Automatic zip-top can filling control method

Abstract

The invention is applicable to the technical field of beer brewing, and provides an automatic zip-top can filling control method, which comprises the following steps of: S1, using an embedded single chip microcomputer as a control core, externally connecting a display touch screen for control, arranging a position sensor and a photoelectric sensor, and integrating a whole set of control system of which the whole process is automatically identified and automatically detected by a program; the automatic zip-top can filling system comprises a zip-top can filling machine, a conveying belt, a mechanical arm I and a mechanical arm II; s2, after starting is started, a clamping device on a first mechanical arm is controlled to grab the zip-top can from the fixed position in the container to a limiting mark point below the zip-top can filling machine; and S3, when the single chip microcomputer detects that the beverage bottle is fixed, the next step is started at the moment, the pop can filling machine starts gas adding, wine adding and exhausting, and finally the bottle cap is pressed to complete the filling process. According to the automatic zip-top can filling control method provided by the scheme, automatic filling and filling of the zip-top can can be realized, and the working efficiency is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of beer brewing, and in particular relates to an automatic can filling control method. Background Art

[0002] In the beer production process, beer needs to be filled. Traditional can filling machines require manpower to place cans, then use the program to fill them, and then manually take away the corresponding cans and store them. Large automatic filling systems are too expensive and not easy to use in small-scale experiments, resulting in low filling production efficiency in beer brewing. Summary of the invention

[0003] The present invention provides an automatic can filling control method, aiming to solve the problem of low beer brewing and filling production efficiency proposed in the above background technology.

[0004] To solve the above problems, the present invention is implemented as follows: an automatic can filling control method comprises the following steps:

[0005] S1. Using an embedded single-chip microcomputer as the control core, and externally connected to a display touch screen control, and setting a position sensor and a photoelectric sensor, integrating a complete control system in which the entire process is automatically identified and automatically detected by a program; and forming an automatic can filling system including a can filling machine, a conveyor belt, a robot arm gripping device 1, and a robot arm gripping device 2;

[0006] S2, after the start-up, control the gripping device on the robot arm 1 to grab the cans from the fixed position in the container to the limit mark point below the can filling machine;

[0007] S3, the single chip microcomputer detects that it has been fixed, then at this time, the next step is started, the can filling machine starts to add gas, add wine, and exhaust, and finally presses the bottle cap to complete the filling process;

[0008] S4. The gripping device on the robot arm 1 places the filled cans on the conveyor belt. After the cans run to the next point with the conveyor belt, the gripping device on the robot arm 2 grips the filled cans and controls them to be placed in the storage box, thus completing a filling operation process.

[0009] Preferably, the two sets of chips of the robot arm 1 and the robot arm 2 in the automatic can filling system share a system, are integrated with the can filling system, and share a control chip and operation interface.

[0010] Preferably, the position sensor and the photoelectric sensor can perform monitoring and sensing when the can reaches a preset position. When the can reaches the specified position, a signal is triggered, the conveyor belt stops, and the grabbing action starts, completing the automatic filling operation of the system.

[0011] Preferably, the embedded single-chip microcomputer adopts a STM32MP151 single-chip microcomputer.

[0012] Preferably, the running paths of the robot arm 1 and the robot arm 2 after grasping are controlled by a fuzzy control method, and the fuzzy control method comprises the following steps:

[0013] P1. Create a fuzzy PID controller with error e and error change rate ec as input;

[0014] P2. Determine the fuzzy subsets of e and ec. For PID control, select: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], positive large [PB] 7 language variables can express their fuzzy subsets with sufficient accuracy; define the fuzzy subsets of e and ec as {NB, NM, NS, ZO, PS, PM, PB}; introduce the quantization function to first introduce the domain corresponding to the fuzzy sets of e and ec, defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}; the range of the deviation e is within the range of Vmin-Vmax to Vmax-Vmin, and the incremental range of the deviation is twice that; here we use linear quantization and a linear membership function, or a triangular membership function; if the result after quantization is 1, then the membership of ZO is 0.5, and the membership of PS is also 0.5. At this point, the fuzzification is completed;

[0015] P3, formulate fuzzy rule table and adjust parameters;

[0016] P4, defuzzification processing, that is, mapping the fuzzy output values ​​obtained by the fuzzy control system to the real world, instead of expressing it in the form of fuzzy language.

[0017] Compared with the related art, the automatic can filling control method provided by the present invention has the following beneficial effects:

[0018] Compared with the prior art, the automatic can filling control method provided by the present invention adds a photoelectric sensor and a position sensor. When the can reaches the specified position, a signal is triggered, the conveyor belt stops, and the grasping action starts. The clamping device at the end of the robot arm is controlled to grasp based on the specified position. The running path of the robot arm after grasping adopts a fuzzy control method, which realizes the automatic filling and loading of the cans and effectively improves the filling efficiency of the cans. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the automatic can filling system provided by the present invention;

[0020] Figure 2It is a schematic diagram of the can filling process of the present invention.

[0021] Figure numerals: 1. Can filling machine; 2. Robotic arm 1; 3. Conveyor belt; 4. Robotic arm 2; 5. Container; 6. Storage box. DETAILED DESCRIPTION

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned figures are used to distinguish different objects, rather than to describe a specific order; the terms "inside", "outside", "left", and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] like Figure 1-2 As shown, the embodiment of the present invention provides an automatic can filling system consisting of a can filling machine 1, a conveyor belt 3, a robot arm 1 2, and a robot arm 2 4. The two sets of chips share one system, and it is planned to be integrated with the can filling system later, sharing a control chip and operation interface. The control process is:

[0025] When the cans are neatly placed in the container 5, the robot arm 2 clamps the corresponding cans and puts them into the can filling machine 1. After that, after waiting for the filling to be completed, the robot arm 2 puts the filled cans onto the conveyor belt 3, and then the robot arm 2 4 puts them into the storage box 6, and the whole process is completed.

[0026] It should be noted that before operation, it is necessary to set up appropriate programs for the gripping devices of robot arm 1 2 and robot arm 2 4, design the gripping position, gripping time, and gripping force, and then the automatic can filling machine 1 will perform filling according to the set program. After the filling is completed, the robot arm 1 2 and robot arm 2 4 will be notified to perform corresponding gripping. The whole process is automatically completed by a control system.

[0027] An automatic can filling control method proposed by the present invention is:

[0028] The integrated control system is controlled by an embedded single-chip microcomputer as the core: STM32MP151; external display touch screen control; the following functions are integrated in the program:

[0029] 1. After the start-up, the gripping device on the robot arm 2 is controlled to grab the cans from the fixed container 5 (at this time, it is necessary to check whether the cans are placed properly, and the gripping device has been controlled to face downward); the robot arm 2 grips the cans to the limit mark point below the can filling machine 1.

[0030] 2. When the microcontroller detects that it has been fixed, the next step is started, and the can filling machine 1 starts to add gas, add wine, and exhaust, and finally presses the bottle cap to complete the filling process.

[0031] 3. After the filling is completed, the gripping device on the robot arm 2 places the filled cans on the conveyor belt 3. After the cans run to the lower point with the conveyor belt 3, the robot arm 2 4 controls the cans to be gripped and placed in the storage box 6, completing a filling operation process.

[0032] The whole process is automatically recognized by the program, and automatically detected (with the addition of position sensors and photoelectric sensors) when the can reaches the preset position, completing the automatic filling operation of the system.

[0033] It should be further explained that the running paths of the robot arm 1 2 and the robot arm 2 4 after grasping are controlled by a fuzzy control method, which includes the following steps:

[0034] P1. Create a fuzzy PID controller with error e and error change rate ec as input;

[0035] P2. Determine the fuzzy subsets of e and ec. For PID control, select: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], positive large [PB] 7 language variables can express its fuzzy subsets with sufficient accuracy; define the fuzzy subsets of e and ec as {NB, NM, NS, ZO, PS, PM, PB}; introduce the quantization function to first introduce the domain corresponding to the fuzzy sets of e and ec, defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}; the range of deviation e is within the range of Vmin-Vmax to Vmax-Vmin, and the incremental range of deviation is twice that; here we use linear quantization, and the functional relationship is:

[0036]

[0037] A linear membership function, or triangular membership function, is used; if the quantized result is 1, then the membership of ZO is 0.5, and the membership of PS is also 0.5. At this point, the fuzzification is complete;

[0038] P3, formulate fuzzy rule table and adjust parameters;

[0039] Fuzzy rule table:

[0040]

[0041]

[0042] P4, defuzzification, that is, mapping the fuzzy output value obtained by the fuzzy control system to the real world, instead of expressing it in the form of fuzzy language. It needs to be adjusted according to the specific quantization function and membership function:

[0043] Where M is the membership degree and F is the fuzzy quantization value

[0044] After optimization:

[0045]

[0046] Among them, K is a matrix, which actually refers to the kp and ki values.

[0047] When fuzzy control is adopted for the running path after the robot arm 1 and the robot arm 2 grab the cans, the fuzzy PID controller is created to control the gripping device of the robot arm 1 to grab the cans from the fixed position in the container. Then the gripping device on the robot arm 1 grips the cans to the limit mark point below the can filling machine, and finally waits for the can filling machine to fill the cans. When the can filling machine finishes filling the cans, the fuzzy PID controller is created to control the gripping device on the robot arm 1 to put the filled cans on the conveyor belt. After the cans run to the next point with the conveyor belt, the clamping device on the robot arm 2 grips the filled cans and controls them to be placed in the storage box, completing a filling operation process.

[0048] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. An automatic can filling control method, characterized in that: The following steps are involved: S1. Using an embedded single-chip microcomputer as the control core, and externally connected to a display touch screen control, and setting a position sensor and a photoelectric sensor, integrating a complete control system in which the entire process is automatically identified and automatically detected by a program; and forming an automatic can filling system including a can filling machine, a conveyor belt, a robot arm 1, and a robot arm 2; S2, after the start-up, control the gripping device on the robot arm 1 to grab the cans from the fixed position in the container to the limit mark point below the can filling machine; S3, the single chip microcomputer detects that it has been fixed, then at this time, the next step is started, the can filling machine starts to add gas, add wine, and exhaust, and finally presses the bottle cap to complete the filling process; S4. The gripping device on the robot arm 1 places the filled cans on the conveyor belt. After the cans run to the next point with the conveyor belt, the gripping device on the robot arm 2 grips the filled cans and controls them to be placed in the storage box, thus completing a filling operation process.

2. The automatic can filling control method according to claim 1, characterized in that: The two sets of chips of the robot arm 1 and the robot arm 2 in the automatic can filling system share a system, are integrated with the can filling system, and share a control chip and an operation interface.

3. The automatic can filling control method according to claim 1, characterized in that: The position sensor and the photoelectric sensor can be used to monitor and sense when the can reaches a preset position. When the can reaches the specified position, a signal is triggered, the conveyor belt stops, and the grabbing action begins, completing the automatic filling operation of the system.

4. The automatic can filling control method according to claim 1, characterized in that: The embedded single chip microcomputer adopts STM32MP151 single chip microcomputer.

5. The automatic can filling control method according to claim 1, characterized in that: The running paths of the robot arm 1 and the robot arm 2 after grasping adopt a fuzzy control method, and the fuzzy control method includes the following steps: P1. Create a fuzzy PID controller with error e and error change rate ec as input; P2. Determine the fuzzy subsets of e and ec. For PID control, select: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], positive large [PB] 7 language variables can express their fuzzy subsets with sufficient accuracy; define the fuzzy subsets of e and ec as {NB, NM, NS, ZO, PS, PM, PB}; introduce the quantization function to first introduce the domain corresponding to the fuzzy sets of e and ec, defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}; the range of the deviation e is within the range of Vmin-Vmax to Vmax-Vmin, and the incremental range of the deviation is twice that; here we use linear quantization and a linear membership function, or a triangular membership function; if the result after quantization is 1, then the membership of ZO is 0.5, and the membership of PS is also 0.

5. At this point, the fuzzification is completed; P3, formulate fuzzy rule table and adjust parameters; P4, defuzzification processing, that is, mapping the fuzzy output values ​​obtained by the fuzzy control system to the real world, instead of expressing it in the form of fuzzy language.

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