axis slider 2-7 fixed on the synchronous belt transmission mechanism 2-4 moves along the Z-axis direction at a preset speed. The light shielding plate β2-8 fixed on the Z-axis slider 2-7 moves to the position of the photoelectric gate position sensor ε2-11 to complete zero calibration and then moves to the set position;

[0065] The servo motor γ3-3 controls the gripper to open and rotate to the zero position of the rotating shaft. The X-axis slider 1-7 drives the Z-axis actuator 2 to move to the X-axis positioning position required to open the bottle cap. Subsequently, the Z-axis slider 2-7 drives the screwing gripper mechanism 3 to move directly above the bottle cap to be opened. Subsequently, the servo motor β enables force-position control. The force sensor converts the torque borne by the servo motor β into current, and the upper computer monitors this current to detect the force condition of the Z-axis. At the same time, the upper computer inputs a current slightly less than the current corresponding to the torque borne by the screwing gripper mechanism it supports to the servo motor β. The screwing gripper mechanism slowly descends to the surface of the bottle cap to be opened. At this time, the bottle cap gives a certain upward feedback force to the screwing gripper mechanism, and the two maintain a balanced state. Further, the upper computer presets a clamping force threshold for the screwing gripper mechanism. The gripper mechanism clamps the bottle cap inward until it reaches the clamping force threshold and then starts to screw. The thread generates a certain upward feedback force on the screwing gripper mechanism. The sum of this feedback force and the force corresponding to the current input by the upper computer to the servo motor β is slightly greater than the gravity of the screwing gripper mechanism. At this time, the bottle cap and the screwing gripper mechanism start to rise. At the same time, the stepper counter records the number of screwing turns. When the bottle cap rises to the top of the thread, the upward feedback force generated by the thread disappears. At this time, the upper computer closes the force-position control of the servo motor β. The screwing gripper mechanism and the bottle cap clamped inside the gripper rise uniformly to the set height and move along the X-axis to the set position, completing the process of opening the bottle cap. After the robotic arm finishes taking liquid from the bottle body, the servo motor α drives the screwing gripper mechanism to return along the X-axis direction. The servo motor β enables force-position control. The force sensor converts the torque borne by the servo motor β into current, and the upper computer monitors this current. At the same time, the upper computer inputs a current slightly less than the current corresponding to the torque borne by the screwing gripper mechanism and the bottle cap it supports to the servo motor β. The screwing gripper mechanism slowly descends to the position where the bottle cap contacts the bottle body. At this time, the thread of the bottle body gives a certain upward feedback force to the bottle cap, and the two maintain a balanced state. Further, the servo motor γ drives the screwing gripper mechanism to tighten the bottle cap in the reverse direction according to the number of screwing turns recorded by the stepper counter. Subsequently, the servo motor γ controls the gripper to open, the force-position control of the servo motor β is turned off, and the screwing gripper mechanism rises uniformly to the set position and moves along the X-axis to the set position, completing the process of tightening the bottle cap. During the operation, all position signals and force signals are transmitted to the computer terminal through external accessible interfaces by various sensors, supporting the visual digital twin technology. The control system repeats the above operations according to the given spatial coordinates of the bottle cap, and can open and close bottle caps in different orientations and of different sizes. During the execution process, if a sudden situation causes the module to lose power, the braking mechanism starts, and the screwing gripper mechanism stays in place to avoid damage.

[0066] For any of the technical solutions disclosed in the present invention as described above, unless otherwise stated, if it discloses a numerical range, the disclosed numerical range is a preferred numerical range. Any person skilled in the art should understand that the preferred numerical range is only the numerical values that are more obvious or representative among many implementable numerical values. Since there are too many numerical values to enumerate, the present invention only discloses some numerical values to illustrate the technical solutions of the present invention. Moreover, the above-listed numerical values should not constitute a limitation on the protection scope of the present invention.

[0067] Meanwhile, for the present invention as described above, if it discloses or involves components or structural members that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (such as using bolts or screws for connection), or it can also be understood as: a non-detachable fixed connection (such as riveting or welding). Of course, the components fixedly connected to each other can also be replaced by an integral structure (such as being integrally formed by a casting process) (except when it is obviously impossible to adopt the integral forming process).

[0068] If terms such as "first" and "second" are used in this article to limit components, those skilled in the art should be aware that the use of "first" and "second" is only for the convenience of distinguishing components in the description. Unless otherwise stated, the above terms have no special meaning.

[0069] In addition, for any of the technical solutions disclosed in the present invention as described above, the terms used to represent the positional relationship or shape, unless otherwise stated, include states or shapes that are approximate, similar, or close thereto. Any component provided by the present invention can either be assembled from multiple separate components or be a single component manufactured by an integral forming process.

[0070] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A force-position control bottle-capping device supporting digital twin technology, characterized in that, Comprising: A screwing jaw mechanism for screwing the bottle cap; A Z-axis actuator and an X-axis actuator for realizing the position adjustment of the screwing jaw mechanism. The screwing jaw mechanism is fixed at the output end of the Z-axis actuator, and the Z-axis actuator is fixed at the output end of the X-axis actuator; A force sensor and a position sensor for detecting the force magnitude and position information of the screwing jaw mechanism; A control unit that receives the signals from the force sensor and the position sensor and regulates the force and position of the screwing jaw mechanism according to the received signals.

2. The force-position control cap-tightening device supporting digital twin technology according to claim 1, characterized in that, It further includes a pedometer for recording the number of screwing turns when unscrewing the bottle cap.

3. The force-position control bottle-capping device supporting digital twin technology according to claim 1, wherein, Both the Z-axis actuator and the X-axis actuator include: A linear guideway slider; A slider slidably disposed on the linear guideway slider; Wherein the screwing jaw mechanism is fixed on the slider of the Z-axis actuator, and the linear guideway slider of the Z-axis actuator is fixed on the slider of the X-axis actuator.

4. The force-position control cap screwing device supporting digital twin technology according to claim 3, characterized in that, The position sensor at least includes a photoelectric gate position sensor disposed on the linear guideway slider for controlling the zero calibration position of the corresponding slider thereon.

5. The force-position control cap-tightening device supporting digital twin technology according to claim 1, characterized in that, The control unit includes an unscrewing force-position control module for realizing the unscrewing of the bottle cap and a screwing force-position control module for realizing the screwing of the bottle cap.

6. The force-position control cap-tightening device supporting digital twin technology according to claim 5, characterized in that, Both the unscrewing force-position control module and the screwing force-position control module include: Sub-module I for detecting the acting force F1 borne by the output end of the Z-axis actuator; Sub-module II for adjusting the output acting force F2 of the output end of the Z-axis actuator according to the initial value of the acting force F1; When F1 is zero, execute sub-module III: In the unscrewing force-position control module, sub-module III controls the screwing jaw mechanism to reach a preset clamping force threshold and perform a screwing operation in the set direction I; in the screwing force-position control module, sub-module III controls the screwing jaw mechanism to perform a screwing operation in the set direction II; Sub-module IV for recording the number of screwing turns; When F1 meets the set threshold or the number of screwing turns meets the requirement, end the corresponding force-position control module.

7. The force-position control cap screwing device supporting digital twin technology according to claim 6, characterized in that The acting force F2 is slightly smaller than the initial value of the acting force F1; and F2 is greater than the critical force value of the gravity of the screwing jaw mechanism - the bottle body deformation.

8. The force-position control bottle-capping device supporting digital twin technology according to claim 1, characterized in that, It further includes a display. The controller uses this display to real-time display the working state of the screwing jaw mechanism according to the position sensor information; the screwing jaw mechanism includes at least two sub-jaws arranged circumferentially and a driving mechanism for driving the sub-jaws to approach or move away from each other.

9. A force-position control method for screwing bottle caps that supports digital twin technology, characterized in that, Implemented by using the device according to any one of claims 1 to 8, including: Initial stage: After the Z-axis actuator and the X-axis actuator perform zero calibration, move the screwing jaw mechanism to a set position; When performing the bottle cap unscrewing operation: The Z-axis actuator and the X-axis actuator move the screwing jaw mechanism to a set position, start the unscrewing force-position control, realize the unscrewing operation of the bottle cap, complete the unscrewing of the bottle cap, and record the number of screwing turns of the corresponding bottle cap; The Z-axis actuator and the X-axis actuator move the screwing jaw mechanism and the unscrewed bottle cap to a set position; When performing the bottle cap screwing operation, the Z-axis actuator and the X-axis actuator move the screwing jaw mechanism to a set position, start the screwing force-position control, and realize the screwing operation of the bottle cap according to the recorded number of screwing turns, completing the bottle cap screwing process.

10. The force-position control method for screwing on the bottle cap supporting digital twin technology according to claim 9, characterized in that The control of the unscrewing force position and the screwing force position both include the following steps: (1) Detect the acting force F1 borne by the output end of the Z-axis actuator; (2) Adjust the acting force F2 output by the output end of the Z-axis actuator according to the initial value of the acting force F1; (3) When F1 is zero, give the screwing jaw mechanism a preset clamping force threshold and perform a screwing operation in the set direction according to the threshold, or directly perform a screwing operation in the set direction when the preset clamping force threshold meets the set requirements; record the number of screwing turns simultaneously during the screwing process; (4) When F1 meets the set threshold or the number of screwing turns meets the requirements, end the corresponding force position control.

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