Cap screwing control method and servo cap screwing machine

Abstract

The application discloses a screw cap control method and a servo screw cap machine, and belongs to the technical field of screw caps. After a cap is grabbed by a screw cap assembly, a servo motor is started, and the output rotating speed of the servo motor is controlled to increase to a first rotating speed. Whether the output torque of the servo motor reaches a first torque is judged. If not, the output rotating speed of the servo motor is controlled to keep the first rotating speed. If yes, the servo motor is controlled to decelerate, and the output torque of the servo motor is controlled to increase. Whether the output rotating speed of the servo motor decreases to a second rotating speed and whether the output torque of the servo motor increases to a second torque are judged. If yes, the servo motor is controlled to keep the output torque as the second torque until the feedback torque of the servo motor is greater than or equal to a torque upper limit. The application can reduce the probability of the occurrence of the situation that the screw cap torque is too large, prevent the situation that the screw cap torque is too large and leads to difficult opening of the cap, and has high reliability.

Description

Technical Field

[0001] This invention relates to the field of capping technology, and more particularly to a capping control method and a servo capping machine. Background Technology

[0002] In the liquid packaging industry, capping machines are commonly used to secure caps to bottles, sealing them. A capping machine is a sealing device that fastens caps to bottles filled with product. The capping torque of the machine directly affects the sealing performance of the bottle and the torque required for the consumer to open it. Specifically, the higher the capping torque, the better the seal, but the greater the torque required to open the cap, making it more difficult for consumers to open and less acceptable. Conversely, the lower the capping torque, the worse the seal; too low a torque can even lead to leakage, rendering the seal ineffective. In this case, even a small opening torque is meaningless. Therefore, a balance must be struck between sealing performance and opening force—achieving both high sealing performance and minimal opening torque.

[0003] In existing technology, capping is performed using a servo capping machine. The servo capping machine includes a servo motor and a capping assembly. The capping assembly grips the cap and then places it on the bottle. The servo motor drives the capping assembly to rotate, screwing the cap onto the bottle. The servo motor drives the capping assembly to rotate according to a set torque until the feedback torque received by the servo motor exceeds the maximum torque. Both the set torque and the maximum torque can be calculated experimentally or theoretically, ensuring that the capping assembly, driven by the servo motor, smoothly installs the cap onto the bottle with high sealing performance, preventing leakage, and avoiding excessive torque required for opening, all within acceptable limits for the user.

[0004] However, in actual operation, since the servo motor is usually connected to the capping assembly through a transmission chain or other connection structure, when the servo motor stops outputting torque after receiving the maximum feedback torque, the capping machine will have rotational inertia. Under the action of rotational inertia, the capping assembly cannot stop capping immediately, but will continue to cap, causing the capping torque to continue to increase. This will result in the capping torque exceeding the allowable range of capping torque. It can be seen that the reliability of the capping machine in the existing technology is low. Summary of the Invention

[0005] The purpose of this invention is to provide a capping control method and a servo capping machine, which can reduce the situation of excessive capping torque, prevent difficulties in opening the cap due to excessive capping torque, and has high reliability.

[0006] Based on the above concept, the technical solution adopted by this invention is as follows:

[0007] A capping control method is applied to control a servo capping machine, which includes a servo motor and a capping assembly. The servo motor is connected to the capping assembly and is used to drive the capping assembly to move. The capping control method includes the following steps:

[0008] S1. After the capping assembly grabs the cap, start the servo motor and control the output speed of the servo motor to increase to the first speed;

[0009] S2. Determine whether the output torque of the servo motor has reached the first torque. If not, proceed to step S3; if yes, proceed to step S4.

[0010] S3. Control the output speed of the servo motor to maintain the first speed, and execute step S2 after a first preset time.

[0011] S4. Control the servo motor to decelerate, and at the same time control the output torque of the servo motor to increase, and execute step S5;

[0012] S5. Determine whether the output speed of the servo motor has dropped to the second speed and whether the output torque of the servo motor has increased to the second torque. If yes, proceed to step S6; otherwise, proceed to step S4.

[0013] S6. Control the servo motor to maintain the output torque at the second torque until the feedback torque of the servo motor is greater than or equal to the upper torque limit.

[0014] Optionally, step S4 includes the following steps:

[0015] S41. Based on the output speed of the servo motor at time t. The first relational formula is used to calculate the first output torque of the servo motor at time t. The output speed The first output torque is greater than the second speed and less than the first speed. Greater than the first torque and less than the second torque;

[0016] S42. Determine the actual output torque of the servo motor at time t;

[0017] S43. Determine whether the actual output torque of the servo motor at time t is equal to or greater than the first output torque. If yes, proceed to step S44; otherwise, proceed to step S45.

[0018] S44. Control the servo motor to continue decelerating;

[0019] S45. Control the servo motor to stop decelerating and maintain the output speed. Run until the actual output torque of the servo motor reaches the first output torque.

[0020] Optionally, the first relation is:

[0021]

[0022] in, Indicates the first output torque. Indicates the first torque. Indicates the second torque. Indicates the first rotational speed. Indicates the second rotational speed. This represents the output rotational speed at time t. express The cosine value.

[0023] Optionally, during the process of controlling the servo motor to decelerate, multiple time points t are determined, and steps S41-S45 are executed once for each of the time points t.

[0024] Optionally, the deceleration acceleration of the servo motor during deceleration satisfies a second relationship, which is:

[0025]

[0026] in, Indicates deceleration and acceleration. Indicates the first rotational speed. Indicates the second rotational speed. Indicates the duration of deceleration.

[0027] Optionally, in step S6, when the output speed of the servo motor is 0, the servo motor is controlled to maintain the output torque at the second torque for the second preset duration until the feedback torque of the servo motor is greater than or equal to the upper limit of torque.

[0028] Optionally, the servo capping machine further includes a detection system, and before step S1, the capping control method further includes:

[0029] The detection system is controlled to detect whether there is a missing part defect. If so, the servo motor is controlled to stop running. If not, step S1 is executed. The missing part defect includes missing bottle defect and / or missing cap defect.

[0030] Optionally, the second rotational speed is less than or equal to 100 rpm, and the first rotational speed satisfies a third relationship, which is:

[0031]

[0032] in, This indicates the first rotation speed, and X indicates the preset number of cap rotations. This indicates the preset capping time.

[0033] A servo capping machine includes a servo motor, a capping assembly, and a controller connected to both the servo motor and the capping assembly. The servo motor is driven by the capping assembly, and the controller controls the operation of the servo motor and the capping assembly according to the capping control method described above.

[0034] The beneficial effects of this invention are:

[0035] The capping control method and servo capping machine provided in this embodiment, after the capping assembly grasps the cap, start the servo motor and control the output speed of the servo motor to increase to a first speed; determine whether the output torque of the servo motor has reached the first torque. If not, control the output speed of the servo motor to maintain the first speed. If yes, control the servo motor to decelerate while simultaneously increasing the output torque; determine whether the output speed of the servo motor has decreased to a second speed and whether the output torque of the servo motor has increased to a second torque. If yes, control the servo motor to maintain the output torque at the second torque until the feedback torque of the servo motor is greater than or equal to the upper torque limit. If not, continue to control the servo motor. The deceleration is achieved while simultaneously increasing the output torque of the servo motor. Dual control of the servo motor's output speed is achieved through the first and second speeds, and dual control of the servo motor's output torque is achieved through the first and second torques. Furthermore, the output speed of the servo motor gradually decreases during capping. Compared to a control method that only controls the output torque of the servo motor, the coordinated output speed and output torque of the servo motor can weaken or even eliminate the influence of the inertia moment of the capping drive chain on the capping torque. This makes the capping torque output by the servo motor more stable, thereby reducing the probability of excessive capping torque and preventing difficulties in opening the cap due to excessive capping torque, resulting in higher reliability. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the servo capping machine provided in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the capping arm, capping support, cap gripping area, first transition area, capping area and second transition area provided in the embodiments of the present invention;

[0038] Figure 3 This is a flowchart of the capping control method provided in an embodiment of the present invention;

[0039] Figure 4 This is a graph showing the relationship between output torque and time provided in an embodiment of the present invention;

[0040] Figure 5 This is a graph showing the relationship between output speed and time provided in an embodiment of the present invention.

[0041] In the picture:

[0042] 1. Servo motor; 2. Capping head; 3. Cap gripping head; 4. Capping support; 5. Lifting cam; 6. Gear set; 7. Capping arm; Q1, Cap gripping area; Q2, First transition area; Q3, Capping area; Q4, Second transition area. Detailed Implementation

[0043] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0048] This embodiment provides a capping control method that can reduce excessive capping torque, prevent difficulties in opening the cap due to excessive capping torque, and has high reliability.

[0049] Before introducing the capping control method provided in this embodiment, the servo capping machine will be explained first.

[0050] like Figure 1 As shown, the servo capping machine includes a servo motor 1, a capping assembly, and a controller (not shown). The controller is connected to both the servo motor 1 and the capping assembly; the connection method is a control connection. The servo motor 1 is connected to the capping assembly and is used to drive the capping assembly to rotate, thereby causing the capping assembly to cap. Specifically, as... Figure 1 As shown, the capping assembly includes a capping head 2 and a cap gripping head 3. The cap gripping head 3 is connected to the capping head 2 and is used to grip the cap. When the capping head 2 rotates, it drives the cap gripping head 3 to rotate, thereby causing the cap gripping head 3 to grip the cap and rotate it to attach the cap to the bottle.

[0051] Optionally, please continue to see Figure 1 The servo capping machine also includes a capping support 4, a lifting cam 5, a gear set 6, and a capping arm 7. The lifting cam 5 controls the height position of the capping arm 7 at different circumferential angles; the servo motor 1 outputs capping torque, controlling the speed and torque of the capping arm 7. The gear set 6, capping arm 7, capping head 2, and cap gripping head 3 together form a capping transmission chain, used to transmit the torque and speed of the servo motor 1 to the cap gripping head 3. Specifically, the output end of the servo motor 1 is driven to the gear set 6, the gear set 6 is driven to the capping arm 7, and the capping head 2 is connected to the capping arm 7. The capping support 4 supports the capping arm 7 and rotates it around the cam structure to grip caps on the cap conveyor line or to cap bottles on different bottle conveyor lines. The cap gripping head 3 grips caps and transmits capping torque and speed to them.

[0052] The working principle of the servo capping machine provided in this embodiment is as follows:

[0053] The capping transmission chain consists of a servo motor 1, a gear set 6, a capping arm 7, a capping head 2, and a cap gripping head 3. The servo motor 1 directly drives the cap gripping head 3 to rotate, performing the capping. The capping support 4 is powered by a support base and rotates synchronously with the bottle transmission of the filling production line, ensuring that each cap gripping head 3 corresponds to one bottle. The lifting cam 5 has grooves of different heights on its circumference, and the bearing of the capping arm 7 moves within these grooves; the lifting cam 5 is fixed in place by the support base. As the capping arm 7 rotates with the capping support 4, the lifting cam 5 controls the height of the capping arm 7, allowing for different operations in different areas. Figure 2 As shown, the capping arm 7 rotates one revolution, passing sequentially through the cap-grabbing area Q1, the first transition area Q2, the capping area Q3, and the second transition area Q4. When the capping arm 7 is in the cap-grabbing area Q1, it grips the cap through the cap-grabbing head 3; when the capping arm 7 is in the capping area Q3, it performs the capping operation. It should be noted that the rotation direction of the capping support 4 can be adjusted according to the production line. More specific operating steps of the servo capping machine can be found in the prior art, and this embodiment does not limit them.

[0054] The capping control method provided in this embodiment will be described in detail below.

[0055] The capping control method provided in this embodiment is applied to a servo capping machine, specifically, it is executed by a controller.

[0056] like Figure 3 As shown, the capping control method includes the following steps:

[0057] S1. After the capping assembly grabs the cap, start the servo motor 1 and control the output speed of the servo motor 1 to increase to the first speed;

[0058] In this embodiment, this process can occur when the capping arm 7 is in the first transition zone. It should be noted that after the cap gripping head 3 grips the cap, the cap does not directly contact the bottle opening; instead, the capping drive chain needs to slowly bring the cap closer to the bottle. This process also occurs in the first transition zone. When the cap contacts the bottle, the capping arm 7 begins to enter the capping zone. It should be noted that when the cap is not in contact with the bottle, the output torque of the servo motor 1 is the initial capping torque. Figure 4 As shown, the initial capping torque is the torque before time t2.

[0059] S2. Determine whether the output torque of servo motor 1 has reached the first torque. If not, proceed to step S3. If yes, proceed to step S4.

[0060] In this embodiment, the first torque is greater than the initial capping torque, such as... Figure 4 As shown, the first torque is the output torque corresponding to time t2, using... express.

[0061] In step S2, the controller can detect the output torque of the servo motor 1 in real time using sensors or detectors, and the detected output torque data is analyzed and compared by the controller. When the output torque of the servo motor 1 is detected to reach the first torque, step S4 is executed; otherwise, step S3 is executed.

[0062] S3. Control the output speed of servo motor 1 to maintain the first speed during operation;

[0063] In step S3, the output torque of servo motor 1 does not reach the first torque. This may be because the cap has not yet contacted the bottle. Once the cap contacts the bottle, the output torque of servo motor 1 will show an upward trend. Servo motor 1 maintains the first speed output to ensure that the cap contacts the bottle.

[0064] In step S3, after the first preset time, step S2 is executed again, that is, it is determined again whether the output torque of the servo motor 1 has reached the first torque.

[0065] S4. Control the servo motor 1 to decelerate, and at the same time control the output torque of the servo motor 1 to increase, and execute step S5.

[0066] When the output torque of servo motor 1 reaches the first torque, it means that the cap has made contact with the bottle. At this time, it is necessary to increase the output torque of servo motor 1 and at the same time control the output speed of servo motor 1 to reduce so that the cap can be screwed on smoothly.

[0067] S5. Determine whether the output speed of servo motor 1 has dropped to the second speed and whether the output torque of servo motor 1 has increased to the second torque. If yes, proceed to step S6; otherwise, proceed to step S4.

[0068] In step S4, during the deceleration of servo motor 1, the output speed of servo motor 1 can be detected in real time, such as by detecting the output speed of servo motor 1 through a speed sensor, or by directly obtaining the output speed of servo motor 1. It is determined whether the output speed of servo motor 1 has decreased to the second speed, and simultaneously whether the output torque of servo motor 1 has increased to the second torque. If the output speed of servo motor 1 decreases to the second speed and the output torque of servo motor 1 increases to the second torque, then step S6 is executed. If the output speed of servo motor 1 does not decrease to the second speed, or the output torque of servo motor 1 does not increase to the second torque, then the deceleration of servo motor 1 continues, while the output torque of servo motor 1 is increased.

[0069] It should be noted that the second torque is the required torque for screwing on the cap; that is, a second torque is needed to ensure a high degree of seal between the cap and the bottle. Figure 4As shown, at time t3, the output torque of servo motor 1 reaches the second torque. The output speed of servo motor 1 drops to the second speed. .

[0070] S6. Control servo motor 1 to maintain the output torque at the second torque until the feedback torque of servo motor 1 is greater than or equal to the upper torque limit.

[0071] During operation, servo motor 1 detects a feedback torque, which may differ from the output torque. Specifically, when servo motor 1 encounters resistance, the detected feedback torque will be greater than the output torque. In step S6, during the capping process, when the cap and bottle no longer rotate relative to each other, the cap-gripping head 3 stops rotating. At this point, servo motor 1 detects the feedback torque and transmits it to the controller. The upper limit of torque is the capping torque that ensures high sealing performance without requiring a large opening torque. When the feedback torque is greater than or equal to the upper limit of torque, it indicates that the capping requirement has been met. The upper limit of torque can be pre-stored in the controller, and the specific value can be obtained through experiments, simulations, etc.

[0072] Figure 4 The graph showing the relationship between the output torque of the servo motor 1 and time provided in this embodiment shows that at time t2, the output torque of the servo motor 1 reaches the first torque. During the time interval t2 to t3, the output torque of servo motor 1 gradually increases, and reaches the second torque at time t3. During the time interval t3 to t4, servo motor 1 maintains the output torque at the second torque. During the time period from t4 to t5, the output torque of servo motor 1 gradually decreases until it reaches 0.

[0073] Figure 5 This is a graph showing the relationship between the output speed of the servo motor 1 and time provided in this embodiment. Before time t2, the output speed of the servo motor 1 increases to the first speed. The servo motor 1 maintains its first rotational speed for a period of time. During the time interval t2 to t3, the output speed of servo motor 1 gradually decreases, and at time t3, the output speed of servo motor 1 decreases to the second rotational speed. A short period after time t3, the output speed of servo motor 1 decreases to 0, and servo motor 1 no longer drives the cover gripper 3 to rotate.

[0074] The cap-screwing control method provided in this embodiment starts the servo motor 1 after the cap-screwing assembly grasps the cap, and controls the output speed of the servo motor 1 to increase to a first speed. It then determines whether the output torque of the servo motor 1 has reached the first torque. If not, the output speed of the servo motor 1 is maintained at the first speed. If so, the servo motor 1 is decelerated while its output torque is increased. Next, it determines whether the output speed of the servo motor 1 has decreased to a second speed and whether its output torque has increased to the second torque. If so, the servo motor 1 is maintained at the second torque until the feedback torque of the servo motor 1 is greater than or equal to the upper torque limit. If not, the control of the servo motor continues. 1. Deceleration is achieved while simultaneously increasing the output torque of servo motor 1. Dual control of the output speed of servo motor 1 is realized through the first speed and the second speed, and dual control of the output torque of servo motor 1 is realized through the first torque and the second torque. Moreover, the output speed of servo motor 1 gradually decreases during capping. Compared with the control method that only controls the output torque of servo motor 1, the output speed and output torque of servo motor 1 work together to weaken or even eliminate the influence of the inertia moment of the capping transmission chain on the capping torque, so that the capping torque output by servo motor 1 can be more stable. This can reduce the situation of excessive capping torque and prevent the difficulty in opening the cap caused by excessive capping torque, thus having high reliability.

[0075] Optionally, step S4 includes the following steps:

[0076] S41. Based on the output speed of servo motor 1 at time t The first relational formula is used to calculate the first output torque of servo motor 1 at time t. .

[0077] Among them, the output speed The first output torque is greater than the second speed and less than the first speed. It is greater than the first torque and less than the second torque.

[0078] In some optional embodiments, the first relation is:

[0079]

[0080] In the first relation above, Indicates the first output torque. Indicates the first torque. Indicates the second torque. Indicates the first rotational speed. Indicates the second rotational speed. This represents the output rotational speed at time t. It represents 180 degrees. express The cosine value.

[0081] S42. Determine the actual output torque of servo motor 1 at time t;

[0082] In step S42, it is necessary to determine the actual output torque of servo motor 1 at time t. The actual output torque of servo motor 1 at time t is the output torque of servo motor 1 at time t. This data can be obtained by servo motor 1 or detected by torque sensor. This embodiment does not limit this.

[0083] S43. Determine whether the actual output torque of servo motor 1 at time t is equal to or greater than the first output torque. If yes, proceed to step S44; otherwise, proceed to step S45.

[0084] After calculating the first output torque and the actual output torque at time t using the first relational formula, it is necessary to compare the magnitudes of these two values.

[0085] S44. Control servo motor 1 to continue decelerating;

[0086] When the actual output torque at time t is greater than or equal to the first output torque, the relationship between the output torque and the output speed of servo motor 1 conforms to the first relationship, and the two have a better matching relationship.

[0087] S45. Control servo motor 1 to stop deceleration and maintain output speed. Run until the output torque of servo motor 1 reaches the first output torque.

[0088] When the actual output torque at time t is less than the first output torque, it indicates that the output torque of servo motor 1 is increasing slowly. At this time, it is necessary to control the speed of servo motor 1 to remain constant, so as to wait for the output torque of servo motor 1 to gradually increase to the first output torque.

[0089] It should be noted that after the actual output torque of servo motor 1 reaches the first output torque, servo motor 1 is controlled to continue to decelerate, and the relationship between output torque and output speed during deceleration conforms to the first relationship.

[0090] Optionally, during the process of controlling the servo motor 1 to decelerate, multiple time points t can be determined, and steps S41-S45 are executed once for each time point t.

[0091] For example, if the servo motor 1 decreases from the first speed to the second speed and the time taken for the torque to increase from the first torque to the second torque is 6 seconds, the actual output torque and the first output torque can be calculated at the second, third and fifth seconds after the servo motor 1 starts to decelerate, respectively. The working mode of the servo motor 1 can be controlled according to the calculation structure to ensure that when the output speed of the servo motor 1 is the second speed, the output torque is exactly the second torque.

[0092] In some optional embodiments, the deceleration acceleration of servo motor 1 during deceleration satisfies a second relationship, which is:

[0093]

[0094] in, Indicates deceleration and acceleration. Indicates the first rotational speed. Indicates the second rotational speed. Indicates the duration of deceleration.

[0095] Optionally, in step S6, when the output speed of servo motor 1 decreases to 0, servo motor 1 is controlled to maintain its output torque at a second preset time for a second torque until the feedback torque of servo motor 1 is greater than or equal to the upper torque limit. After the output speed reaches 0, servo motor 1 can still apply torque to the relevant cap to ensure the reliability of the connection between the cap and the bottle, improve sealing performance, and prevent leakage. It should be noted that the second preset time can be preset, but it should not be too long, as this would result in excessive cap-screwing torque, leading to excessive torque required when opening the cap; nor should it be too short, as this would affect sealing performance. Figure 4 As shown, the second preset duration is equal to t4-t3.

[0096] Optionally, to ensure the normal operation of the servo capping machine and prevent program errors, the servo capping machine also includes a detection system. Before step S1, the capping control method further includes:

[0097] The control and detection system detects whether there is a missing part defect. If so, the servo motor 1 is stopped. If not, step S1 is executed.

[0098] Among them, missing parts defects include missing bottle defects and / or missing cap defects. Missing bottle defects refer to the absence of bottles at the capping station, while missing cap defects refer to the failure of the cap gripper 3 to grip the cap.

[0099] It should be noted that when the aforementioned missing component defect exists, the output torque of servo motor 1 will not reach the second torque. If the missing component detection step is not set, it will cause program errors and prevent the program from continuing. The missing component detection step ensures the start of the next cycle.

[0100] Optionally, in this embodiment, the second rotational speed is less than or equal to 100 rpm. Preferably, the second rotational speed is 50 rpm, and the first rotational speed satisfies the third relation, which is:

[0101]

[0102] in, This indicates the first rotation speed, and X indicates the preset number of cap rotations. This indicates the preset capping time.

[0103] It should be noted that the preset number of capping turns is a value pre-set in the controller, such as 3 turns, 4 turns, etc., but this embodiment does not limit this. The preset capping time is a value pre-set in the controller, and its specific duration is related to the specific structure and output efficiency of the servo capping machine.

[0104] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A capping control method, applied to control a servo capping machine, the servo capping machine comprising a servo motor (1) and a capping assembly, the servo motor (1) being connected to the capping assembly and used to drive the capping assembly to move, characterized in that, The capping control method includes the following steps: S1. After the capping assembly grabs the cap, start the servo motor (1) and control the output speed of the servo motor (1) to increase to the first speed; S2. Determine whether the output torque of the servo motor (1) reaches the first torque. If not, proceed to step S3. If yes, proceed to step S4. S3. Control the output speed of the servo motor (1) to maintain the first speed, and execute step S2 after a first preset time. S4. Control the servo motor (1) to decelerate, and at the same time control the output torque of the servo motor (1) to increase, and execute step S5; S5. Determine whether the output speed of the servo motor (1) has dropped to the second speed and whether the output torque of the servo motor (1) has increased to the second torque. If yes, proceed to step S6; otherwise, proceed to step S4. S6. Control the servo motor (1) to maintain the output torque at the second torque until the feedback torque of the servo motor (1) is greater than or equal to the torque limit. Step S4 includes the following steps: S41. Based on the output speed of the servo motor (1) at time t. The first relational formula is used to calculate the first output torque of the servo motor (1) at time t. The output speed The first output torque is greater than the second speed and less than the first speed. Greater than the first torque and less than the second torque; S42. Determine the actual output torque of the servo motor (1) at time t; S43. Determine whether the actual output torque of the servo motor (1) at time t is equal to or greater than the first output torque. If yes, proceed to step S44; otherwise, proceed to step S45. S44. Control the servo motor (1) to continue decelerating; S45. Control the servo motor (1) to stop decelerating and maintain the output speed. Run until the actual output torque of the servo motor (1) reaches the first output torque; The first relation is: in, Indicates the first output torque. Indicates the first torque. Indicates the second torque. Indicates the first rotational speed. Indicates the second rotational speed. This represents the output rotational speed at time t. express The cosine value.

2. The capping control method according to claim 1, characterized in that, During the deceleration of the servo motor (1), multiple time points t are determined, and steps S41-S45 are executed once for each time point t.

3. The capping control method according to any one of claims 1-2, characterized in that, The deceleration acceleration of the servo motor (1) during deceleration satisfies the second relationship, which is: in, Indicates deceleration and acceleration. Indicates the first rotational speed. Indicates the second rotational speed. Indicates the duration of deceleration.

4. The capping control method according to any one of claims 1-2, characterized in that, In step S6, when the output speed of the servo motor (1) is 0, the servo motor (1) is controlled to maintain the output torque at the second torque for the second preset duration until the feedback torque of the servo motor (1) is greater than or equal to the torque limit.

5. The capping control method according to any one of claims 1-2, characterized in that, The servo capping machine also includes a detection system. Before step S1, the capping control method further includes: The detection system is controlled to detect whether there is a missing part defect. If so, the servo motor (1) is controlled to stop running. If not, step S1 is executed. The missing part defect includes missing bottle defect and / or missing cap defect.

6. The capping control method according to any one of claims 1-2, characterized in that, The second rotational speed is less than or equal to 100 revolutions per minute, and the first rotational speed satisfies the third relationship, which is: in, This indicates the first rotation speed, and X indicates the preset number of cap rotations. This indicates the preset capping time.

7. A servo capping machine, characterized in that, The device includes a servo motor (1), a capping assembly, and a controller connected to both the servo motor (1) and the capping assembly. The servo motor (1) is driven and connected to the capping assembly. The controller controls the operation of the servo motor (1) and the capping assembly according to any one of claims 1-6.

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