Automatic can filling control method

Abstract

The present invention is applicable to the field of beer brewing technology and provides an automatic can filling control method, comprising the following steps: S1, using an embedded single-chip microcomputer as the control core, and an external 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 detected by a program; and forming an automatic can filling system including a can filling machine, a conveyor belt, a first robotic arm, and a second robotic arm; S2, after starting, controlling the gripping device on the first robotic arm to grab the can from a fixed position in the container to the limit mark point below the can filling machine; S3, when the single-chip microcomputer detects that it has been fixed, the next step is started, and the can filling machine starts to add gas, add beer, and exhaust, and finally presses the bottle cap to complete the filling process. The automatic can filling control method provided by this solution can realize automatic filling and loading of cans, effectively improving work efficiency.

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] During the beer production process, beer needs to be filled. Traditional can filling machines require manual labor to place cans, then use a program to fill them, and then manually remove the corresponding cans for storage. Large automatic filling systems are too expensive to use in small-scale experiments, resulting in low beer brewing filling production efficiency. 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 raised in the above background technology.

[0004] To solve the above problems, the present invention is implemented as follows: an automatic can filling control method, comprising 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 equipped with position sensors and photoelectric sensors, the entire process is integrated into a complete control system with automatic recognition and automatic detection by the program; and the system is composed of 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, the gripping device on the robot arm 1 is controlled to grab the cans from the fixed position in the container and move them to the limit mark point below the can filling machine;

[0007] S3, the single chip computer detects that it has been fixed, then starts the next step, 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 first robot arm places the filled cans on the conveyor belt. After the cans run to the next point on the conveyor belt, the gripping device on the second robot arm grabs the filled cans and controls them to be placed in the storage box. This completes one filling operation process. The running paths of the first and second robot arms after grabbing are controlled by a fuzzy control method, which includes the following steps:

[0009] P1. Create a fuzzy PID controller with error e and error change rate ec as input;

[0010] P2. Determine the fuzzy subsets of e and ec. For PID control, the following 7 linguistic variables are selected: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], and positive large [PB] to 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. First, introduce the domain corresponding to the fuzzy sets of e and ec, which is defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}. The range of the deviation e is from 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 triangular membership function. 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 completed.

[0011] P3, formulate fuzzy rule table and adjust parameters;

[0012] P4, defuzzification, that is, mapping the fuzzy output values ​​obtained by the fuzzy control system to the real world instead of expressing them in the form of fuzzy language;

[0013] 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 place 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.

[0014] Preferably, the two sets of chips of the robotic arm 1 and the robotic 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.

[0015] Preferably, the position sensor and the photoelectric sensor can 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 starts, completing the automatic filling operation of the system.

[0016] Preferably, the embedded single-chip microcomputer adopts an STM32MP151 single-chip microcomputer.

[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 existing technology, the automatic can filling control method provided by this scheme 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 robotic arm is controlled based on the specified position to clamp. The running path of the robotic arm after grasping adopts a fuzzy control method, which realizes the automatic filling and loading of cans and effectively improves the filling efficiency of cans. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 It 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 those skilled in the art to which this application belongs; the terms used herein in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the description of the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings 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, and 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 limiting the present invention.

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

[0024] like Figure 1-2As 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 a system and are planned to be integrated with the can filling system in the future, sharing a control chip and operation interface. The control process is as follows:

[0025] When the cans are neatly placed in the container 5, the robot arm 1 2 grabs 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 1 2 puts the filled cans onto the conveyor belt 3, and then the robot arm 2 4 puts them into the storage box 6. The whole process is completed.

[0026] It should be noted that before operation, it is necessary to set the appropriate program for the clamping device of the robot arm 1 2 and the robot arm 2 4, design the clamping position, clamping time, and clamping 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 the robot arm 2 4 will be notified to perform the corresponding clamping. 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 based on an embedded STM32MP151 microcontroller as the core, and an external display touch screen controller. The following functions are integrated into 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 grabs the cans to the limit mark point below the can filling machine 1.

[0030] 2. When the microcontroller detects that it has been fixed, it starts the next step, 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 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 them to grip and place them in the storage box 6, completing a filling operation process.

[0032] The entire 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 movement 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 the following 7 linguistic variables: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], and positive large [PB] to 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. First, introduce the domain corresponding to the fuzzy sets of e and ec, which is defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}. The range of the deviation e is from Vmin-Vmax to Vmax-Vmin, and the incremental range of the 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]

[0040] P4, defuzzification, is to map 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:

[0041]

[0042] After optimization:

[0043]

[0044] Among them, K is a matrix, which actually refers to the kp and ki values.

[0045] 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 place 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.

[0046] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways.

[0047] 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 embodiments described 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 fall within 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 equipped with position sensors and photoelectric sensors, the entire process is integrated into a complete control system with automatic recognition and automatic detection by the program; and an automatic can filling system is formed, which includes a can filling machine, a conveyor belt, a robot arm 1, and a robot arm 2; S2. After the start-up, the gripping device on the robot arm 1 is controlled to grab the cans from the fixed position in the container and move them to the limit mark point below the can filling machine; S3, the single chip computer detects that it has been fixed, then starts the next step, 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 first robot arm places the filled cans on the conveyor belt. After the cans run to the next point on the conveyor belt, the gripping device on the second robot arm grabs the filled cans and controls them to be placed in the storage box. This completes one filling operation process. The running paths of the first and second robot arms after grabbing are controlled by a fuzzy control method, which 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, the following 7 linguistic variables are selected: negative large [NB], negative medium [NM], negative small [NS], zero [ZO], positive small [PS], positive medium [PM], and positive large [PB] to 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. First, introduce the domain corresponding to the fuzzy sets of e and ec, which is defined as {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}. The range of the deviation e is from 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 triangular membership function. 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 completed. P3, formulate fuzzy rule table and adjust parameters; P4, defuzzification, that is, mapping the fuzzy output values ​​obtained by the fuzzy control system to the real world instead of expressing them in the form of fuzzy language; 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 place 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.

2. The automatic can filling control method according to claim 1, characterized in that: The two sets of chips of the robotic arm 1 and the robotic 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.

3. The automatic can filling control method according to claim 1, characterized in that: The position sensor and the photoelectric sensor can monitor and sense when the can reaches the 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.

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

Images