A control method for filling equipment, filling equipment and computer storage medium

Abstract

The present invention relates to the field of filling equipment, and discloses a control method for filling equipment, filling equipment and computer storage medium. The filling equipment specifically comprises: a forming rod unit and a nesting unit for receiving a packaging box from the forming rod unit; the method comprises: during the filling process of the filling equipment, detecting the packaging box entering the nesting unit; if it is detected that there is a defective position in a nest for placing the packaging box in the nesting unit, when the packaging box enters the nesting unit, when the defective position of the nest moves to an injection device in the filling equipment, determining the injection device in the filling equipment corresponding to the defective position; and controlling the determined injection device to stop working.

Description

Technical Field

[0001] The present invention relates to the technical field of filling equipment, and in particular to a control method of filling equipment, filling equipment and computer storage medium. Background Art

[0002] In order to facilitate the transportation of various products, it is usually necessary to package various products. For example, foods such as milk, beverages, vegetable puree, etc. need to be packaged and sealed in various forms of containers such as packaging boxes and packaging bags. Filling equipment is used to fill products. From the perspective of the degree of automation of production, in order to improve the filling efficiency, the general filling equipment is fully automatic.

[0003] However, during the working process of the filling equipment, the filling equipment cannot be stopped for full automatic filling. Due to the long-term operation or installation problems of the filling equipment, quality problems such as packaging box sealing may occur. When the filling process of the filling equipment is not stopped, the filling environment pollution problem occurs. Summary of the invention

[0004] The invention discloses a control method for filling equipment, the filling equipment and a computer storage medium, which are used for not filling packaging boxes with quality problems in a targeted manner without stopping the filling equipment.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a control method for a filling device, wherein the filling device specifically comprises: a forming rod unit and a grid unit for receiving a packaging box from the forming rod unit;

[0007] The method comprises:

[0008] During the filling process of the filling equipment, the packaging boxes entering the packing unit are inspected;

[0009] If a defective position is detected in a cell for placing a packaging box in the cell unit, when the packaging box enters the cell unit and the defective position of the cell moves to the injection device in the filling device, the injection device in the filling device corresponding to the defective position is determined;

[0010] The injection device determined by the control stops working.

[0011] The filling equipment here includes a forming rod unit and a grid unit. The forming rod unit processes and shapes the packaging blank to form a packaging box. The grid unit is used to receive the packaging box from the forming rod unit. During the filling process of the filling equipment, the grid unit already has the packaging box from the forming rod unit. At this time, the grid in the grid unit is detected; if it is detected that there is a defective position in the grid of the grid unit, when the packaging box at the defective position moves to the injection device, the injection device stops working to prevent the packaging box in the grid at the defective position from being injected. Therefore, during the continuous operation of the forming rod unit and the grid unit in the entire filling equipment without stopping, the problematic packaging box will not be injected, thereby avoiding environmental pollution of the filling equipment and losses caused by shutdown.

[0012] Optionally, the detecting the defect position in the grid specifically includes some or all of the following methods:

[0013] Method 1: when the packaging box enters the nesting unit, the defect position of the nesting unit is determined according to the state of the packaging box in the nesting unit;

[0014] Method 2: manually determine the position of the forming rod in the forming rod unit associated with the defect position of the grid.

[0015] Optionally, the packaging box status specifically includes packaging box missing or packaging box defective.

[0016] Optionally, the method further comprises:

[0017] Acquiring a contour signal of the cover on the forming rod unit by a first sensor;

[0018] Whether there is a cover on the forming rod in the forming rod unit is determined according to the contour signal of the cover; when there is no cover on the forming rod, the operation of sleeve-mounting the box body is not performed on the forming rod without the cover.

[0019] Optionally, the operation of not sleeve-mounting the box body on the molding rod without a cover specifically includes: controlling the adsorption force of the box body so that the adsorption force of the box body at a corresponding position of the molding rod without a cover is smaller than the adsorption force of the box body at other positions.

[0020] Optionally, the method further comprises:

[0021] Acquiring packaging signals of the cover and the box body in the molding rod unit by means of a second sensor;

[0022] Whether the quality is qualified is determined according to the packaging signals of the box body and the cover. When the packaging quality of the box body and the cover is unqualified, the cover on the forming rod in the forming rod unit is removed.

[0023] Optionally, a packaging signal of the cover and the box body in the molding rod unit is obtained by a second sensor;

[0024] Whether the quality is qualified is determined according to the packaging signals of the box body and the cover. When the packaging quality of the box body and the cover is unqualified, the packaging boxes in the nesting cells in the nesting cells unit are arranged and processed.

[0025] Optionally, the step of determining the injection device in the filling equipment corresponding to the defect position specifically includes:

[0026] The spray device sprays the packaging boxes in the nest along a predetermined path. When the defective position of the nest moves to the spray device, the spray devices spraying along the predetermined path stop working on the defective position.

[0027] In a second aspect, the present invention provides a filling device, comprising 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, and the instructions are executed by the at least one processor to implement a method as described in any one of the first aspects.

[0028] In a third aspect, the present invention provides a computer storage medium, wherein the computer storage medium stores a computer program, and the computer program is used to enable a computer to execute any method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a control system of a filling device provided by an embodiment of the present invention;

[0030] Figure 2 A structural schematic diagram of a filling device provided by an embodiment of the present invention;

[0031] Figure 3 A schematic structural diagram of a forming rod unit provided by an embodiment of the present invention;

[0032] Figure 4 A schematic structural diagram of a nested grid unit provided in an embodiment of the present invention;

[0033] Figure 5 A schematic flow chart of a control method for a filling device provided by an embodiment of the present invention;

[0034] Figure 6 A schematic diagram of a judgment process of a filling device provided by an embodiment of the present invention;

[0035] Figure 7 A schematic diagram of the working mode of the grid unit corresponding to the filling area provided in an embodiment of the present invention;

[0036] Figure 8 A schematic diagram of the working process of the injection device in the filling area of ​​the grid unit provided in an embodiment of the present invention;

[0037] Fig. 9 A schematic diagram of the working process of the injection device provided by an embodiment of the present invention;

[0038] Fig.10 A schematic diagram of an operation interface of a user terminal provided in an embodiment of the present invention.

[0039] icon:

[0040] A-cover; B-box; C-packing box;

[0041] 100-filling equipment; 110-forming rod unit; 111-forming rod group; 112-rotating shaft; 113-first sensor; 114-second sensor; 115-capping structure; 120-grid unit; 121-grid; 122-packing structure; 123-injection device; 1231-following wheel; 1232-eccentric wheel; 1233-elastic member; 1234-isolator; 1235-valve stem; 1236-sealing disk; 1237-discharging port; 1238-feeding port; 120a-sterilization area; 120b-filling area; 120c-sealing area; 130-capping unit; 140-sleeve supply unit; 200-network; 300-processing equipment. 400-user terminal; 500-storage device. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Figure 1 A control flow diagram of a system in which a filling device 100 is provided in an embodiment of the present invention; Figure 1 As shown, the system in which the filling device 100 is located specifically includes: the filling device 100, the network 200, the processing device 300, the user terminal 400 and the storage device 500; wherein the filling device 100 includes a forming rod unit 110, a cap row unit 130, a sleeve supply unit 140, and a grid unit 120.

[0044] The filling device 100 provided in the embodiment of the present invention is used to produce aseptically filled packaged products. A typical example is the packaging of pourable foods (such as milk, beverages, soups, ketchup, etc.), which is made of sheet packaging materials.

[0045] The forming rod unit 110 processes and shapes the sheet packaging material, that is, the packaging blank, to form a packaging box C with an open end. The forming rod unit 110 includes a rotating shaft 112 and multiple forming rod groups 111. The multiple forming rod groups 111 rotate counterclockwise periodically around the rotating shaft 112. Each forming rod group 111 in the multiple forming rod groups 111 includes a plurality of forming rods arranged along a first direction, and the first direction is perpendicular to a plane formed by the rotation of the forming rod group 111. The forming rod unit 110 also includes a sensor for obtaining the status of the packaging box C in the forming rod unit 110, such as whether the lid A is missing, the packaging box C is missing, and the packaging box C is defective.

[0046] The cover discharging unit 130 is used to install the cover A of the packaging box C onto the forming rod in the forming rod unit 110 .

[0047] The sleeve supply unit 140 shapes the sheet packaging material into a sleeve-shaped box body B with openings at both ends, and puts the box body B on the forming rod, and fixes and seals it relative to the cover A located on the forming rod to obtain a packaging box C with one end closed and the other end open.

[0048] The nesting unit 120 is used to receive a packaging box C with an opening at one end, and move the packaging box C with the opening facing upward to different work sections, such as a sterilization area 120a, a filling area 120b, and a sealing area 120c.

[0049] The user terminal 400 may include a mobile device, a tablet computer, a laptop computer, an online control terminal, etc. or any combination thereof. For example, the user terminal 400 may be an operation panel provided on the filling device 100, including a display and an input keyboard (such as a mechanical keyboard or a touch keyboard provided on the display screen), and the user may operate the filling device 100 through the user terminal 400 at the site where the filling device 100 is located. In some embodiments, the user terminal 400 may interact with other units in the filling system through the network 200. For example, the user terminal 400 may be a remotely provided mobile device, a tablet computer or a laptop computer, and the user may remotely control the filling device 100 through the user terminal 400. The user may send one or more actions to control the filling device 100 to the filling device 100 through the user terminal 400, such as controlling the sterilization area 120a and the filling area 120b in the grid unit 120 not to operate the packaging box C in the grid unit 120, etc. For another example, the user terminal 400 may also receive the processing result of the processing device 300. In some embodiments, the user terminal 400 may be a part of the processing device 300.

[0050] The processing device 300 can process data and / or information obtained from the filling device 100, the user terminal 400 and / or the storage device 500. For example, the processing device 300 can process the obtained operating parameters of the filling device 100 to determine the state of the filling device 100, and the operating parameters can be the state of the packaging box C in the forming rod unit 110, such as the lack of lid A, the lack of packaging box C, and the defect of packaging box C. In some embodiments, the processing device 300 can be a programmable logic controller (PLC, Programmable Logic Controller) installed in the filling device 100. In other embodiments, the processing device 300 can be a processor (Central Processing Unit, CPU) of the user terminal 400. In some embodiments, the processing device 300 can include a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processing device 300 can be local or remote. For example, the processing device 300 can access information and / or data from the filling device 100, the user terminal 400 and / or the storage device 500 through the network 200. As another example, the processing device 300 may be directly connected to the filling device 100 , the user terminal 400 and / or the storage device 500 to access information and / or data.

[0051] The storage device 500 may store instructions and / or any other information, such as the status of the package C in the filling device 100, such as the missing lid A, the missing package C, and the defective package C. In some embodiments, the storage device 500 may store data obtained from the filling device 100, the user terminal 400, and / or the processing device 300, for example, the storage device 500 may store the status of the package C in the filling device 100 obtained from the filling device 100. In some embodiments, the storage device 500 may store data and / or instructions executed or used by the processing device 300.

[0052] The network 200 may include any suitable network 200 that enables information and / or data exchange in the system where the filling device 100 is located. In some embodiments, the filling device 100, the user terminal 400, the processing device 300, the storage device 500, etc. in the system where the filling device 100 is located may exchange information and / or data with each other through the network 200. The network 200 may be a wired connection or a wireless connection.

[0053] For ease of understanding, Figure 2 , and refer to Figure 3, the overall structure and working process of the filling device 100 are described in detail as follows: a forming rod unit 110 is used to process and shape the packaging blank to form a packaging box C. The forming rod unit 110 includes: a rotating shaft 112 and a plurality of forming rod groups 111. The plurality of forming rod groups 111 periodically rotate counterclockwise around the rotating shaft 112, that is, rotate in the plane where YZ is located, that is, rotate from the Z direction to the Y direction. Each of the plurality of forming rod groups 111 includes a plurality of forming rods arranged along a first direction, and the plane formed by the rotation of the forming rod group 111 is perpendicular to the first direction; for example, each forming rod group 111 includes four forming rods arranged along the first direction.

[0054] After the plurality of molding rod groups 111 rotate around the rotating shaft 112 to a designated position, they stay for a period of time and then rotate to the next designated position. The forming rod unit 110 has nine positions, namely position I, position II, position III, position IV, position V, position VI, position VII, position VIII and position IX. Position I corresponds to the cover unit 130 for covering the forming rods in the forming rod group 111. After completing the covering operation on the forming rods, the forming rod group 111 with the cover A installed enters position II. The sleeve supply unit 140 sleeves the forming rod group 111 with the box body B, and then completes the pressing and forming sealing of the cover A and the box body B from position III to position VI. Specifically, from position III to position VI, hot air heating, press pre-folding, sealing and other operations are completed in sequence to complete the sealing of one end of the cover A and the box body B; the packaging box C with only one end open after sealing is rotated from position VII to position VIII, and then the packaging box C with only one end open is transported from position VIII to the grid unit 120.

[0055] Continue to refer Figure 3 A first sensor 113 is provided between position I and position II. The first sensor 113 is used to obtain the contour signal of the cover A installed on the forming rod. At position I, the cover A is fixed to the end of the forming rod in the forming rod group 111 by the cover discharging unit 130. During the covering process, for example, the cover A may not be discharged in the cover discharging unit 130, resulting in the cover A being unable to be installed on the end of the forming rod; it is also possible that the cover structure at the end of the forming rod is loose, resulting in the cover A not being firmly engaged and fixed, resulting in the absence of the cover A at the end of the forming rod. The contour signal of the cover A installed on the forming rod is obtained by the first sensor 113. For example, the first sensor 113 is a laser sensor, and the laser sensor emits a laser to generate a contour pattern of the end of the forming rod at a certain moment or a certain time period. The contour pattern reflects the position of the cover A, thereby representing whether there is a cover A at the end of the forming rod at the current moment or time period.

[0056] Continue to refer Figure 3, the box body B is supplied at position II through the sleeve supply unit 140. Specifically, the sleeve supply unit 140 includes a storage bin for placing packaging blanks in the form of packaging cut pieces, an adsorption component for adsorbing the packaging blanks into the box body B, and a connecting rod mechanism connected to the adsorption component in a transmission manner; wherein the adsorption component includes a plurality of suction nozzles, and the plurality of suction nozzles are arranged one-to-one with a plurality of forming rods in a group of forming rods 111. By controlling the vacuum degree of each suction nozzle, the adsorption force of the suction nozzle at the corresponding position of the forming rod without the cover A is smaller than the adsorption force of the suction nozzle at other positions, so that the packaging blank is not adsorbed and formed into the box body B at the position without the cover A at the end of the forming rod.

[0057] Continue to refer Figure 2 and Figure 4 , the multiple forming rod groups 111 are driven by the rotating shaft 112 to rotate from position I to position VIII. When the forming rod group 111 is in position VI, the packaging box C located on the forming rod group 111 has an opening; when the forming rod group 111 is in position VIII, it is used to transport the packaging box C with an opening to the nesting unit 120; a kicking cover structure 115 is provided between position VI and position VII. If there is only a cover A but no box body B on the forming rod, in order not to affect the continued covering at position I in the next cycle, the cover A without box body B is kicked off between position VI and position VII. In addition, a second sensor 114 is provided between position VII and position VIII. The second sensor 114 is used to obtain the packaging quality of the box body B and the cover A in the packaging box C. If the packaging of the box body B and the cover A is unqualified, when the packaging box C with an opening is transported to the grid unit 120, if the injection device 123 of the grid unit 120 is spraying, the fluid will flow out of the packaging box C, thereby contaminating the grid unit 120.

[0058] In some specific embodiments, the spray device 123 includes two groups of nozzles arranged along the Z direction, each group of nozzles includes four nozzles arranged along the X direction, and the number of nozzles in each group of nozzles corresponds to the number of forming rods in each group of forming rods 111 and the number of cells 121 arranged in the cell unit 120 along the X direction. Figure 7For example, the grid 121 moves along the Z direction. When the package C just enters the filling area 120b, the nozzles at positions 1 and 3 in column A spray and only fill half of the package C at this position; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column B, and the nozzles 2 and 4 in column B spray and only fill half of the package C at this position; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column C, at this time, the nozzles 1 and 3 in column C spray and refill the half box of package C previously filled in column A; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column D, at this time, the nozzles 2 and 4 in column D spray and refill the half box of package C previously filled in column B; through the above-mentioned alternating filling method, the splashing of the filling fluid is effectively prevented, thereby ensuring the cleanliness in the grid unit 120, thereby reducing the risk of contamination.

[0059] like Figure 5 As shown, an embodiment of the present invention provides a control method for a filling device 100, wherein the filling device 100 specifically comprises: a forming rod unit 110 and a grid unit 120 for receiving a packaging box C from the forming rod unit 110; the method comprises:

[0060] S501: During the filling process of the filling device 100, the packaging box C entering the nesting unit 120 is inspected;

[0061] S502: If a defective position is detected in the cell 121 for placing the packaging box C in the cell unit 120, when the packaging box C enters the cell unit 120, when the defective position of the cell 121 moves to the injection device 123 in the filling device 100, the injection device 123 in the filling device 100 corresponding to the defective position is determined;

[0062] S503: Control the determined injection device 123 to stop working.

[0063] It should be noted that the filling equipment 100 here includes a forming rod unit 110 and a grid unit 120. The forming rod unit 110 processes and shapes the packaging blank to form a packaging box C. The grid unit 120 is used to receive the packaging box C from the forming rod unit 110. During the filling process of the filling equipment 100, the grid unit 120 already has the packaging box C from the forming rod unit 110. At this time, the grid 121 in the grid unit 120 is detected; if it is detected that there is a defective position in the grid 121 in the grid unit 120, when the packaging box C located at the defective position moves to the injection device 123, the injection device 123 stops working to prevent the packaging box C in the grid 121 located at the defective position from being injected. Therefore, during the continuous operation of the forming rod unit 110 and the grid unit 120 in the entire filling equipment 100 without stopping, the problematic packaging box C will not be injected, thereby avoiding environmental pollution of the filling equipment 100 and also avoiding losses caused by shutdown.

[0064] The defect position in the detection grid 121 specifically includes some or all of the following methods:

[0065] Method 1: When the packaging box C enters the nesting unit 120, the defect position of the nesting unit 121 is determined according to the state of the packaging box C in the nesting unit 121; for example, the state of the packaging box C entering the nesting unit 120 specifically includes the packaging box C missing or the packaging box C defective, for example, Figure 8As shown, the missing of the packaging box C may occur at position I. When the forming rods in the forming rod group 111 are covered by the cover arrangement unit 130, the cover A is not installed on a certain forming rod, and the contour signal on the forming rod is obtained by the first sensor 113. The contour signal of the cover A installed on the forming rod is obtained by the first sensor 113. For example, the first sensor 113 is a laser sensor, and the laser sensor emits a laser to generate a contour pattern of the end of the forming rod at a certain moment or a certain time period. The contour pattern reflects the position of the cover A. The first sensor 113 sends a contour signal to the processing device 300, and the processing device 300 determines the position of a forming rod without a cover A, and then controls the adsorption component in the sleeve supply unit 140, and the adsorption component adsorbs the packaging blank into a box body B. The adsorption component includes multiple suction nozzles, and the multiple suction nozzles are arranged one-to-one corresponding to multiple forming rods in a forming rod group 111. The suction nozzles at the corresponding positions of the forming rods without the cover A do not work, and by controlling the vacuum degree of the suction nozzles at the corresponding positions of the forming rods without the cover A, the adsorption force of the suction nozzles at the corresponding positions of the forming rods without the cover A is less than the adsorption force of the suction nozzles at other positions, so that the packaging blank is not adsorbed and formed into the box body B at the position without the cover A at the end of the forming rod. For example, the package box C may be missing. When the forming rods in the forming rod group 111 are covered by the cover arrangement unit 130 at position I, the cover A is installed on the forming rod, and the box body B provided by the sleeve supply unit 140 at position II is also sleeved on the forming rod. However, during the rotation of the rotating shaft 112, before the cover A and the box body B are pressed and sealed to form a package box C with only one end open, the box body B falls off the forming rod. At this time, a second sensor 114 is provided between position VII and position VIII. The second sensor 114 is used to obtain the packaging quality of the box body B and the cover A in the package box C. If the box body B falls, the box body B and the cover A cannot be packaged, that is, the packaging is unqualified. The second sensor 114 is used to obtain the packaging quality of the box body B and the cover A in the package box C and send it to the processing equipment 300. Please continue to refer to Figure 8 When the processing device 300 determines that the packaging box C at the position of a certain forming rod is missing, the injection device 123 on the movement path of the nest 121 corresponding to the certain forming rod is controlled to stop working.

[0066] For example, the defect of packaging box C may be that when the forming rods in the forming rod group 111 are covered by the cover arrangement unit 130 at position I, the cover A is installed on the forming rod, and the box body B provided by the sleeve supply unit 140 at position II is also sleeved on the forming rod, but the pressing and molding sealing of the cover A and the box body B is completed at positions III to VI. Specifically, from positions III to VI, hot air heating, press pre-folding, sealing and other operations are completed in sequence to complete the sealing of the cover A and one end of the box body B. Any problem in any of the above-mentioned multiple sealing steps may lead to quality problems in the sealing of the cover A and the box body B. At this time, a second sensor 114 is arranged between positions VII and VIII. The second sensor 114 is used to obtain the packaging quality of the box body B and the cover A in the packaging box C. Please continue to refer to Figure 8 , and sent to the processing device 300, the processing device 300 determines whether the packaging of the box body B and the cover A is qualified. If it is unqualified, the injection device 123 on the movement path of the set 121 corresponding to a certain forming rod is controlled to stop working.

[0067] Method 2: Manually determine the position of the forming rod in the forming rod unit 110 associated with the defect position of the grid 121. Fig.10 , is the operation interface of the user terminal 400. When the forming rod unit 110 is used for too long, or it is manually found in advance that the forming rod cannot be covered, manual intervention is performed in advance. A certain forming rod to be locked is manually input in the user terminal 400. For example, the forming rod at the 3rd row of column V is locked. The locking is performed by manual input. For example, the forming rod group 111 has nine positions in a circle, and each position corresponds to four forming rods in each group, that is, a 9*4 arrangement. The grids 121 in the grid unit 120 are set corresponding to the forming rods, that is, the grids 121 are arranged in a 9*4 array, and each grid 121 is determined at a certain position. According to the program in the processing device 300, the forming rod to be locked is determined, and the position of the grid 121 corresponding to the forming rod at a certain moment is determined, so that the grid 121 corresponding to the locked forming rod passing through the injection device 123 at a certain moment is determined, and the determined injection device 123 is stopped to avoid contamination of the grid unit 120.

[0068] In some specific embodiments, the packaging signals of the cover A and the box body B in the forming rod unit 110 are obtained by the second sensor 114; the quality is judged according to the packaging signals of the box body B and the cover A. When the packaging quality of the box body B and the cover A is unqualified, in addition to stopping the operation of the injection device 123, the packaging box C in the grid 121 in the grid unit 120 can also be arranged. For easy understanding, please refer to Figure 4At the tail end of the grid unit 120, a packing discharge structure 122 is provided to discharge the problematic packs along the Z direction. For example, the packing discharge structure 122 may have a mechanism for providing thrust at the left circular wheel and a cylinder flap on the right side, thereby cooperating to discharge the problematic packaging box C to avoid entering the next workstation.

[0069] like Figure 8 As shown, please refer to Fig. 9 , determine that the injection device 123 in the filling device 100 corresponding to the defective position specifically includes: the injection device 123 sprays the packaging box C in the grid 121 along a predetermined path. When the defective position of the grid 121 moves to the injection device 123, the injection device 123 spraying along the predetermined path stops working on the defective position. The predetermined path specifically includes: the injection device 123 includes two groups of nozzle groups arranged along the Z direction, each group of nozzle groups includes four nozzles arranged along the X direction, and the number of nozzles in each group of nozzle groups corresponds to the number of forming rods in each group of forming rod groups 111 and the number of grids 121 arranged along the X direction of the grid unit 120. The specific working mode of the injection device 123 is as follows: Figure 7 For example, the grid 121 moves along the Z direction. When the package C just enters the filling area 120b, the nozzles at positions 1 and 3 in column A spray and only fill half of the package C at this position; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column B, and the nozzles 2 and 4 in column B spray and only fill half of the package C at this position; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column C, at this time, the nozzles 1 and 3 in column C spray and refill the half box of package C previously filled in column A; the movement of the grid 121 will drive the package C to continue to move along the Z direction to column D, at this time, the nozzles 2 and 4 in column D spray and refill the half box of package C previously filled in column B; through the above-mentioned alternating filling method, the splashing of the filling fluid is effectively prevented, thereby ensuring the cleanliness in the grid unit 120, thereby reducing the risk of contamination.

[0070] like Figure 6 , which is a schematic diagram of a judgment process of a filling device 100 provided in an embodiment of the present invention;

[0071] S601: During the canning process of the canning equipment, the packaging box C entering the nesting unit 120 is detected;

[0072] S602: Determine whether the packaging box C has quality problems; if so, execute S603; otherwise, execute S604;

[0073] S603: When the cell 121 of the package box C with quality problems moves to the injection device 123, the injection device 123 corresponding to the cell 121 is controlled to stop working;

[0074] S604: The injection device 123 continues to work.

[0075] For ease of understanding, continue to refer to Fig. 9 , a single nozzle in the injection device 123 controls the servo motor to work through the processing equipment 300, the servo motor is connected to the eccentric wheel 1232, the eccentric wheel 1232 drives the follower wheel 1231 to rotate, the follower wheel 1231 is connected to the valve stem 1235, and the valve stem 1235 drives the sealing disk 1236 to move up and down to achieve the closing and opening of the discharge port 1237. In this way, the fluid enters the valve body from the feed port 1238, and the elastic member 1233 is separated from the fluid input from the feed port 1238 by the isolation member 1234. Through the isolation member 1234, the fluid entering the filling device 100 through the feed port 1238 only contacts with a local area of ​​the nozzle, thereby reducing the sterility requirements for the area of ​​the nozzle that is not in contact with the fluid, and reducing the cost of nozzle operation and maintenance.

[0076] A filling device 100 provided in an embodiment of the present invention includes 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, and the instructions are executed by the at least one processor to implement any of the methods described above.

[0077] An embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores a computer program, and the computer program is used to enable a computer to execute any of the above methods.

[0078] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for controlling a filling device, characterized in that: The filling device specifically comprises: a forming rod unit and a nesting unit for receiving a packaging box from the forming rod unit; The method comprises: During the filling process of the filling equipment, the packaging boxes entering the packing unit are inspected; If a defective position is detected in a cell for placing a packaging box in the cell unit, when the packaging box enters the cell unit and the defective position of the cell moves to the injection device in the filling device, the injection device in the filling device corresponding to the defective position is determined; The injection device determined by the control stops working.

2. The method according to claim 1, characterized in that: The detecting of the defect position in the grid specifically includes some or all of the following methods: Method 1: when the packaging box enters the nesting unit, the defect position of the nesting unit is determined according to the state of the packaging box in the nesting unit; Method 2: manually determine the position of the forming rod in the forming rod unit associated with the defect position of the grid.

3. The method according to claim 2, characterized in that The packaging box status specifically includes packaging box missing or packaging box defective.

4. The method according to claim 2, characterized in that: The method further comprises: Acquiring a contour signal of the cover on the forming rod unit by a first sensor; Whether there is a cover on the forming rod in the forming rod unit is determined according to the contour signal of the cover; when there is no cover on the forming rod, the operation of sleeve-mounting the box body is not performed on the forming rod without the cover.

5. The method according to claim 4, characterized in that The operation of not sleeve-mounting the box body on the molding rod without a cover specifically includes: controlling the adsorption force of the box body so that the adsorption force of the box body at the corresponding position of the molding rod without a cover is smaller than the adsorption force of the box body at other positions.

6. The method according to claim 4, characterized in that The method further comprises: Acquiring packaging signals of the cover and the box body in the molding rod unit by means of a second sensor; Whether the quality is qualified is determined according to the packaging signals of the box body and the cover. When the packaging quality of the box body and the cover is unqualified, the cover on the forming rod in the forming rod unit is removed.

7. The method according to claim 4, characterized in that Acquiring packaging signals of the cover and the box body in the molding rod unit by means of a second sensor; Whether the quality is qualified is determined according to the packaging signals of the box body and the cover. When the packaging quality of the box body and the cover is unqualified, the packaging boxes in the nesting cells in the nesting cells unit are arranged and processed.

8. The method according to claim 1, characterized in that: The step of determining the injection device in the filling equipment corresponding to the defect position specifically includes: The spray device sprays the packaging boxes in the nest along a predetermined path. When the defective position of the nest moves to the spray device, the spray devices spraying along the predetermined path stop working on the defective position.

9. A filling device, characterized in that: It comprises 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, and the instructions are executed by the at least one processor to implement the method as claimed in any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and the computer program is used to enable a computer to execute the method according to any one of claims 1 to 8.

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