Gel water filling method, filling equipment and storage medium

Abstract

The embodiment of the invention provides a gel water filling method and device and a storage medium. The method comprises the steps that a bottling module is controlled to fill gel water into a gel bottle to be filled with gel water, and then a gel-filled bottle is obtained; controlling a steel ball adding module to add steel balls into the gel-filled bottle to obtain a first middle bottle; controlling the capping module to sleeve the integrated cap on the opening of the first middle bottle to obtain a second middle bottle; the second middle bottles higher than the preset height are screened to the sealing detection module through the capping detection module; the second middle bottle is conveyed to the drying module after being subjected to air tightness detection through the sealing detection module; controlling a drying module to dry the second intermediate bottle to obtain a third intermediate bottle; and a labeling module is controlled to label the third middle bottle to obtain a finished gel bottle. The filling quality and the filling efficiency of the gel water are effectively improved, and the gel water filling device can be widely applied to the technical field of gel water filling.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of jelly water filling, and in particular to a jelly water filling method, filling equipment and storage medium. Background Art

[0002] As people's living standards continue to improve, their demand for jelly water is also increasing.

[0003] The existing jelly water filling line generally requires manual auxiliary filling, the quality of the filled jelly water is poor, and the filling efficiency is low. Summary of the invention

[0004] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0005] The main purpose of the embodiments of the present invention is to provide a jelly water filling method, a filling device and a storage medium, which can effectively improve the filling quality and filling efficiency of the jelly water.

[0006] In a first aspect, an embodiment of the present invention provides a jelly water filling method, which is applied to a filling device, wherein the filling device includes a bottling module, a steel ball adding module, a capping module, a capping detection module, a sealing detection module, a drying module and a labeling module, wherein the capping detection module includes a bottle separation unit and a conveying unit, and the sealing detection module includes a heating pool, a clamping conveyor belt and a visual detection device. The jelly water filling method includes:

[0007] Controlling the bottling module to fill the gel water into the gel bottle to be filled to obtain a filled gel bottle;

[0008] Controlling the steel ball adding module to add steel balls to the filled gel bottle to obtain a first intermediate bottle;

[0009] Controlling the capping module to cover the integrated cap on the bottle mouth of the first intermediate bottle to obtain a second intermediate bottle;

[0010] The second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separation unit and then transferred to the sealing detection module;

[0011] The second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and an airtightness test is performed by the visual inspection device to obtain a test result. When the test result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module;

[0012] Controlling the drying module to dry the second intermediate bottle to obtain a third intermediate bottle;

[0013] The labeling module is controlled to label the third intermediate bottle to obtain a finished gel bottle.

[0014] In some optional embodiments, the bottling module is provided with at least two gel water injection units, and the plurality of gel water injection units are sequentially arranged on the moving track of the gel bottle to be filled, and the controlling the bottling module to fill the gel water into the gel bottle to be filled to obtain a filled gel bottle comprises:

[0015] Determining a first injection amount of each of the gel water injection units according to the moving speed of the gel bottle to be loaded and the number of the gel water injection units;

[0016] A filled gel bottle is obtained by controlling a plurality of the gel water injection units to sequentially inject gel water into the gel bottle to be filled, the gel water injected into the gel bottle to be filled by the gel water injection unit is the first injection amount, and the first injection amounts of different gel water injection units are the same or different.

[0017] In some optional embodiments, the gel water injection unit includes a gel water storage box, a movable injection pipe, a fixed rod, a bottle detection device and a movable rod, the fixed rod is arranged on the upper surface of the gel water storage box, the movable rod passes through the fixed rod and is movably connected to the gel water storage box, the movable injection pipe passes through the lower surface of the gel water storage box and is movably connected to the gel water storage box, and the method further includes:

[0018] When the bottle detection device detects that the gel bottle to be loaded has reached the preset injection position, the gel water storage box is controlled to move a first preset distance in the negative direction of the first direction axis, so that the movable injection pipe moves synchronously; when the movable injection pipe touches the gel bottle to be loaded, the movable injection pipe moves in the positive direction of the first direction axis relative to the gel water storage box, and the movable rod is moved synchronously, so that a separation signal is generated after the movable rod is separated from the fixed rod;

[0019] According to the separation signal, the jelly water storage box is controlled to inject the first injection amount of jelly water into the jelly bottle to be filled through the movable injection pipe.

[0020] In some optional embodiments, the filling equipment further comprises a conveyor belt, the conveyor belt sequentially passes through the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module, and a plurality of interval detection devices are arranged on the conveyor belt, and the method further comprises;

[0021] The interval detection device detects the interval information between a plurality of conveying bottles, wherein the conveying bottles represent the to-be-filled gel bottles, the filled gel bottles, the first intermediate bottles, the second intermediate bottles, the third intermediate bottles and the finished gel bottles conveyed on the conveyor belt;

[0022] When the interval information indicates that the interval distance between two adjacent conveying bottles is greater than a first threshold, the conveying mode of the conveyor belt is controlled so that the interval distance between two adjacent conveying bottles is less than or equal to the first threshold.

[0023] In some optional embodiments, the conveyor belt includes a plurality of conveying mechanisms, and the conveying mode of the conveyor belt is controlled so that the interval between two adjacent conveying bottles is less than or equal to the first threshold, including:

[0024] When the interval between the adjacent first conveying bottle and the second conveying bottle is greater than the first threshold, second position information of the first conveying bottle and the second conveying bottle is determined according to the interval information, and the first conveying bottle is transferred to the second conveying bottle through the transmission mechanism;

[0025] When the second position information indicates that the first conveying bottle and the second conveying bottle are located at different conveying mechanisms, control the conveying mechanism for conveying the second conveying bottle to stop running, and control the conveying mechanism for conveying the first conveying bottle to convey the first conveying bottle to the second conveying bottle, so that the interval between the first conveying bottle and the second conveying bottle is less than or equal to the first threshold;

[0026] When the second position information indicates that the first conveying bottle and the second conveying bottle are both located in the same conveying mechanism, the next conveying mechanism is controlled to stop running so that the interval between the first conveying bottle and the second conveying bottle is less than or equal to the first threshold.

[0027] In some optional embodiments, the steel ball adding module includes a turntable, a fixed disk, a first detection device, a rotating mechanism and a steel ball hitting mechanism, the rotating mechanism includes a rotating motor and a rotating rod, the rotating motor is arranged on the first surface of the fixed disk, the first end of the rotating rod is connected to the rotating motor, the second end of the rotating rod passes through the fixed disk and is connected to the center of the turntable, the steel ball hitting mechanism includes a first cylinder and a first gas rod, the first cylinder is arranged on the first surface of the fixed disk, the first end of the first gas rod is connected to the first cylinder, the second end of the first gas rod passes through the fixed disk and is movably connected to the fixed disk, the turntable is evenly provided with a plurality of through holes along a concentric circle, the through holes are provided with steel balls transferred by the steel ball transfer mechanism, the control of the steel ball adding module to add steel balls to the filled gel bottle to obtain the first intermediate bottle includes:

[0028] When the first detection device detects that the filled gel bottle has reached the preset steel ball adding position:

[0029] Controlling the rotating motor to rotate at a first preset angle so that the center line of one of the through holes and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis;

[0030] The first air cylinder is controlled to drive the first air rod to move a second preset distance on the first direction axis, so that the first air rod drives the steel ball located on the through hole into the filled gel bottle to obtain the first intermediate bottle.

[0031] In some optional embodiments, the method further includes:

[0032] When the moving distance of the first gas rod is less than the second preset distance, the rotating motor is controlled to rotate by the second preset angle so that the center line of the next through hole and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis, and the first gas cylinder is controlled to drive the first gas rod to move the second preset distance on the first direction axis so that the first gas rod drives the steel ball located on the next through hole into the filled gel bottle to obtain the first intermediate bottle; or

[0033] When the moving distance of the first gas rod is equal to the second preset distance and the air pressure of the first gas cylinder is less than the preset air pressure, the rotary motor is controlled to rotate by the second preset angle so that the center line of the next through hole and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis, and the first gas cylinder is controlled to drive the first gas rod to move the second preset distance on the first direction axis so that the first gas rod drives the steel ball located on the next through hole into the filled gel bottle to obtain the first intermediate bottle; and / or

[0034] When the weight of the first intermediate bottle is less than or equal to the weight of the filled gel bottle, the rotating motor is controlled to rotate to a third preset angle so that the center line of the next through hole and the center line of the bottle mouth of the first intermediate bottle coincide with each other on the first direction axis, and the first air cylinder is controlled to drive the first air rod to move the second preset distance on the first direction axis so that the first air rod can hit the steel ball located on the next through hole into the first intermediate bottle.

[0035] In some optional embodiments, the capping detection module includes a bottle separation unit and a conveying unit, the bottle separation unit includes a bracket and a cross bar arranged on the bracket, the conveying unit includes a first linear conveyor belt, a second linear conveyor belt and a first curved conveyor belt, the first linear conveyor belt is arranged at the input end of the first curved conveyor belt, the second linear conveyor belt is arranged at the output end of the first curved conveyor belt, the cross bar is located on the outside of the first curved conveyor belt, and a baffle is arranged on the inside of the first curved conveyor belt, the second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separation unit and then transmitted to the sealing detection module, including:

[0036] conveying the second intermediate bottle to the first curved conveyor belt via the first linear conveyor belt;

[0037] After the second intermediate bottle higher than the preset height is blocked by the cross bar, the second intermediate bottle higher than the preset height is conveyed to the second linear conveyor belt by the first curved conveyor belt;

[0038] The second intermediate bottle above a preset height is conveyed to the sealing detection module by the second linear conveyor belt.

[0039] In some optional embodiments, the sealing detection module includes a heating pool, a clamping conveyor belt and a visual detection device, the heating pool is provided with a heating device, the clamping conveyor belt is provided on the heating pool, and a plurality of clamping claws are provided on the clamping conveyor belt, the second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and an airtightness detection is performed by the visual detection device to obtain a detection result, and when the detection result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module, comprising:

[0040] Grasping the second intermediate bottle on the second linear conveyor belt by the gripper;

[0041] conveying the second intermediate bottle in the heating pool by the clamping conveyor belt so that the hot water in the heating pool heats the second intermediate bottle, wherein the hot water in the heating pool is heated by the heating device;

[0042] Inspecting the second intermediate bottle located in the heating pool by the visual inspection device, and configuring the inspection result of the second intermediate bottle as leakage if a plurality of bubbles appear continuously within a preset range of the second intermediate bottle; otherwise configuring the inspection result of the second intermediate bottle as no leakage;

[0043] Controlling the clamping claw to place the leaking second intermediate bottle on a recovery conveyor belt at the exit of the clamping conveyor belt;

[0044] The clamping claw is controlled to place the second intermediate bottle without leakage on the conveyor belt at the exit of the clamping conveyor belt, so that the conveyor belt conveys the second intermediate bottle without leakage to the drying module.

[0045] In some optional embodiments, the drying module includes a first drying unit and a second drying unit, the first drying unit is arranged above the conveyor belt, the first drying unit includes a second detection device and a first blowing mechanism, the second drying unit is arranged below the conveyor belt, the first drying unit includes a third detection device and a second blowing mechanism, and the controlling the drying module to dry the second intermediate bottle to obtain a third intermediate bottle includes:

[0046] After the second detection device detects that the second intermediate bottle has reached the first preset blowing position, the first blowing mechanism is controlled to blow air from above the second intermediate bottle to perform a first drying process on the body and the integrated cover of the second intermediate bottle to obtain a dry bottle;

[0047] After the third detection device detects that the drying bottle reaches the second preset blowing position, the second blowing mechanism is controlled to blow air from below the second intermediate bottle to perform a second drying process on the bottom of the drying bottle to obtain the third intermediate bottle.

[0048] In some optional embodiments, the filling equipment further includes a date engraving module, the date engraving module includes an infrared detection device and a laser device, the laser device is arranged below the conveyor belt, and the infrared detection device is arranged on the side of the conveyor belt. Before the control of the labeling module to label the third intermediate bottle to obtain the finished gel bottle, it also includes:

[0049] When the infrared detection device detects that the third intermediate bottle has reached directly above the laser device, the laser device is controlled to engrave the filling date on the bottom of the third intermediate bottle;

[0050] The third intermediate bottle with the filling date printed thereon is transported to the labeling module via the conveyor belt.

[0051] In some optional embodiments, the labeling module includes a third linear conveying unit and a second arc conveying unit, the third linear conveying unit is arranged in parallel with the second arc conveying unit, the sub-label conveyed on the first arc of the second arc conveying unit is tangent to the third intermediate bottle on the third linear conveying unit, and the control of the labeling module to affix the sub-label to the third intermediate bottle to obtain a finished gel bottle includes:

[0052] The sub-label is transferred to the first arc by the second arc transfer unit;

[0053] The third intermediate bottle is synchronously conveyed by the third linear conveying unit, so that the sub-label at the first arc is tangent to the third intermediate bottle and then adhered to the third intermediate bottle to obtain the finished gel bottle.

[0054] In some optional embodiments, the filling equipment further includes a box packing module, the box packing module includes a multi-gripping hole manipulator, and the plurality of finished gel bottles clamped by the multi-gripping hole manipulator match the packaging box, and the method further includes;

[0055] Controlling the multi-clamping hole manipulator to sequentially clamp a plurality of the finished gel bottles;

[0056] The multi-clamping hole manipulator is controlled to transfer the plurality of finished gel bottles to the packaging box to obtain the gel box.

[0057] In some optional embodiments, the filling equipment further includes a mother labeling module, the mother labeling module includes a fourth linear conveying unit and a third arc conveying unit, the fourth linear conveying unit is arranged in parallel with the third arc conveying unit, the mother label conveyed on the second arc of the third arc conveying unit is tangent to the gel box on the fourth linear conveying unit, and after the multi-gripping hole manipulator is controlled to transfer the plurality of finished gel bottles to the packaging box to obtain the gel box, it also includes:

[0058] The mother label is transferred to the second arc by the third arc transfer unit;

[0059] The gel box is synchronously conveyed by the fourth linear conveying unit, so that the female label at the second arc is tangent to the gel box and then adhered to the gel box.

[0060] In a second aspect, an embodiment of the present invention provides a jelly water filling device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the jelly water filling method described in the first aspect when executing the computer program.

[0061] In a third aspect, a computer storage medium stores computer executable instructions, wherein the computer executable instructions are used to execute the jelly water filling method described in the first aspect.

[0062] The beneficial effects of the present invention include: when gel water needs to be filled, the gel water is filled into the gel bottle to be filled by controlling the bottling module to obtain a filled gel bottle; the steel ball adding module is controlled to add steel balls to the filled gel bottle to obtain a first intermediate bottle; the capping module is controlled to cover the integrated cap on the bottle mouth of the first intermediate bottle to obtain a second intermediate bottle; the second intermediate bottle above the preset height on the conveying unit is blocked by the bottle separation unit and then transmitted to the sealing detection module; the second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and the air tightness detection is performed by the visual detection device to obtain a detection result, and when the detection result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module; the drying module is controlled to dry the second intermediate bottle to obtain a third intermediate bottle; the labeling module is controlled to label the third intermediate bottle to obtain a finished gel bottle. In the technical solution of this embodiment, through the coordinated control of the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module, the required finished gel bottles can be automatically filled. Compared with the traditional manual filling process, this embodiment can effectively improve the filling quality and filling efficiency of the gel water.

[0063] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a schematic diagram of a system platform architecture for executing a jelly water filling method provided by an embodiment of the present invention;

[0065] Figure 2 is a schematic diagram of a jelly water filling device provided by an embodiment of the present invention;

[0066] Figure 3 is a schematic diagram of a weighing module provided by an embodiment of the present invention;

[0067] Figure 4 is a schematic diagram of a turntable provided by an embodiment of the present invention;

[0068] Figure 5 is a schematic diagram of a capping detection module provided by an embodiment of the present invention;

[0069] Figure 6 is a schematic diagram of a sealing detection module provided by an embodiment of the present invention;

[0070] Figure 7 is a top view of a sealing detection module provided by an embodiment of the present invention;

[0071] Figure 8 is a schematic diagram of adjacent bottles located in different conveying mechanisms provided by one embodiment of the present invention;

[0072] Fig. 9 is a schematic diagram of adjacent bottles being located in the same conveying mechanism provided by one embodiment of the present invention;

[0073] Fig.10 is a schematic diagram of a first drying unit provided by an embodiment of the present invention;

[0074] Fig.11 is a schematic diagram of a labeling module provided by an embodiment of the present invention;

[0075] Fig.12 is a schematic diagram of a packing module provided by an embodiment of the present invention;

[0076] Fig.13 is a schematic diagram of a mother labeling module provided by an embodiment of the present invention;

[0077] Fig.14 The present invention is a flowchart of a jelly water filling method provided by an embodiment of the present invention.

[0078] Reference numerals:

[0079] System platform architecture 1000, processor 1100, memory 1200;

[0080] Conveyor belt 100, branch road 110, first straight conveyor belt 120, first curved conveyor belt 130, second straight conveyor belt 140;

[0081] Bottle body 200, bottle mouth 210, movable injection pipe 220, gel water storage box 230, movable rod 240, circuit board 250, fixed rod 260;

[0082] Weighing device 300, third direction cylinder 310;

[0083] A first air cylinder 400, a first air rod 410, a rotating motor 420, a fixed plate 430, a rotating rod 440, a rotating plate 450, a steel ball 460, and a through hole 470;

[0084] A capping control device 500, a capping channel 510, an integrated cover 520, a crossbar 530, a first support rod 540, a second support rod 550, a second drying unit 560, and a laser device 570;

[0085] Clamping conveyor belt 600, entrance 601, exit 602, curved conveyor belt 603, clamping claw 610, heating pool 620, heating device 630;

[0086] A first blowing mechanism 700, a first transmission mechanism 701, a second transmission mechanism 702, a third transmission mechanism 703, a first bottle 704, a second bottle 705, a horizontal plate 710, and a frame plate 720;

[0087] A first arc 800, a second arc 810, and a gel box 820;

[0088] Multi-gripping hole manipulator 900 and manipulator arm 910 . DETAILED DESCRIPTION

[0089] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0090] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0091] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0092] like Figure 1 As shown, Figure 1 It is a schematic diagram of a system platform architecture for executing a jelly water filling method provided by an embodiment of the present invention.

[0093] exist Figure 1 In the example of the system platform architecture 1000, a processor 1100 and a memory 1200 are provided, wherein the processor 1100 and the memory 1200 can be connected via a bus or other means. Figure 1 The example of connecting through bus is taken in the following.

[0094] The memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 1200 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1200 may optionally include a memory remotely arranged relative to the processor 1100, and these remote memories may be connected to the gel water filling device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] Those skilled in the art will appreciate that the system platform architecture 1000 can be applied to 5G communication network systems and subsequently evolved mobile communication network systems, etc., and this embodiment does not specifically limit this.

[0096] It can be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown in the figure does not constitute a limitation on the embodiments of the present invention, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0097] Reference Figure 2-13 The jelly water filling equipment provided by one embodiment of the present invention includes a bottling module, a steel ball adding module, a capping module, a capping detection module, a sealing detection module, a drying module and a labeling module.

[0098] It should be noted that the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module are arranged in sequence according to the filling order, and the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module are filled synchronously, coordinated and controlled, and the bottled gel water is automatically filled in a continuous flow.

[0099] It should be noted that the bottling module can inject gel water into empty gel bottles to be filled. The specific injection time of the gel water is the time for other modules to perform a single work. The working actions of each module are synchronized and coordinated. The specific injection time is determined according to the injection amount and injection speed of the gel water, and this embodiment does not make any specific limitations on it.

[0100] It should be noted that the steel ball adding module is used to add steel balls 460 to the filled gel bottle. By adding the steel balls 460, the bottle body 200 can be shaken before using the gel water, and the steel balls 460 move to ensure that the ingredients in the bottle are evenly mixed; the steel balls 460 can help mix the liquid more effectively during the shaking process; the steel balls 460 can prevent the liquid in the bottle from precipitating after being left still for a long time, ensuring that a uniform liquid can be sprayed each time it is used; the sound and feel produced by the steel balls 460 when shaking can enhance the user experience.

[0101] It should be noted that the capping module puts the integrated cover 520 on the bottle mouth 210 of the first intermediate bottle. The integrated cover 520 includes a nozzle cover and other covers covering the nozzle cover. The capping module can cover all the covers on the first intermediate bottle at one time. The nozzle cover sprays out the gel water after being pressed. The specific structures of the nozzle cover and other covers are set according to actual needs and are not limited here. After the capping module places the integrated cover 520 on the bottle mouth 210 of the first intermediate bottle, the integrated cover 520 is fastened to the bottle mouth 210 by rotating the integrated cover 520 and / or pressing down the integrated cover 520.

[0102] The capping detection module specifically selects out the second intermediate bottles without the integrated caps, and selects the second intermediate bottles with the integrated caps and having a preset height and transmits them to the sealing detection module.

[0103] The sealing detection module heats the second intermediate bottle to increase the air pressure in the second intermediate bottle. If the second intermediate bottle leaks, the gas coming out of the second intermediate bottle will form corresponding bubbles in the water pool of the sealing detection module, that is, by detecting whether the second intermediate bottle generates bubbles in the water pool during the heating process, it is detected whether the second intermediate bottle leaks. The specific leakage detection module can also detect whether the air pressure change of the second intermediate bottle during heating meets the preset change curve to determine whether a leak occurs. The leakage detection module can extend into the bottle through the nozzle cover to detect the air pressure. The specific detection method is not limited here.

[0104] The drying module is used to dry the second intermediate bottle that is contaminated with water droplets after passing through the sealing detection module, and to remove all the water droplets on the second intermediate bottle, thereby preventing the water droplets from interfering with subsequent filling.

[0105] The labeling module attaches sub-labels. After the sub-labels are attached, the packing module packs the products into boxes, thus completing the filling of the gel water.

[0106] In some optional embodiments, at least two gel water injection units are provided, and the plurality of gel water injection units are sequentially arranged on the moving track of the gel bottle to be filled.

[0107] It should be noted that multiple gel water injection units can be arranged along the moving path of the gel bottles to be loaded. The specific moving path of the gel bottles to be loaded can be a straight line or a curve, which is not limited here. The injection time of a single gel water injection unit is fixed, that is, the same as the single working time of other modules. The gel water injected into the gel bottle by a single gel water injection unit is determined according to the injection time and the number of gel water injection units. The more gel water injection units there are, the less gel water a single gel water injection unit needs to inject. The specific number of gel water injection units is set according to demand and is not limited here. After multiple gel water injection units have injected gel water, the steel ball 460 is added to the loaded gel bottle through the steel ball adding module.

[0108] In some optional embodiments, the jelly water injection unit includes a jelly water storage box 230, a movable injection pipe 220, a fixed rod 260, a bottle detection device and a movable rod 240, the fixed rod 260 is arranged on the upper surface of the jelly water storage box 230, the movable rod 240 passes through the fixed rod 260 and is movably connected to the jelly water storage box 230, and the movable injection pipe 220 passes through the lower surface of the jelly water storage box 230 and is movably connected to the jelly water storage box 230.

[0109] It should be noted that the fixed rod 260 is arranged on the upper surface of the gel water storage box 230, the movable rod 240 passes through the fixed rod 260 and is movably connected to the gel water storage box 230, and the movable injection pipe 220 passes through the lower surface of the gel water storage box 230 and is movably connected to the gel water storage box 230. After the bottle detection device detects that the gel bottle to be loaded has reached the preset injection position, the gel water storage box 230 is driven by a corresponding driving mechanism to move a first preset distance in the negative direction of the first direction axis. The specific driving mechanism can be a motor, a cylinder or a mechanical arm 910, etc., which is not specifically limited. The movable injection pipe 220 is synchronously driven by the gel water storage box 230. When the movable injection pipe 220 touches the gel bottle to be loaded, the movable injection pipe 220 will stop due to the resistance between the movable injection pipe 220 and the gel bottle to be loaded, thereby moving relative to the gel water storage box 230 in the positive direction of the first direction axis, and synchronously driving the movable rod 240 to move, so that the movable rod 240 is separated from the fixed rod 260, and a corresponding signal is generated after separation, thereby controlling the gel water storage box 230 to inject gel water into the gel bottle to be loaded through the movable injection pipe 220; by being able to identify whether there is a hairspray bottle to be loaded, the gel water can be accurately injected into the gel bottle to be loaded.

[0110] In some embodiments, the filling equipment also includes a conveyor belt 100, which passes through the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module in sequence, and a plurality of interval detection devices are arranged on the conveyor belt 100.

[0111] It should be noted that the conveyor belt 100 conveys the gel bottles to be loaded, the first intermediate bottles, the second intermediate bottles, the third intermediate bottles and the finished gel bottles to different modules for processing. In addition, a plurality of interval detection devices are arranged on the conveyor belt 100, through which the interval distance between two adjacent bottles can be detected, and the conveying is stopped when the interval distance is too large, and the interval distance between the two bottles is adjusted before conveying.

[0112] In some optional embodiments, the conveyor belt 100 includes a plurality of conveying mechanisms.

[0113] It should be noted that multiple transmission mechanisms can be independently controlled and transmitted, and multiple transmission mechanisms together constitute the conveyor belt 100. When two adjacent bottles are located on different transmission mechanisms and the distance between the two bottles is greater than the first threshold, it is necessary to adjust the distance between the two bottles. At this time, the transmission mechanism where the front bottle is located stops running, and the transmission mechanism where the rear bottle is located continues to run, thereby shortening the distance between the two bottles. Specifically, the transmission mechanism where the front bottle is located and all other front transmission mechanisms are stopped, and the transmission mechanism where the rear bottle is located and all other rear transmission mechanisms are running. When two adjacent bottles are located on the same transmission mechanism and the distance between the two bottles is greater than the first threshold, it is necessary to adjust the distance between the two bottles. At this time, the next transmission mechanism of the two bottles stops running, and the transmission mechanism where the two bottles are located and other transmission mechanisms in front are running normally, so that the two bottles are transmitted to the next transmission mechanism, so that the friction of other bottles on the first transmission mechanism 701 or the first transmission mechanism 701 itself shortens the distance between the two bottles. By controlling the distance between the two adjacent bottles, each module can work together to prevent the interval between the two bottles from being too large and causing work errors.

[0114] In some embodiments, the steel ball adding module includes a turntable 450, a fixed disk 430, a first detection device, a rotating mechanism and a steel ball hitting mechanism, the rotating mechanism includes a rotating motor 420 and a rotating rod 440, the rotating motor 420 is arranged on the first surface of the fixed disk 430, the first end of the rotating rod 440 is connected to the rotating motor 420, the second end of the rotating rod 440 passes through the fixed disk 430 and is connected to the center of the turntable 450, the steel ball hitting mechanism includes a first cylinder 400 and a first gas rod 410, the first cylinder 400 is arranged on the first surface of the fixed disk 430, the first end of the first gas rod 410 is connected to the first cylinder 400, the second end of the first gas rod 410 passes through the fixed disk 430 and is movably connected to the fixed disk 430, the turntable 450 is evenly provided with a plurality of through holes 470 along a concentric circle, and steel balls 460 transferred by a steel ball transfer mechanism are placed on the through holes 470.

[0115] It should be noted that the turntable 450 rotates under the rotation of the rotating rod 440, and the specific rotation direction and rotation angle are achieved by controlling the rotating motor 420. The fixed plate 430 is used to fix the position of the rotating motor 420, and the fixed plate 430 is provided with corresponding perforations. The first gas rod 410 is movably connected with the perforations, that is, under the drive of the first cylinder 400, the first gas rod 410 can slide relative to the perforations in the first direction axis, that is, slide up and down; thereby, by sliding the first gas rod 410, the first gas rod 410 is moved and the steel ball 460 on the turntable 450 is driven into the loaded gel bottle. The turntable 450 is specifically provided with a plurality of through holes 470 along the same concentric circle, and the plurality of through holes 470 are evenly arranged, so that the angle of each rotation of the rotating motor 420 is fixed, which is convenient for control, and the alignment accuracy of the through hole 470 and the loaded gel bottle is improved to prevent the steel ball 460 from not being driven into the bottle due to inaccurate alignment. Specifically, the diameter of the steel ball 460 is the same as the diameter of the through hole 470, and the friction between the steel ball 460 and the inner wall of the through hole 470 is greater than the gravity of the steel ball 460 itself, so that the steel ball 460 is placed on the through hole 470. After the first gas rod 410 contacts the steel ball 460 and presses down, the steel ball 460 overcomes the friction inside the through hole 470 and moves downward, so that it falls into the loaded gel bottle. Specifically, the steel ball 460 is transferred to the through hole 470 where the steel ball 460 has been hit by the corresponding steel ball transfer mechanism, and the specific steel ball moving mechanism is not limited here. The device for detecting the moving distance of the first gas rod 410 can be set on the fixed plate 430, and can also be set on the rotating rod 440 or the first cylinder 400. Specifically, it can be an infrared detection device, a laser distance measuring device or other distance sensor, which is not limited here. A corresponding weighing device 300 is specifically arranged below the rotating plate to obtain the weight data of the first intermediate bottle before and after the steel ball 460 is hit.

[0116] If the weight of the first intermediate bottle does not increase after the steel ball 460 is hit or the increased weight is significantly less than the weight of the steel ball 460, it indicates that the steel ball 460 has not been hit into the first intermediate bottle, and thus the rotating disk above the first intermediate bottle needs to be rotated so that the next through hole 470 is aligned with the first intermediate bottle, thereby controlling the first gas rod 410 to hit the steel ball 460 into the first intermediate bottle.

[0117] During the process of hitting the steel ball 460, if the moving distance of the first air cylinder 400 is less than the second preset distance, it means that the first air rod 410 has not contacted the steel ball 460 or the steel ball 460 is stuck, causing the first air rod 410 to be unable to continue moving, or the first air cylinder 400 has a fault, etc. At this time, it is necessary to rotate the turntable 450 again so that the steel ball 460 on the next through hole 470 is aligned with the bottle mouth 210, and drive the first air rod 410 to hit the steel ball 460 again; if it is considered that the hitting of the steel ball 460 is successful after multiple times, an alarm signal is generated, specifically, an audible and visual alarm is performed through the alarm device, and a corresponding error message is generated through the controller, thereby reminding the staff to deal with it in time.

[0118] In some optional embodiments, the capping detection module includes a bottle separation unit and a conveying unit, the bottle separation unit includes a bracket and a cross bar 530 arranged on the bracket, the conveying unit includes a first straight conveyor belt 120, a second straight conveyor belt 140 and a first curved conveyor belt 130, the first straight conveyor belt 120 is arranged at the input end of the first curved conveyor belt 130, the second straight conveyor belt 140 is arranged at the output end of the first curved conveyor belt 130, the cross bar 530 is located on the outside of the first curved conveyor belt 130, and a baffle is arranged on the inside of the first curved conveyor belt 130.

[0119] It should be noted that the first linear conveyor belt 120, the second linear conveyor belt 140 and the first curved conveyor belt 130 are all part of the conveyor belt 100. The bracket is arranged on the outside of the first curved conveyor belt 130, and the cross bar 530 is arranged on the bracket. The specific setting height is determined according to the preset height. The first linear conveyor belt 120 conveys the second intermediate bottle to the first curved conveyor belt 130. The inner side of the first curved conveyor belt 130 is provided with a baffle to block the second intermediate bottle. The second intermediate bottle after capping is higher than the preset height, so it is blocked by the cross bar 530 on the outside of the first curved conveyor belt 130, so that the second intermediate bottle after capping is conveyed to the second conveyor belt. The second intermediate bottle without a cap cannot be blocked by the cross bar 530, and due to inertia, it falls from the outside of the first curved conveyor belt 130 to the recycling place for subsequent processing.

[0120] In some optional embodiments, the sealing detection module includes a heating pool 620, a clamping conveyor belt 600 and a visual detection device, wherein a heating device 630 is disposed in the heating pool 620, the clamping conveyor belt 600 is disposed on the heating pool 620, and a plurality of clamps 610 are disposed on the clamping conveyor belt 600.

[0121] It should be noted that the heating pool 620 is filled with water, and the water is heated by the heating device 630 to obtain hot water. The clamping conveyor belt 600 is arranged to be coiled along the top of the heating pool 620, so that the second intermediate bottle clamped by the clamping claw 610 has enough moving time to be heated. The multiple clamping claws 610 are evenly arranged. When each clamping claw 610 is transmitted to clamp the second intermediate bottle, the clamping claw 610 is controlled to open and clamp the intermediate bottle transmitted from the conveyor belt 100, so that the second intermediate bottle is placed in the heating pool 620 through the entrance 601 of the clamping conveyor belt 600, and is transmitted on the coiled conveyor belt above the heating pool 620. At the same time, the second intermediate bottle is continuously heated by hot water. If the second intermediate bottle leaks, the heated second intermediate bottle will spray out, thereby generating corresponding bubbles around the second intermediate bottle. After the bubbles are detected by the visual detection device, the second intermediate bottle on the corresponding clamp 610 is marked as the second intermediate bottle with leakage. When it reaches the exit 602 of the clamping conveyor 600, the second intermediate bottle with leakage is placed on the recovery conveyor by controlling the clamp 610, and the second intermediate bottle with leakage is transferred to the corresponding bottle cap reinforcement device or hole repairing device through the recovery conveyor. The hole repairing device is to repair the place where the leakage hole is completed; after the repair is completed, the second intermediate bottle is transferred to the sealing detection module again for re-sealing detection. If the second intermediate bottle does not generate corresponding bubbles during the movement of the heating pool 620, it is marked as the second intermediate bottle without leakage, and when it reaches the exit 602 of the clamping conveyor 600, the second intermediate bottle without leakage is placed on the conveyor 100 by controlling the clamp 610, and it is transferred to the interference module for drying through the conveyor 100.

[0122] In some optional embodiments, the drying module includes a first drying unit and a second drying unit 560, the first drying unit is arranged above the conveyor belt 100, the first drying unit includes a second detection device and a first drying mechanism 700, the second drying unit 560 is arranged below the conveyor belt 100, and the first drying unit includes a third detection device and a second drying mechanism.

[0123] It should be noted that the first drying unit includes a frame plate 720 arranged on both sides of the conveyor belt 100, a horizontal plate 710 is arranged on the frame plate 720, and a first blowing mechanism 700 is fixed on the horizontal plate 710. The first blowing mechanism 700 can generate wind blowing downward. Specifically, the blowing port of the first blowing mechanism 700 is opposite to the second intermediate bottle, and the cross-sectional area of ​​the blowing port is greater than or equal to the cross-sectional area of ​​the second intermediate bottle, so that the wind blown by the blowing port can blow away the water droplets of the bottle body 200. The first blowing mechanism 700 is specifically used to blow hot air, and the specific hot air temperature is set according to the demand, which is not limited here; the second detection device can be set on the frame plate 720, the horizontal plate 710 or other positions where the second intermediate bottle can be detected, and the specific setting position is not limited here. The second blowing mechanism is arranged below the conveyor belt 100, and a corresponding gap is arranged in the middle of the conveyor belt 100. The wind blown by the second blowing mechanism reaches the bottom of the second intermediate bottle through the gap, thereby drying the bottom of the second intermediate bottle. Specifically, the blowing port of the second blowing mechanism is opposite to the bottom of the second intermediate bottle. The second blowing mechanism is specifically used for blowing hot air, and the specific hot air temperature is set according to demand and is not limited here; the third detection device can be set on the side of the conveyor belt 100, above the conveyor belt 100 or at other positions where the second intermediate bottle can be detected, and the specific setting position is not limited here.

[0124] In some optional embodiments, the filling equipment further includes a date engraving module, which includes an infrared detection device and a laser device 570 , wherein the laser device 570 is disposed below the conveyor belt 100 , and the infrared detection device is disposed on the side of the conveyor belt 100 .

[0125] It should be noted that the laser device 570 is arranged directly below the conveyor belt 100, and a gap is arranged in the middle position of the conveyor belt 100, and the laser device 570 prints the filling date on the bottom of the third intermediate bottle through the gap. The infrared detection device is arranged outside the conveyor belt 100, so that when the third intermediate bottle passes, the infrared light of the infrared detection device is reflected back, and after the third intermediate bottle is detected, the laser engraving device is synchronously controlled to engrave the corresponding filling date on the bottom of the third intermediate bottle. Specifically, other information can also be engraved, which is specifically set according to needs and is not limited here.

[0126] In some optional embodiments, the labeling module includes a third straight-line conveying unit and a second arc conveying unit, wherein the third straight-line conveying unit is arranged in parallel with the second arc conveying unit, and the sub-label conveyed on the first arc 800 of the second arc conveying unit is tangent to the third intermediate bottle on the third straight-line conveying unit.

[0127] It should be noted that the third linear transmission unit is used to transmit the third intermediate bottle, and the second arc transmission unit is used to transmit the sub-label. The sub-label transmitted on the first arc 800 of the second arc transmission unit is tangent to the third intermediate bottle on the third linear transmission unit, and the sub-label is attached to the third intermediate bottle by the squeezing force between the first arc 800 and the third intermediate bottle during the movement. The specific sub-label includes information such as the corresponding number and / or QR code, which is not specifically limited here.

[0128] In some optional embodiments, the box packing module includes a multi-clamping hole robot 900, and the multiple finished gel bottles clamped by the multi-clamping hole robot 900 match the packaging box.

[0129] It should be noted that the multi-gripping hole manipulator 900 can clamp multiple finished gel bottles at one time and can fill a box at one time, that is, it matches the box and has a high packing efficiency.

[0130] In some optional embodiments, the filling equipment also includes a parent labeling module, which includes a fourth linear conveying unit and a third arc-shaped conveying unit, the fourth linear conveying unit is arranged in parallel with the third arc-shaped conveying unit, and the parent label conveyed on the second arc 810 of the third arc-shaped conveying unit is tangent to the gel box 820 on the fourth linear conveying unit.

[0131] It should be noted that the fourth linear transmission unit is used to transmit the gel box 820, and the third arc-shaped transmission unit is used to transmit the mother label. The mother label transmitted on the second arc 810 of the third arc-shaped transmission unit is tangent to the gel box 820 on the fourth linear transmission unit, and the mother label is attached to the second gel box 820 by the extrusion force during the movement between the second arc 810 and the gel box 820. The specific mother label includes information such as a corresponding number and / or a QR code, and the specific information is set according to needs and is not limited here.

[0132] Reference Fig.14 , Fig.14 A flowchart of a jelly water filling method provided by an embodiment of the present invention, which is applied to the above Figure 2-13 The jelly water filling device shown, the jelly water filling method of the embodiment of the present invention may include but is not limited to step S100, step S200, step S300, step S400, step S500, step 600, and step 700.

[0133] Step S100, controlling the bottling module to fill the gel water into the gel bottle to be filled to obtain a filled gel bottle.

[0134] Specifically, the bottling module can inject the gel water into the empty gel bottle to be filled. The specific injection time of the gel water is the time for other modules to perform a single operation. The working actions of each module are synchronized and coordinated. The specific injection time is determined according to the injection amount and injection speed of the gel water.

[0135] In some optional embodiments, the bottling module is provided with at least two gel water injection units, and the plurality of gel water injection units are sequentially arranged on the moving track of the gel bottle to be loaded, and the controlling the bottling module to load the gel water into the gel bottle to be loaded to obtain a loaded gel bottle comprises: determining a first injection amount of each gel water injection unit according to the moving speed of the gel bottle to be loaded and the number of the gel water injection units; and controlling the plurality of gel water injection units to sequentially inject gel water into the gel bottle to be loaded to obtain a loaded gel bottle, the gel water injected into the gel bottle to be loaded by the gel water injection unit being the first injection amount, and the first injection amounts of different gel water injection units being the same or different.

[0136] Specifically, refer to Figure 2 , multiple gel water injection units can be set along the moving path of the gel bottles to be loaded. The specific moving path of the gel bottles to be loaded can be a straight line or a curve, which is not limited here. The injection time of a single gel water injection unit is fixed, that is, the same as the single working time of other modules. The gel water injected into the gel bottle by a single gel water injection unit is determined according to the injection time and the number of gel water injection units. The gel water injection amounts of different gel water injection units can be the same or different, which is not limited here. The more the number of gel water injection units, the less gel water a single gel water injection unit needs to inject. The specific number of gel water injection units is set according to demand and is not limited here. The gel bottle to be filled, the filled gel bottle, the first intermediate bottle, the second intermediate bottle, the third intermediate bottle, and the finished gel bottle all include a bottle body 200 and a bottle mouth 210, and an integral cover 520 is placed on the bottle mouth 210. By providing multiple gel water injection units, not only can the moving speed of the gel bottle to be filled be accelerated, but also the first injection amount of a single gel water injection unit can be reduced, thereby reducing the wear of the gel water injection unit.

[0137] In some optional embodiments, the gel water injection unit includes a gel water storage box 230, a movable injection pipe 220, a fixed rod 260, a bottle detection device and a movable rod 240, the fixed rod 260 is arranged on the upper surface of the gel water storage box 230, the movable rod 240 passes through the fixed rod 260 and is movably connected to the gel water storage box 230, the movable injection pipe 220 passes through the lower surface of the gel water storage box 230 and is movably connected to the gel water storage box 230, and the method further includes: when the bottle detection device detects that the gel bottle to be loaded has reached a preset injection position, controlling the The jelly water storage box 230 moves a first preset distance in the negative direction of the first direction axis to enable the movable injection pipe 220 to move synchronously. When the movable injection pipe 220 touches the gel bottle to be loaded, the movable injection pipe 220 moves in the positive direction of the first direction axis relative to the jelly water storage box 230, and synchronously moves the movable rod 240 to generate a separation signal after the movable rod 240 is separated from the fixed rod 260; according to the separation signal, the jelly water storage box 230 is controlled to inject the first injection amount of jelly water into the gel bottle to be loaded through the movable injection pipe 220.

[0138] Specifically, refer to Figure 2 The fixed rod 260 is arranged on the upper surface of the gel water storage box 230, the movable rod 240 passes through the fixed rod 260 and is movably connected with the gel water storage box 230, and the movable injection pipe 220 passes through the lower surface of the gel water storage box 230 and is movably connected with the gel water storage box 230. After the bottle detection device detects that the gel bottle to be loaded has reached the preset injection position, the gel water storage box 230 is driven by a corresponding driving mechanism to move a first preset distance in the negative direction of the first direction axis. The specific driving mechanism can be a motor, a cylinder or a mechanical arm 910, etc., which is not specifically limited. The movable injection pipe 220 is synchronously driven by the gel water storage box 230. When the movable injection pipe 220 touches the gel bottle to be loaded, the movable injection pipe 220 will stop due to the resistance between the movable injection pipe 220 and the gel bottle to be loaded, thereby moving relative to the gel water storage box 230 in the positive direction of the first direction axis, and synchronously driving the movable rod 240 to move, so that the movable rod 240 is separated from the fixed rod 260, specifically, the circuit board 250 fixedly connected to the second end of the movable rod 240 is separated from the fixed rod 260, and a corresponding signal is generated after separation, so as to control the gel water storage box 230 to inject gel water into the gel bottle to be loaded through the movable injection pipe 220; by being able to identify whether there is a hairspray bottle to be loaded, the gel water can be accurately injected into the gel bottle to be loaded. Providing a plurality of gel water injection units can speed up the movement of the gel bottles to be filled, increase the filling rate, and can also reduce the first injection amount of the gel water storage box 230 and reduce the wear of the gel water storage box 230.

[0139] In some optional embodiments, the filling equipment also includes a conveyor belt 100, which passes through the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module in sequence, and a plurality of interval detection devices are arranged on the conveyor belt 100. The method also includes: detecting the interval information between a plurality of conveyor bottles by the interval detection device, the conveyor bottles representing the to-be-filled gel bottles, the first intermediate bottles, the second intermediate bottles, the third intermediate bottles and the finished gel bottles conveyed on the conveyor belt 100; and when the interval information represents that the interval distance between two adjacent conveyor bottles is greater than a first threshold value, controlling the transmission mode of the conveyor belt 100 so that the interval distance between two adjacent conveyor bottles is less than or equal to the first threshold value.

[0140] Specifically, the conveyor belt 100 conveys the gel bottle to be loaded, the first intermediate bottle, the second intermediate bottle, the third intermediate bottle and the finished gel bottle to different modules for processing. In addition, a plurality of interval detection devices are arranged on the conveyor belt 100. The specific number and position of the interval detection devices are arranged according to the requirements and are not limited here. The interval detection device can detect the interval between two adjacent bottles (different positions represent different bottles, such as the gel bottle to be loaded, the first intermediate bottle, the second intermediate bottle, the third intermediate bottle and the finished gel bottle). When the interval is too large, the conveying is stopped, and the interval between the two bottles is adjusted before conveying.

[0141] In some optional embodiments, the conveyor belt 100 includes a plurality of conveying mechanisms, and the conveying mode of controlling the conveyor belt 100 so that the interval distance between two adjacent conveyor bottles is less than or equal to the first threshold includes: when the interval between the adjacent first conveyor bottle and the second conveyor bottle is greater than the first threshold, determining the second position information of the first conveyor bottle and the second conveyor bottle according to the interval information, and transmitting the first conveyor bottle to the second conveyor bottle through the conveying mechanism; when the second position information indicates that the first conveyor bottle and the second conveyor bottle are located at different conveying mechanisms, controlling the conveying mechanism that transmits the second conveyor bottle to stop running, and at the same time controlling the conveying mechanism that transmits the first conveyor bottle to transmit the first conveyor bottle to the second conveyor bottle so that the interval between the first conveyor bottle and the second conveyor bottle is less than or equal to the first threshold; when the second position information indicates that the first conveyor bottle and the second conveyor bottle are both located at the same conveying mechanism, controlling the next conveying mechanism to stop running so that the interval between the first conveyor bottle and the second conveyor bottle is less than or equal to the first threshold.

[0142] Specifically, refer to Figure 8-9 , multiple conveying mechanisms can be independently controlled and transmitted, and the multiple conveying mechanisms together form the conveyor belt 100. When two adjacent bottles are located on different conveying mechanisms, and the interval between the two bottles is greater than the first threshold, it is necessary to adjust the interval between the two bottles. At this time, the conveying mechanism where the front bottle is located stops running, and the conveying mechanism where the rear bottle is located continues to run, thereby shortening the interval between the two bottles. Specifically, the first conveying mechanism 701 where the first front bottle 704 is located and all other front conveying mechanisms stop running, and the second conveying mechanism 702 where the second rear bottle 705 is located and all other rear conveying mechanisms are running. When two adjacent bottles are located on the same conveying mechanism and the distance between the two bottles is greater than the first threshold, the distance between the two bottles needs to be adjusted. At this time, the conveying mechanism next to the two bottles stops running, and the conveying mechanism where the two bottles are located and other conveying mechanisms in front of them all operate normally, so that the two bottles are conveyed to the next conveying mechanism, so that the friction of other bottles on the first conveying mechanism 701 or the first conveying mechanism 701 itself shortens the distance between the two bottles; if the first bottle 704 and the second bottle 705 are both located on the second conveying mechanism 702, the third conveying mechanism 703 is stopped, or the third conveying mechanism 703 and the subsequent conveying mechanisms are stopped, so that the first bottle 704 and the second bottle 705 are conveyed to the third conveying mechanism 703, and the friction of the third conveying mechanism 703 or other bottles on the third conveying mechanism 703 blocks the first bottle 704 and the second bottle 705, so as to shorten the distance between the first bottle 704 and the second bottle 705. By controlling the distance between two adjacent bottles, each module can work in coordination to prevent errors caused by excessive distance between the two bottles.

[0143] Step S200, controlling the steel ball adding module to add steel balls 460 to the filled gel bottle to obtain a first intermediate bottle.

[0144] In some optional embodiments, the steel ball adding module includes a turntable 450, a fixed disk 430, a first detection device, a rotating mechanism and a steel ball hitting mechanism, the rotating mechanism includes a rotating motor 420 and a rotating rod 440, the rotating motor 420 is arranged on the first surface of the fixed disk 430, the first end of the rotating rod 440 is connected to the rotating motor 420, the second end of the rotating rod 440 passes through the fixed disk 430 and is connected to the center of the turntable 450, the steel ball hitting mechanism includes a first cylinder 400 and a first gas rod 410, the first cylinder 400 is arranged on the first surface of the fixed disk 430, the first end of the first gas rod 410 is connected to the first cylinder 400, the second end of the first gas rod 410 passes through the fixed disk 430 and is movably connected to the fixed disk 430, The turntable 450 is evenly provided with a plurality of through holes 470 along a concentric circle, and steel balls 460 transferred by a steel ball transfer mechanism are placed on the through holes 470. The control of the steel ball adding module to add steel balls 460 to the loaded gel bottle to obtain a first intermediate bottle includes: when the first detection device detects that the loaded gel bottle reaches a preset steel ball 460 adding position: controlling the rotating motor 420 to rotate by a first preset angle so that the center line of one of the through holes 470 and the center line of the bottle mouth 210 of the loaded gel bottle coincide with each other on the first direction axis; controlling the first cylinder 400 to drive the first gas rod 410 to move a second preset distance on the first direction axis, so that the first gas rod 410 drives the steel ball 460 located on the through hole 470 into the loaded gel bottle to obtain the first intermediate bottle.

[0145] Specifically, refer to Figure 2 and Figure 4, the turntable 450 rotates under the rotation of the rotating rod 440, and the specific rotation direction and rotation angle are achieved by controlling the rotating motor 420. The fixed plate 430 is used to fix the position of the rotating motor 420, and the fixed plate 430 is provided with corresponding perforations. The first gas rod 410 is movably connected with the perforations, that is, under the drive of the first cylinder 400, the first gas rod 410 can slide relative to the perforations in the first direction axis, that is, slide up and down; thereby, by sliding the first gas rod 410, the first gas rod 410 drives the steel ball 460 on the turntable 450 into the loaded gel bottle. The turntable 450 is specifically provided with a plurality of through holes 470 along the same concentric circle, and the plurality of through holes 470 are evenly arranged, so that the angle of each rotation of the rotating motor 420 is fixed, which is convenient for control, and improves the alignment accuracy of the through hole 470 and the loaded gel bottle, to prevent the steel ball 460 from not being driven into the bottle due to inaccurate alignment. Specifically, the diameter of the steel ball 460 is the same as the diameter of the through hole 470, and the friction between the steel ball 460 and the inner wall of the through hole 470 is greater than the gravity of the steel ball 460 itself, so that the steel ball 460 is placed on the through hole 470. After the first gas rod 410 contacts the steel ball 460 and presses down, the steel ball 460 overcomes the friction inside the through hole 470 and moves downward, so that it falls into the loaded gel bottle. Specifically, the steel ball 460 is transferred to the through hole 470 where the steel ball 460 has been hit by the corresponding steel ball transfer mechanism, and the specific steel ball moving mechanism is not limited here. The device for detecting the moving distance of the first gas rod 410 can be set on the fixed plate 430, and can also be set on the rotating rod 440 or the first cylinder 400. Specifically, it can be an infrared detection device, a laser distance measuring device or other distance sensor, which is not limited here. A corresponding weighing device 300 is specifically arranged below the rotating plate to obtain the weight data of the first intermediate bottle before and after the steel ball 460 is hit.

[0146] In some optional embodiments, the method further includes: when the moving distance of the first gas rod 410 is less than the second preset distance, controlling the rotating motor 420 to rotate by a second preset angle so that the center line of the next through hole 470 coincides with the center line of the bottle mouth 210 of the filled gel bottle on the first direction axis, and controlling the first gas cylinder 400 to drive the first gas rod 410 to move the second preset distance on the first direction axis so that the first gas rod 410 drives the steel ball 460 located on the next through hole 470 into the filled gel bottle to obtain the first intermediate bottle; or when the moving distance of the first gas rod 410 is equal to the second preset distance and the air pressure of the first gas cylinder 400 is less than the preset air pressure, controlling the rotating motor 420 to rotate by a second preset angle so that the center line of the next through hole 470 coincides with the center line of the bottle mouth 210 of the filled gel bottle. The center lines of the bottle mouth 210 of the filled gel bottle overlap with each other on the first direction axis, and the first air cylinder 400 is controlled to drive the first air rod 410 to move the second preset distance on the first direction axis, so that the first air rod 410 can hit the steel ball 460 located on the next through hole 470 into the filled gel bottle to obtain the first intermediate bottle; and / or when the weight of the first intermediate bottle is less than or equal to the weight of the filled gel bottle, the rotating motor 420 is controlled to rotate by a third preset angle, so that the center line of the next through hole 470 and the center line of the bottle mouth 210 of the first intermediate bottle overlap with each other on the first direction axis, and the first air cylinder 400 is controlled to drive the first air rod 410 to move the second preset distance on the first direction axis, so that the first air rod 410 can hit the steel ball 460 located on the next through hole 470 into the first intermediate bottle.

[0147] Specifically, the first preset angle, the second preset angle and the third preset angle may be the same, or may be in multiple order, such as the second preset angle is equal to three times the first preset angle, the third preset angle is equal to two times the second preset angle, etc., and there is no specific limitation. The center line of the through hole 470 and the center line of the bottle mouth 210 of the gel bottle are overlapped with each other on the first direction axis, so that the steel ball 460 on the through hole 470 can be accurately hit into the gel bottle. If the weight of the first intermediate bottle does not increase after hitting the steel ball 460 or the increased weight is significantly less than the weight of the steel ball 460, it indicates that the steel ball 460 has not hit the first intermediate bottle, so it is necessary to rotate the rotating disk above the first intermediate bottle so that the next through hole 470 is aligned with the first intermediate bottle, thereby controlling the first gas rod 410 to hit the steel ball 460 into the first intermediate bottle.

[0148] During the process of hitting the steel ball 460, if the moving distance of the first air cylinder 400 is less than the second preset distance, it means that the first air rod 410 has not contacted the steel ball 460 or the steel ball 460 is stuck, causing the first air rod 410 to be unable to continue moving, or the first air cylinder 400 has a fault, etc. At this time, it is necessary to rotate the turntable 450 again so that the steel ball 460 on the next through hole 470 is aligned with the bottle mouth 210, and drive the first air rod 410 to hit the steel ball 460 again; if it is considered that the hitting of the steel ball 460 is successful after multiple times, an alarm signal is generated, specifically, an audible and visual alarm is performed through the alarm device, and a corresponding error message is generated through the controller, thereby reminding the staff to deal with it in time.

[0149] In some optional embodiments, referring to Figure 2-3 The filling equipment further includes a weighing module, which is arranged between the bottling module and the steel ball adding module, and includes a weighing device 300, a third directional cylinder 310 and a branch 110. The weighing device 300 can weigh the first intermediate bottles, thereby screening out the first intermediate bottles with unqualified gel water content, and the third directional cylinder 310 pushes the unqualified first intermediate bottles in the third direction, pushes the unqualified first intermediate bottles to the branch 110, and transports the unqualified first intermediate bottles to the corresponding processing unit for processing through the branch 110. The specific processing unit may be a capping unit and a gel water reducing and replenishing unit. The integrated cap 520 is pulled out by the capping unit, disinfected and then transported to the storage barrel, and at the same time, the unqualified first intermediate bottle after the cap is removed is transported to the gel water replenishing unit. The gel water reducing and replenishing unit determines the gel water that needs to be reduced or replenished for the unqualified first intermediate bottle according to the weight of the unqualified first intermediate bottle, thereby reducing or replenishing the gel water. After the processing is completed, it is transported to the capping module through the branch 110, so that the integrated cap 520 is fixed on the bottle mouth 210 through the capping module.

[0150] Step S300, controlling the capping module to cover the integrated cap 520 on the bottle mouth 210 of the first intermediate bottle to obtain a second intermediate bottle.

[0151] Specifically, refer to Figure 2The capping module includes a corresponding capping control device 500 and a capping channel 510. The capping control device 500 is used to add the integrated cover 520 to the bottle mouth 210 of the first intermediate bottle through the capping channel 510. The integrated cover 520 includes a nozzle cover and other covers covering the nozzle cover. The capping module can cover all the covers on the first intermediate bottle at one time. The nozzle cover specifically sprays out gel water after being pressed. The specific structures of the nozzle cover and other covers are set according to actual needs and are not limited here. After the capping module places the integrated cover 520 on the bottle mouth 210 of the first intermediate bottle, the capping control device 500 is used to rotate and / or press down the capping channel 510, thereby rotating the integrated cover 520 and / or pressing down the integrated cover 520, so that the integrated cover 520 is fastened to the bottle mouth 210.

[0152] Step S400: The second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separating unit and then transferred to the sealing detection module.

[0153] Specifically, the capping detection module specifically selects out the second intermediate bottles without the integrated cap 520, and selects the second intermediate bottles with the integrated cap 520 and a preset height and transmits them to the sealing detection module.

[0154] In some optional embodiments, the capping detection module includes a bottle separation unit and a conveying unit, the bottle separation unit includes a bracket and a cross bar 530 arranged on the bracket, the conveying unit includes a first linear conveyor belt 120, a second linear conveyor belt 140 and a first curved conveyor belt 130, the first linear conveyor belt 120 is arranged at the input end of the first curved conveyor belt 130, the second linear conveyor belt 140 is arranged at the output end of the first curved conveyor belt 130, the cross bar 530 is located on the outside of the first curved conveyor belt 130, and the inside of the first curved conveyor belt 130 is arranged There is a baffle, and the second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separation unit and then transmitted to the sealing detection module, including: the second intermediate bottle is transmitted to the first curved conveyor belt 130 by the first linear conveyor belt 120; after the second intermediate bottle that is higher than a preset height is blocked by the cross bar 530, the second intermediate bottle that is higher than a preset height is transmitted to the second linear conveyor belt 140 by the first curved conveyor belt 130; the second intermediate bottle that is higher than a preset height is transmitted to the sealing detection module by the second linear conveyor belt 140.

[0155] Specifically, refer to Figure 5, the first linear conveyor belt 120, the second linear conveyor belt 140 and the first curved conveyor belt 130 are all part of the conveyor belt 100. The bracket is arranged on the outside of the first curved conveyor belt 130, and the cross bar 530 is arranged on the bracket, and the specific setting height is determined according to the preset height. The first linear conveyor belt 120 conveys the second intermediate bottle to the first curved conveyor belt 130, and a baffle is arranged on the inner side of the first curved conveyor belt 130 to block the second intermediate bottle. The second intermediate bottle after capping is higher than the preset height, so it is blocked by the cross bar 530 on the outside of the first curved conveyor belt 130, so that the second intermediate bottle after capping is conveyed to the second conveyor belt. The second intermediate bottle without a cap cannot be blocked by the cross bar 530, and due to inertia, it falls from the outside of the first curved conveyor belt 130 to the recycling place for subsequent processing. The bracket includes a first support rod 540 and a second support rod 550, and the first support rod 540 and the second support rod 550 jointly support the cross bar 530. There is a preset height between the cross bar 530 and the first curved conveyor belt 130 on the first direction axis, and the cross bar 530 is tangent to the outer arc of the first curved conveyor belt 130, so that the second intermediate bottle above the preset height on the first curved conveyor belt 130 is blocked and then transferred to the second straight conveyor belt 140, and the second intermediate bottle below or equal to the preset height is not blocked and falls from the arc of the first curved conveyor belt 130.

[0156] Step S500, conveying the second intermediate bottle to the heating pool for heating by the clamping conveyor belt, and performing an airtightness test by the visual inspection device to obtain a test result. When the test result indicates that there is no leakage in the second intermediate bottle, the second intermediate bottle is conveyed to the drying module.

[0157] Specifically, the sealing detection module heats the second intermediate bottle to increase the air pressure in the second intermediate bottle. If the second intermediate bottle leaks, the gas coming out of the second intermediate bottle will form corresponding bubbles in the water pool of the sealing detection module, that is, by detecting whether the second intermediate bottle generates bubbles in the water pool during the heating process, it is detected whether the second intermediate bottle leaks. The specific leakage detection module can also detect whether the air pressure change of the second intermediate bottle during heating meets the preset change curve to determine whether a leak occurs. The leakage detection module can extend into the bottle through the nozzle cover to detect the air pressure. The specific detection method is not limited here.

[0158] In some optional embodiments, the sealing detection module includes a heating pool 620, a clamping conveyor belt 600 and a visual inspection device, the heating pool 620 is provided with a heating device 630, the clamping conveyor belt 600 is provided on the heating pool 620, and a plurality of clamping claws 610 are provided on the clamping conveyor belt 600, the second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and an airtightness inspection is performed by the visual inspection device to obtain a inspection result, and when the inspection result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is transported to the drying module, including: grabbing the second intermediate bottle on the second linear conveyor belt 140 by the clamping claws 610; conveying the second intermediate bottle in the heating pool 620 by the clamping conveyor belt 600 so that the heating pool 620 The hot water in the heating pool 620 heats the second intermediate bottle, wherein the hot water in the heating pool 620 is heated by the heating device 630; the second intermediate bottle located in the heating pool 620 is detected by the visual detection device, and when a plurality of bubbles appear continuously within a preset range of the second intermediate bottle, the detection result of the second intermediate bottle is configured as leakage; otherwise, the detection result of the second intermediate bottle is configured as no leakage; the clamping jaw 610 is controlled to place the second intermediate bottle with leakage on the recovery conveyor belt at the exit 602 of the clamping conveyor belt 600; the clamping jaw 610 is controlled to place the second intermediate bottle without leakage on the conveyor belt 100 at the exit 602 of the clamping conveyor belt 600, so that the conveyor belt 100 conveys the second intermediate bottle without leakage to the drying module.

[0159] Specifically, refer to Figure 6-7, the heating pool 620 is filled with water, and the water is heated by the heating device 630 to obtain hot water. The clamping conveyor belt 600 is arranged along the top of the heating pool 620, and the clamping conveyor belt 600 arranged to be wound is conveyed by the curved conveyor belt 603 at the turning point, so that the second intermediate bottle clamped by the clamping claw 610 has enough moving time to be heated. The plurality of clamping claws 610 are evenly arranged, and when each clamping claw 610 is transferred to the position of clamping the second intermediate bottle, the clamping claw 610 is controlled to open and clamp the second intermediate bottle conveyed on the conveyor belt 100, so that the second intermediate bottle is placed in the heating pool 620 through the entrance 601 of the clamping conveyor belt 600, and is conveyed on the winding conveyor belt above the heating pool 620, and the second intermediate bottle is continuously heated by hot water. If the second intermediate bottle leaks, the heated second intermediate bottle will spray out, thereby generating corresponding bubbles around the second intermediate bottle. After the bubbles are detected by the visual inspection device, the second intermediate bottle on the corresponding clamp 610 is marked as the second intermediate bottle with leakage. When it reaches the exit 602 of the clamping conveyor 600, the second intermediate bottle with leakage is placed on the recovery conveyor by controlling the clamp 610, and the second intermediate bottle with leakage is transferred to the corresponding bottle cap reinforcement device or hole repairing device through the recovery conveyor. The hole repairing device is to repair the place where the leakage hole is completed; after the repair is completed, the second intermediate bottle is transferred to the sealing detection module again for re-sealing detection. If the second intermediate bottle does not generate corresponding bubbles during the movement of the heating pool 620, it is marked as the second intermediate bottle without leakage, and when it reaches the exit 602 of the clamping conveyor 600, the second intermediate bottle without leakage is placed on the conveyor 100 by controlling the clamp 610, and it is transferred to the drying module for drying through the conveyor 100.

[0160] Step S600: Control the drying module to dry the second intermediate bottle to obtain a third intermediate bottle.

[0161] Specifically, the drying module is used to dry the second intermediate bottle that is contaminated with water droplets after passing through the sealing detection module, and to remove all the water droplets on the second intermediate bottle, thereby preventing the water droplets from interfering with subsequent filling.

[0162] In some optional embodiments, referring to Figure 2 and Fig.10The drying module includes a first drying unit and a second drying unit 560, the first drying unit is arranged above the conveyor belt 100, the first drying unit includes a second detection device and a first blowing mechanism 700, the second drying unit 560 is arranged below the conveyor belt 100, the first drying unit includes a third detection device and a second blowing mechanism, and the controlling the drying module to dry the second intermediate bottle to obtain a third intermediate bottle includes: after the second detection device detects that the second intermediate bottle reaches a first preset blowing position, controlling the first blowing mechanism 700 to blow from the top of the second intermediate bottle, and performing a first drying process on the bottle body 200 and the integrated cover 520 of the second intermediate bottle to obtain a drying bottle; after the third detection device detects that the drying bottle reaches a second preset blowing position, controlling the second blowing mechanism to blow from the bottom of the second intermediate bottle, and performing a second drying process on the bottle bottom of the drying bottle to obtain the third intermediate bottle.

[0163] Specifically, the first drying unit includes a frame plate 720 arranged on both sides of the conveyor belt 100, a horizontal plate 710 is arranged on the frame plate 720, and a first blowing mechanism 700 is fixed on the horizontal plate 710. The first blowing mechanism 700 can generate wind blowing downward. Specifically, the blowing port of the first blowing mechanism 700 is opposite to the second intermediate bottle, and the cross-sectional area of ​​the blowing port is greater than or equal to the cross-sectional area of ​​the second intermediate bottle, so that the wind blown by the blowing port can blow away the water droplets of the bottle body 200. The first blowing mechanism 700 is specifically used to blow hot air, and the specific hot air temperature is set according to the demand, which is not limited here; the second detection device can be set on the frame plate 720, the horizontal plate 710 or other positions where the second intermediate bottle can be detected, and the specific setting position is not limited here. The second blowing mechanism is arranged below the conveyor belt 100, and a corresponding gap is arranged in the middle of the conveyor belt 100. The wind blown by the second blowing mechanism reaches the bottom of the second intermediate bottle through the gap, thereby drying the bottom of the second intermediate bottle. Specifically, the blowing port of the second blowing mechanism is opposite to the bottom of the second intermediate bottle. The second blowing mechanism is specifically used for blowing hot air, and the specific hot air temperature is set according to demand and is not limited here; the third detection device can be set on the side of the conveyor belt 100, above the conveyor belt 100 or at other positions where the second intermediate bottle can be detected, and the specific setting position is not limited here.

[0164] In some optional embodiments, the filling equipment also includes a date engraving module, and the date engraving module includes an infrared detection device and a laser device 570, wherein the laser device 570 is arranged below the conveyor belt 100, and the infrared detection device is arranged on the side of the conveyor belt 100. After the labeling module is controlled to label the third intermediate bottle and before the finished gel bottle is obtained, it also includes: when the infrared detection device detects that the third intermediate bottle has arrived directly above the laser device 570, controlling the laser device 570 to engrave the filling date on the bottom of the third intermediate bottle; and transporting the third intermediate bottle with the filling date engraved thereon to the labeling module via the conveyor belt 100.

[0165] Specifically, the laser device 570 is arranged directly below the conveyor belt 100, and a gap is arranged in the middle of the conveyor belt 100. The laser device 570 prints the filling date on the bottom of the third intermediate bottle through the gap. The infrared detection device is arranged outside the conveyor belt 100, so that when the third intermediate bottle passes, the infrared light of the infrared detection device is reflected back. After the third intermediate bottle is detected, the laser engraving device is synchronously controlled to engrave the corresponding filling date on the bottom of the third intermediate bottle. Specifically, other information can also be engraved, which is specifically set according to needs and is not limited here.

[0166] Step S700, controlling the labeling module to label the third intermediate bottle to obtain a finished gel bottle.

[0167] In some optional embodiments, the labeling module includes a third straight-line conveying unit and a second arc-shaped conveying unit, the third straight-line conveying unit is arranged in parallel with the second arc-shaped conveying unit, the sub-label conveyed on the first arc 800 of the second arc-shaped conveying unit is tangent to the third intermediate bottle on the third straight-line conveying unit, and the control of the labeling module to affix the sub-label to the third intermediate bottle to obtain the finished gel bottle includes: conveying the sub-label to the first arc 800 through the second arc-shaped conveying unit; and synchronously conveying the third intermediate bottle through the third straight-line conveying unit, so that the sub-label at the first arc 800 is tangent to the third intermediate bottle and then pasted on the third intermediate bottle to obtain the finished gel bottle.

[0168] Specifically, refer to Fig.11 The third linear transmission unit is used to transmit the third intermediate bottle, and the second arc transmission unit is used to transmit the sub-label. The sub-label transmitted on the first arc 800 of the second arc transmission unit is tangent to the third intermediate bottle on the third linear transmission unit, that is, the sub-label is attached to the third intermediate bottle by the squeezing force during the relative movement between the first arc 800 and the third intermediate bottle. The specific sub-label includes the corresponding number and / or QR code and other information, which is not limited here.

[0169] In some optional embodiments, the filling equipment further includes a box packing module, the box packing module includes a multi-gripping hole manipulator 900, and the multiple finished gel bottles clamped by the multi-gripping hole manipulator 900 match the packaging box, and the method further includes: controlling the multi-gripping hole manipulator 900 to clamp the multiple finished gel bottles in sequence; controlling the multi-gripping hole manipulator 900 to transfer the multiple finished gel bottles to the packaging box to obtain the gel box 820. The multi-gripping hole manipulator 900 is connected to the corresponding control device through the mechanical arm 910.

[0170] Specifically, refer to Fig.12 The multi-gripping hole manipulator 900 can grip multiple finished gel bottles at one time and fill the box at one time, that is, it matches the box and has high packing efficiency. When the conveyor belt 100 conveys the finished gel bottles, the multi-gripping hole manipulator 900 sequentially grips the multiple finished gel bottles conveyed; then the multi-gripping hole manipulator 900 is controlled to transfer the multiple finished gel bottles to the packaging box, thereby completing the packing of the finished gel bottles.

[0171] In some optional embodiments, the filling equipment also includes a parent labeling module, which includes a fourth linear conveying unit and a third arc-shaped conveying unit, the fourth linear conveying unit is arranged in parallel with the third arc-shaped conveying unit, the parent label conveyed on the second arc 810 of the third arc-shaped conveying unit is tangent to the gel box 820 on the fourth linear conveying unit, and after controlling the multi-clamping hole manipulator 900 to transfer the multiple finished gel bottles to the packaging box to obtain the gel box 820, it also includes: conveying the parent label to the second arc 810 through the third arc-shaped conveying unit; and synchronously conveying the gel box 820 through the fourth linear conveying unit, so that the parent label at the second arc 810 is tangent to the gel box 820 and then pasted on the gel box 820.

[0172] Specifically, refer to Fig.13 , the fourth linear transmission unit is used to transmit the gel box 820, and the third arc-shaped transmission unit is used to transmit the mother label. The mother label transmitted on the second arc 810 of the third arc-shaped transmission unit is tangent to the gel box 820 on the fourth linear transmission unit, and the mother label is attached to the second gel box 820 by the extrusion force during the relative movement between the second arc 810 and the gel box 820. The specific mother label includes information such as the corresponding number and / or QR code, and the specific information is set according to the needs and is not limited here.

[0173] Implementing the embodiments of the present invention has the following beneficial effects: when it is necessary to fill the gel water, the gel water is filled into the gel bottle to be filled by controlling the bottling module to obtain a filled gel bottle; the steel ball adding module is controlled to add steel balls 460 to the filled gel bottle to obtain a first intermediate bottle; the capping module is controlled to cover the integrated cap 520 on the bottle mouth 210 of the first intermediate bottle to obtain a second intermediate bottle; the second intermediate bottle above the preset height on the conveying unit is blocked by the bottle separation unit and then transferred to the sealing detection module; the second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and the airtightness is detected by the visual detection device to obtain a detection result. When the detection result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module; the drying module is controlled to dry the second intermediate bottle to obtain a third intermediate bottle; the labeling module is controlled to label the third intermediate bottle to obtain a finished gel bottle. In the technical solution of this embodiment, through the coordinated control of the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module, the required finished gel bottles can be automatically filled. Compared with the traditional manual filling process, this embodiment can effectively improve the filling quality and filling efficiency of the gel water.

[0174] In addition, an embodiment of the present invention provides a jelly water filling device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0175] The processor and the memory may be connected via a bus or other means.

[0176] It should be noted that the computer in this embodiment may correspond to include: Figure 1 The memory and processor in the embodiment shown can constitute Figure 1 Part of the system architecture platform in the illustrated embodiment, both belong to the same inventive concept, so both have the same implementation principles and beneficial effects, and will not be described in detail here.

[0177] The non-transient software program and instructions required to implement the uplink co-channel interference elimination method of the above embodiment are stored in the memory. When executed by the processor, the jelly water filling method of the above embodiment is executed, for example, the above described method is executed. Fig.14 Method steps S100 to S700 in.

[0178] In addition, one embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are used to execute the jelly water filling method of the jelly water filling device, for example, the above-described Fig.14 Method steps S100 to S700 in.

[0179] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as a processor, such as software executed by a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0180] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for filling jelly water, characterized in that: Applied to a filling device, the filling device includes a bottling module, a steel ball adding module, a capping module, a capping detection module, a sealing detection module, a drying module and a labeling module, the capping detection module includes a bottle separation unit and a conveying unit, the sealing detection module includes a heating pool, a clamping conveyor belt and a visual detection device, and the jelly water filling method includes: Controlling the bottling module to fill the gel water into the gel bottle to be filled to obtain a filled gel bottle; Controlling the steel ball adding module to add steel balls to the filled gel bottle to obtain a first intermediate bottle; Controlling the capping module to cover the integrated cap on the bottle mouth of the first intermediate bottle to obtain a second intermediate bottle; The second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separation unit and then transferred to the sealing detection module; The second intermediate bottle is conveyed to the heating pool by the clamping conveyor belt for heating, and an airtightness test is performed by the visual inspection device to obtain a test result. When the test result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module; Controlling the drying module to dry the second intermediate bottle to obtain a third intermediate bottle; The labeling module is controlled to label the third intermediate bottle to obtain a finished gel bottle.

2. The jelly water filling method according to claim 1, characterized in that: The bottling module is provided with at least two gel water injection units, and the plurality of gel water injection units are sequentially arranged on the moving track of the gel bottle to be filled, and the bottling module is controlled to fill the gel water into the gel bottle to be filled to obtain a filled gel bottle, comprising: Determining a first injection amount of each of the gel water injection units according to the moving speed of the gel bottle to be loaded and the number of the gel water injection units; A filled gel bottle is obtained by controlling a plurality of the gel water injection units to sequentially inject gel water into the gel bottle to be filled, the gel water injected into the gel bottle to be filled by the gel water injection unit is the first injection amount, and the first injection amounts of different gel water injection units are the same or different.

3. The jelly water filling method according to claim 2, characterized in that: The gel water injection unit comprises a gel water storage box, a movable injection pipeline, a fixed rod, a bottle detection device and a movable rod, wherein the fixed rod is arranged on the upper surface of the gel water storage box, the movable rod passes through the fixed rod and is movably connected to the gel water storage box, and the movable injection pipeline passes through the lower surface of the gel water storage box and is movably connected to the gel water storage box. The method further comprises: When the bottle detection device detects that the gel bottle to be loaded has reached the preset injection position, the gel water storage box is controlled to move a first preset distance in the negative direction of the first direction axis, so that the movable injection pipe moves synchronously; when the movable injection pipe touches the gel bottle to be loaded, the movable injection pipe moves in the positive direction of the first direction axis relative to the gel water storage box, and the movable rod is moved synchronously, so that a separation signal is generated after the movable rod is separated from the fixed rod; According to the separation signal, the jelly water storage box is controlled to inject the first injection amount of jelly water into the jelly bottle to be filled through the movable injection pipe.

4. The jelly water filling method according to claim 1, characterized in that: The filling equipment further comprises a conveyor belt, the conveyor belt sequentially passes through the bottling module, the steel ball adding module, the capping module, the capping detection module, the sealing detection module, the drying module and the labeling module, and a plurality of interval detection devices are arranged on the conveyor belt, and the method further comprises: The interval detection device detects the interval information between a plurality of conveying bottles, wherein the conveying bottles represent the to-be-filled gel bottles, the filled gel bottles, the first intermediate bottles, the second intermediate bottles, the third intermediate bottles and the finished gel bottles conveyed on the conveyor belt; When the interval information indicates that the interval distance between two adjacent conveying bottles is greater than a first threshold, the conveying mode of the conveyor belt is controlled so that the interval distance between two adjacent conveying bottles is less than or equal to the first threshold.

5. The jelly water filling method according to claim 4, characterized in that: The conveyor belt includes a plurality of conveying mechanisms, and the conveying mode of the conveyor belt is controlled so that the interval between two adjacent conveying bottles is less than or equal to the first threshold, including: When the interval between the adjacent first conveying bottle and the second conveying bottle is greater than the first threshold, second position information of the first conveying bottle and the second conveying bottle is determined according to the interval information, and the first conveying bottle is transferred to the second conveying bottle through the transmission mechanism; When the second position information indicates that the first conveying bottle and the second conveying bottle are located at different conveying mechanisms, control the conveying mechanism for conveying the second conveying bottle to stop running, and control the conveying mechanism for conveying the first conveying bottle to convey the first conveying bottle to the second conveying bottle, so that the interval between the first conveying bottle and the second conveying bottle is less than or equal to the first threshold; When the second position information indicates that the first conveying bottle and the second conveying bottle are both located in the same conveying mechanism, the next conveying mechanism is controlled to stop running so that the interval between the first conveying bottle and the second conveying bottle is less than or equal to the first threshold.

6. The jelly water filling method according to claim 1, characterized in that: The steel ball adding module comprises a turntable, a fixed disk, a first detection device, a rotating mechanism and a steel ball hitting mechanism, the rotating mechanism comprises a rotating motor and a rotating rod, the rotating motor is arranged on the first surface of the fixed disk, the first end of the rotating rod is connected to the rotating motor, the second end of the rotating rod passes through the fixed disk and is connected to the center of the turntable, the steel ball hitting mechanism comprises a first cylinder and a first gas rod, the first cylinder is arranged on the first surface of the fixed disk, the first end of the first gas rod is connected to the first cylinder, the second end of the first gas rod passes through the fixed disk and is movably connected to the fixed disk, the turntable is evenly provided with a plurality of through holes along a concentric circle, the through holes are provided with steel balls transferred by the steel ball transfer mechanism, the control of the steel ball adding module to add steel balls to the filled gel bottle to obtain the first intermediate bottle comprises: When the first detection device detects that the filled gel bottle has reached the preset steel ball adding position: Controlling the rotating motor to rotate at a first preset angle so that the center line of one of the through holes and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis; The first air cylinder is controlled to drive the first air rod to move a second preset distance on the first direction axis, so that the first air rod drives the steel ball located on the through hole into the filled gel bottle to obtain the first intermediate bottle.

7. The jelly water filling method according to claim 6, characterized in that: The method further comprises: When the moving distance of the first gas rod is less than the second preset distance, the rotating motor is controlled to rotate by the second preset angle so that the center line of the next through hole and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis, and the first gas cylinder is controlled to drive the first gas rod to move the second preset distance on the first direction axis so that the first gas rod drives the steel ball located on the next through hole into the filled gel bottle to obtain the first intermediate bottle; or When the moving distance of the first gas rod is equal to the second preset distance and the air pressure of the first gas cylinder is less than the preset air pressure, the rotary motor is controlled to rotate by the second preset angle so that the center line of the next through hole and the center line of the bottle mouth of the filled gel bottle coincide with each other on the first direction axis, and the first gas cylinder is controlled to drive the first gas rod to move the second preset distance on the first direction axis so that the first gas rod drives the steel ball located on the next through hole into the filled gel bottle to obtain the first intermediate bottle; and / or When the weight of the first intermediate bottle is less than or equal to the weight of the filled gel bottle, the rotating motor is controlled to rotate to a third preset angle so that the center line of the next through hole and the center line of the bottle mouth of the first intermediate bottle coincide with each other on the first direction axis, and the first air cylinder is controlled to drive the first air rod to move the second preset distance on the first direction axis so that the first air rod can hit the steel ball located on the next through hole into the first intermediate bottle.

8. The jelly water filling method according to claim 1, characterized in that: The bottle separation unit includes a bracket and a cross bar arranged on the bracket, the conveying unit includes a first linear conveyor belt, a second linear conveyor belt and a first arcuate conveyor belt, the first linear conveyor belt is arranged at the input end of the first arcuate conveyor belt, the second linear conveyor belt is arranged at the output end of the first arcuate conveyor belt, the cross bar is located on the outside of the first arcuate conveyor belt, and a baffle is arranged on the inside of the first arcuate conveyor belt, the second intermediate bottle on the conveying unit that is higher than a preset height is blocked by the bottle separation unit and then transmitted to the sealing detection module, including: conveying the second intermediate bottle to the first curved conveyor belt via the first linear conveyor belt; After the second intermediate bottle higher than the preset height is blocked by the cross bar, the second intermediate bottle higher than the preset height is conveyed to the second linear conveyor belt by the first curved conveyor belt; The second intermediate bottle above a preset height is conveyed to the sealing detection module by the second linear conveyor belt.

9. The jelly water filling method according to claim 8, characterized in that: The heating pool is provided with a heating device, the clamping conveyor is provided on the heating pool, and a plurality of clamping claws are provided on the clamping conveyor. The second intermediate bottle is conveyed to the heating pool by the clamping conveyor for heating, and an air tightness test is performed by the visual inspection device to obtain a test result. When the test result indicates that the second intermediate bottle has no leakage, the second intermediate bottle is conveyed to the drying module, including: Grasping the second intermediate bottle on the second linear conveyor belt by the gripper; conveying the second intermediate bottle in the heating pool by the clamping conveyor belt so that the hot water in the heating pool heats the second intermediate bottle, wherein the hot water in the heating pool is heated by the heating device; Inspecting the second intermediate bottle located in the heating pool by the visual inspection device, and configuring the inspection result of the second intermediate bottle as leakage if a plurality of bubbles appear continuously within a preset range of the second intermediate bottle; otherwise configuring the inspection result of the second intermediate bottle as no leakage; Controlling the clamping claw to place the leaking second intermediate bottle on a recovery conveyor belt at the exit of the clamping conveyor belt; The clamping claw is controlled to place the second intermediate bottle without leakage on the conveyor belt at the exit of the clamping conveyor belt, so that the conveyor belt conveys the second intermediate bottle without leakage to the drying module.

10. The jelly water filling method according to claim 4, characterized in that: The drying module comprises a first drying unit and a second drying unit, the first drying unit is arranged above the conveyor belt, the first drying unit comprises a second detection device and a first blowing mechanism, the second drying unit is arranged below the conveyor belt, the first drying unit comprises a third detection device and a second blowing mechanism, and the controlling the drying module to dry the second intermediate bottle to obtain a third intermediate bottle comprises: After the second detection device detects that the second intermediate bottle has reached the first preset blowing position, the first blowing mechanism is controlled to blow air from above the second intermediate bottle to perform a first drying process on the body and the integrated cover of the second intermediate bottle to obtain a dry bottle; After the third detection device detects that the drying bottle reaches the second preset blowing position, the second blowing mechanism is controlled to blow air from below the second intermediate bottle to perform a second drying process on the bottom of the drying bottle to obtain the third intermediate bottle.

11. The jelly water filling method according to claim 4, characterized in that: The filling equipment further includes a date engraving module, the date engraving module includes an infrared detection device and a laser device, the laser device is arranged below the conveyor belt, and the infrared detection device is arranged on the side of the conveyor belt. The control of the labeling module to label the third intermediate bottle before obtaining the finished gel bottle further includes: When the infrared detection device detects that the third intermediate bottle has reached directly above the laser device, the laser device is controlled to engrave the filling date on the bottom of the third intermediate bottle; The third intermediate bottle with the filling date printed thereon is transported to the labeling module via the conveyor belt.

12. The jelly water filling method according to claim 1, characterized in that: The labeling module comprises a third linear conveying unit and a second arc conveying unit, the third linear conveying unit is arranged in parallel with the second arc conveying unit, the sub-label conveyed on the first arc of the second arc conveying unit is tangent to the third intermediate bottle on the third linear conveying unit, and the control of the labeling module to affix the sub-label to the third intermediate bottle to obtain a finished gel bottle comprises: The sub-label is transferred to the first arc by the second arc transfer unit; The third intermediate bottle is synchronously conveyed by the third linear conveying unit, so that the sub-label at the first arc is tangent to the third intermediate bottle and then adhered to the third intermediate bottle to obtain the finished gel bottle.

13. The jelly water filling method according to claim 1, characterized in that: The filling equipment further includes a box packing module, the box packing module includes a multi-clamping hole manipulator, and the plurality of finished gel bottles clamped by the multi-clamping hole manipulator match the packaging box, and the method further includes; Controlling the multi-clamping hole manipulator to sequentially clamp a plurality of the finished gel bottles; The multi-clamping hole manipulator is controlled to transfer the plurality of finished gel bottles to the packaging box to obtain a gel box.

14. The jelly water filling method according to claim 13, characterized in that: The filling equipment further includes a mother labeling module, the mother labeling module includes a fourth linear conveying unit and a third arc conveying unit, the fourth linear conveying unit is arranged in parallel with the third arc conveying unit, the mother label conveyed on the second arc of the third arc conveying unit is tangent to the gel box on the fourth linear conveying unit, and after the multi-gripping hole manipulator is controlled to transfer the plurality of finished gel bottles to the packaging box to obtain the gel box, it also includes: The mother label is transferred to the second arc by the third arc transfer unit; The gel box is synchronously conveyed by the fourth linear conveying unit, so that the female label at the second arc is tangent to the gel box and then adhered to the gel box.

15. A jelly water filling device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the jelly water filling method according to any one of claims 1 to 14 when executing the computer program.

16. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the jelly water filling method described in any one of claims 1-14.

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