Cover closing control method, device and equipment and computer readable storage medium

Abstract

The invention relates to a cover closing control method, device and equipment and a computer readable storage medium. The method comprises the following steps: controlling a cover closing device to transfer a container and / or a cover body, so that the cover body is close to the container; in the approaching process of the cover body and the container, when it is detected that a first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to continue approaching, and the cover closing device is controlled to rotate the container and / or the cover body; in the rotating process of the container and / or the cover body, when it is detected that a second force parameter fed back by the force sensor reaches a second preset threshold value, the cover body is controlled to stop approaching the container, and the cover closing device is controlled to continue rotating the container and / or the cover body, so that cover closing operation is completed. According to the scheme, the cover closing process between the container and the cover body can be controlled according to the force parameters detected in real time in the cover closing process, the cover closing success rate between the container and the cover body is increased, and then the production efficiency and stability of the production process are improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical assembly technology, and in particular to a cover closing control method, device, equipment and computer-readable storage medium. Background Art

[0002] In recent years, with the rapid development of science and technology, the intelligence and automation level of various equipment and products used in biological and chemical laboratories has been continuously improved. Among them, in order to improve production efficiency and product quality, it is becoming more and more important to improve the automation and precise control of the closing process between the container and the cover.

[0003] In the related art, the closing process is mainly optimized by improving the mechanical structure and control algorithm. However, the above method lacks real-time feedback on the closing process, which easily leads to the closing process still being carried out when a fault or abnormal situation occurs during the closing process, resulting in damage to the closed object, affecting the production efficiency and stability of the production process. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a lid closing control method, device, equipment and computer-readable storage medium, which can control the lid closing process between the container and the lid body according to the force parameters detected in real time during the lid closing process, thereby improving the lid closing success rate between the container and the lid body, and thereby improving the production efficiency and stability of the production process.

[0005] In a first aspect, the present application provides a lid closing control method, which is applied to a lid closing device to close a container and a lid body, wherein the lid closing device is provided with a force sensor, and the lid closing device comprises a container clamping module for clamping the container and a lid clamping module for clamping the lid body, and the method comprises:

[0006] Controlling the cover closing device to move the container and / or the cover so that the cover is close to the container;

[0007] When the cover and the container are approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover;

[0008] During the rotation of the container and / or the cover, it is detected that the second force parameter fed back by the force sensor reaches a second preset threshold value, the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container and / or the cover to complete the cover closing operation.

[0009] In some embodiments, controlling the cover closing device to move the container and / or the cover so that the cover is close to the container includes:

[0010] The lid closing device is controlled to move the container and / or the lid body from an initial point position so that the lid body and / or the container approaches a preset target point position; wherein the preset target point position is a teaching point position obtained during normal lid closing which is pre-taught by the lid closing device, and the initial point position is determined based on the preset target point position.

[0011] In some embodiments, when the cover and the container are approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold, the cover and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover, including:

[0012] During the process of the cover body and the container approaching each other, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, the cover body and the container are controlled to approach each other with a first motion parameter; after detecting that the first force parameter fed back by the force sensor reaches the first preset threshold, the cover body and the container are controlled to continue approaching each other with a second motion parameter, and the cover closing device is controlled to rotate the container and / or the cover body; wherein, the first motion parameter is greater than or equal to the second motion parameter.

[0013] In some embodiments, the method further comprises:

[0014] During the process of the cover body approaching the container, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, the container clamping module is controlled to provide a preset movable space for the container, so that the container can be moved within the preset movable space without tipping over.

[0015] In some embodiments, the size of the preset movable space is proportional to the diameter of the container.

[0016] In some embodiments, when the cover and the container are approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold, the cover and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover, including:

[0017] During the process of the cover body and the container approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to stop approaching each other, and the container clamping module is controlled to clamp the container. After the container clamping module clamps the container, the cover body and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover body.

[0018] In some embodiments, the force sensor is disposed on the container clamping module and / or the cover clamping module;

[0019] The first force parameter includes: the force acting along the axis direction of the container; the second force parameter includes: the force acting along the axis direction of the container and / or the torque rotating around the axis direction of the container.

[0020] In some embodiments, controlling the cover closing device to continue rotating the container and / or the cover body to complete the cover closing operation includes:

[0021] Control the cover closing device to continue rotating the container and / or the cover body to reach a preset number of revolutions, stop rotating and end the cover closing operation; or control the cover closing device to continue rotating the container and / or the cover body so that the torque rotating along the axis of the container reaches a preset cover closing threshold, stop rotating and end the cover closing operation.

[0022] In some embodiments, the method further comprises:

[0023] After the cover closing operation is completed, the cover closing state between the container and the cover body is detected.

[0024] In some embodiments, detecting the closed state of the container and the cover body includes:

[0025] Detect the force applied when clamping the container and / or the cover body away from each other along the axis of the container, and / or detect the clamping stroke of the container close to the cover body to determine whether the container and the cover body are successfully closed.

[0026] In some embodiments, the detecting of the force applied when the container and / or the cover are clamped away from each other along the axis of the container includes:

[0027] Detecting whether the force applied when clamping the container and / or the cover away from each other along the axis of the container reaches a preset force threshold, and if so, determining that the container and the cover are closed successfully;

[0028] The method of detecting a clamping stroke for clamping the container close to the cover body comprises:

[0029] It is detected whether the clamping stroke of the container near the cover body is greater than or equal to the diameter of the cover body. If so, it is determined that the cover between the container and the cover body is closed successfully.

[0030] In some embodiments, the method further comprises:

[0031] During the rotation of the container and / or the cover body, if the second force parameter fed back by the force sensor is not detected to reach a second preset threshold within a preset time threshold, the cover closing device is controlled to move the container and / or the cover body for reset, and then perform the cover closing operation again.

[0032] In some embodiments, the method further comprises:

[0033] After the cover body and the container are reset and the cover closing reaches a preset threshold number of times, the closed state between the container and the cover body is detected.

[0034] In some embodiments, detecting the closed state of the container and the cover body includes:

[0035] Detect the force applied when clamping the container and / or the cover body away from each other along the axis of the container, and / or detect the clamping stroke of the container close to the cover body to determine whether the container and the cover body are successfully closed.

[0036] A second aspect of the present application provides a lid closing control device, which is used for a lid closing device to close a container and a lid body, wherein a force sensor is provided on the lid closing device, and the lid closing device comprises a container clamping module for clamping the container and a lid clamping module for clamping the lid body, and the lid closing control device comprises:

[0037] A transfer module, used for controlling the cover closing device to transfer the container and / or the cover so that the cover is close to the container;

[0038] A first lid closing module, configured to detect that a first force parameter fed back by the force sensor reaches a first preset threshold value during the process of the lid and the container approaching each other, control the lid and the container to continue to approach each other, and control the lid closing device to rotate the container and / or the lid;

[0039] The second lid closing module is used to detect that the second force parameter fed back by the force sensor reaches a second preset threshold during the rotation of the container and / or the lid body, control the lid body and the container to stop approaching, and control the lid closing device to continue rotating the container and / or the lid body to complete the lid closing operation.

[0040] A third aspect of the present application provides an electronic device, including:

[0041] Processor; and

[0042] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0043] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0044] The technical solution provided by this application may have the following beneficial effects:

[0045] The technical solution of the present application can control the lid closing process between the container and the lid body according to the force parameters detected in real time during the lid closing process, wherein the container and the lid body are controlled to continue to approach and rotate according to the detected first force parameter, and the container and the lid body are controlled to stop approaching and continue to rotate according to the detected second force parameter, so as to complete the lid closing operation, improve the lid closing success rate between the container and the lid body, and thereby improve the production efficiency and stability of the production process.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0048] Figure 1 is a flow chart of a lid closing control method shown in an embodiment of the present application;

[0049] Figure 2 is another flowchart of the lid closing control method shown in an embodiment of the present application;

[0050] Figure 3 is a data variation diagram of a second force parameter fed back by a force sensor shown in an embodiment of the present application;

[0051] Figure 4 is a structural schematic diagram of a lid closing control device shown in an embodiment of the present application;

[0052] Figure 5 is another structural schematic diagram of the cover closing control device shown in an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0055] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0056] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0057] In the related art, the cover closing process is optimized by improving the mechanical structure and control algorithm. However, there is a lack of real-time feedback on the cover closing process, which may easily lead to the cover closing process continuing when a fault or abnormal situation occurs during the cover closing process, causing damage to the cover closing object and affecting the production efficiency and stability of the production process.

[0058] In response to the above problems, an embodiment of the present application provides a lid closing control method, which can control the lid closing process between the container and the lid body according to the force parameters detected in real time during the lid closing process, thereby improving the lid closing success rate between the container and the lid body, and further improving the production efficiency and stability of the production process.

[0059] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0060] The lid closing control method of the present application is mainly used for a lid closing device to close a container and a lid body, wherein one end of the container is provided with a container opening. The container may be a solution glass vessel such as a test tube, a solvent bottle, etc. Of course, the container may also be a solution vessel of other materials.

[0061] Specifically, a force sensor is provided on the lid closing device, and the lid closing device includes a container clamping module for clamping the container and a lid clamping module for clamping the lid. The force sensor can be provided on the container clamping module or the lid clamping module. Of course, the force sensor can be provided on both the container clamping module and the lid clamping module. Through the force sensor, relevant force parameters generated during the closing process between the container and the lid can be obtained, such as the force along the axis direction of the container, the torque rotating around the axis direction of the container, etc. Among them, the force sensor in the present application can be a single-dimensional or multi-dimensional force sensor (such as a six-dimensional force sensor). Of course, the force sensor can also use other sensors that can realize force and / or torque detection, which is not limited here.

[0062] It should be noted that in the present application, the cover closing device can also realize the transfer of the container and / or the cover body through a transfer mechanism such as a mechanical arm, a single Z-axis moving mechanism, an XYZ three-axis moving mechanism, etc. It can be understood that the aforementioned container clamping module and / or the cover body clamping module can be set in the above-mentioned transfer mechanism. Of course, when one of the container and the cover body does not need to be moved, the clamping can be achieved only by the clamping module. In addition, the cover closing device can also be provided with a rotating mechanism connected or not connected to the above-mentioned container clamping module and the cover body clamping module. The rotating mechanism may include but is not limited to a rotating motor. The cover closing device can use the rotating mechanism to control the container and / or the cover body to rotate. For example, the cover body clamping module is connected to the mechanical arm, and the container clamping module is fixedly arranged on the rotating mechanism. The mechanical arm drives the cover body clamping module that clamps the cover body to move, and the container clamping module can rotate the clamped container; or the container clamping module is fixed, and the mechanical arm drives the cover body clamping module that clamps the cover body to move and rotate.

[0063] Figure 1 It is a flow chart of the lid closing control method shown in the embodiment of the present application.

[0064] See also Figure 1 , the cover closing control method of the present application comprises:

[0065] S110, controlling the cover closing device to move the container and / or the cover body so that the cover body and the container are close to each other.

[0066] When the container and the cover are closed, either the container or the cover can be moved closer to each other, or both of them can be moved closer to each other. It can be understood that during the closing process, the container and the cover can be moved with one of them as a fixed end and the other as a movable end, or both of them can be moved with each other as movable ends.

[0067] For example, the container is initially fixed at the loading position, and the cover closing device moves the cover body toward the container position so that the cover body and the container are close to each other. For example, the cover body is initially fixed at the loading position, and the cover closing device moves the container toward the container position so that the cover body and the container are close to each other. For another example, the cover closing device simultaneously moves the container and the cover body so that the cover body and the container are close to each other.

[0068] It should be noted that the container generally refers to a container containing reagents, so the container needs to be opened upward, and the cover needs to be located above the container opening to perform the lid closing process from top to bottom. Regardless of whether the container contains reagents, the container in the present application can also be opened downward, and the cover can be approached from bottom to top to achieve lid closing; of course, the container opening can also be in other directions, which is not limited here.

[0069] S120, when the cover and the container are approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover.

[0070] The first force parameter fed back by the force sensor can be a force used to determine whether the cover is in contact with the container. When it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold, it can be considered that the cover is in contact with the container. Then, the cover and the container are controlled to continue to approach each other, so that the cover and the container can be pre-fitted, that is, the cover part is partially fitted to the container, so that the cover and the container can be aligned. And the cover closing device is controlled to rotate either the container or the cover, or the cover closing device is controlled to rotate the container and the cover at the same time, so that the cover begins to be screwed into the container.

[0071] It should be understood that during the process of the lid and the container approaching each other, the lid and the container continuously approach each other from a non-contact state, and then the lid and the container come into contact. Firstly, it is determined whether the lid and the container are in contact, and then the lid and the container are controlled to continue to close after the lid and the container are in contact, so as to improve the success rate of the subsequent closing of the lid and the container.

[0072] In some embodiments, the first force parameter may include but is not limited to a force in the direction of the axis of the container. It is understandable that the first force parameter may be obtained by a force sensor disposed in the container clamping module, or the first force parameter may be obtained by a force sensor disposed in the cover clamping module. Among them, when the cover is in contact with the container, a force in the direction of the axis of the container will be generated between the two due to the contact. By detecting the force in the direction of the axis of the container, it is possible to determine whether the cover is in contact with the container. Of course, when the cover is in contact with the container, forces in other directions other than the axis of the container may be generated between the two. The first force parameter may also be a force in other directions other than the axis of the container generated when the cover is in contact with the container.

[0073] S130, during the rotation of the container and / or the cover, it is detected that the second force parameter fed back by the force sensor reaches a second preset threshold, the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container and / or the cover to complete the cover closing operation.

[0074] The second force parameter fed back by the force sensor can be used to determine whether the cover and the container are completely fitted. It should be noted that when the cover and the container reach a fitted state, the cover and the container have been initially closed, and a sealed space is formed between the cover and the container, and the cover can continue to be screwed into the container.

[0075] During the process of closing the lid, the lid can be screwed into the container by rotating the container or the lid. During the process of rotating the container or the lid, the container and the lid will generate a mutual pulling force caused by the rotation, that is, during the process of closing the lid, when the container or the lid rotates, the container and the lid will be pulled closer to each other by the pulling force caused by the rotation.

[0076] When the container or the cover is rotating, when it is detected that the second force parameter fed back by the force sensor reaches a second preset threshold, it is considered that the cover and the container are in a fit state, the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container or the cover to complete the cover closing operation.

[0077] During the rotation of the container and / or the cover, it is easy to know that a force in the direction of the axis of the container and a torque rotating around the axis of the container will be generated between the container and the cover. In some embodiments, the second force parameter may include but is not limited to: one or more force parameters of the force in the direction of the axis of the container and the torque rotating around the axis of the container. Of course, the second force parameter may also be set according to the force and / or torque in other directions generated between the container and the cover during the rotation of the container or the cover.

[0078] In order to facilitate the understanding of the lid closing control method of the present application, four application scenarios are listed below, respectively explaining the first force parameter and the second force parameter settings when the force sensor is set on the container clamping module or the lid clamping module.

[0079] First, in the process of the cover body and the container approaching each other, the cover clamping module that clamps the cover body is driven by the mechanical arm to move toward the container clamping module that clamps the container, and the container clamping module is able to rotate the container. When the force sensor is provided on the cover clamping module, in the process of closing the cover corresponding to the above-mentioned application scenario, the first force parameter may be the force acting on the cover body along the axis direction of the container detected by the force sensor, that is, the pressure exerted on the cover body when the cover body contacts the container, and the second force parameter may be the force acting on the cover body along the axis direction of the container detected by the force sensor, that is, the pulling force generated by the container on the cover body during the rotation of the container, and / or, the second force parameter may be the torque on the cover body rotating around the axis direction of the container detected by the force sensor, that is, the torque corresponding to the torque generated by the container on the cover body during the rotation of the container.

[0080] Secondly, in the process of the cover body and the container approaching each other, the cover clamping module that clamps the cover body is driven by the robotic arm to move toward the container clamping module that clamps the container, and the container clamping module is able to rotate the container. When the force sensor is provided on the container clamping module, in the process of closing the cover corresponding to the above-mentioned application scenario, the first force parameter may be the force acting on the container along the axis of the container detected by the force sensor, that is, the pressure exerted on the container when the cover body contacts the container, and the second force parameter may be the force acting on the container along the axis of the container detected by the force sensor, that is, the pulling force generated by the cover body on the container during the rotation of the container, and / or, the second force parameter may be the torque detected by the force sensor on the container rotating around the axis of the container, that is, the torque corresponding to the torque generated by the cover body on the container during the rotation of the container.

[0081] Thirdly, in the process of the cover body and the container approaching each other, the cover clamping module that clamps the cover body is driven by the mechanical arm to move toward the container clamping module that clamps the container, and the cover clamping module can rotate the cover body, while the container clamping module clamps the container motionlessly. When the force sensor is arranged on the cover clamping module, in the process of closing the cover corresponding to the above-mentioned application scenario, the first force parameter may be the force acting on the cover body along the axis direction of the container detected by the force sensor, that is, the pressure exerted on the cover body when the cover body contacts the container, and the second force parameter may be the force acting on the cover body along the axis direction of the container detected by the force sensor, that is, the pulling force generated by the container on the cover body during the rotation of the cover body, and / or, the second force parameter may be the torque detected by the force sensor on the cover body rotating around the axis direction of the container, that is, the torque corresponding to the torque generated on the container when the cover body rotates.

[0082] Fourthly, in the process of the cover body and the container approaching each other, the cover clamping module that clamps the cover body is driven by the mechanical arm to move toward the container clamping module that clamps the container, and the cover clamping module can rotate the cover body, and the container clamping module clamps the container motionlessly. When the force sensor is provided on the container clamping module, in the process of closing the cover corresponding to the above-mentioned application scenario, the first force parameter may be the force acting on the container along the axis of the container detected by the force sensor, that is, the mutual thrust generated between the cover body and the container when the cover body contacts the container, and the second force parameter may be the force acting on the container along the axis of the container detected by the force sensor, that is, the pulling force generated by the cover body on the container during the rotation of the cover, and / or, the second force parameter may be the torque detected by the force sensor on the container rotating around the axis of the container, that is, the torque corresponding to the torque generated on the container when the cover body rotates.

[0083] In some embodiments, the process of the cover body and the container approaching each other may be to control the cover closing device to move the container and / or the cover body from an initial point so that the cover body and / or the container approaches a preset target point.

[0084] It should be noted that the point position can be a position or an attitude. The initial point position can be the initial position or initial attitude of the container or lid when the lid is closed. The preset target point position can be the corresponding position or attitude of the lid or container when the lid is closed successfully, or the preset target point position can be the corresponding position or attitude of the lid or container when the first force parameter reaches the first preset threshold, or the preset target point position can be the corresponding position or attitude of the lid or container when the second force parameter reaches the second preset threshold.

[0085] In some embodiments, after the cover closing operation is completed, the cover closing state between the container and the cover body can also be detected according to the completion of the cover closing operation. By detecting the cover closing state between the container and the cover body, the effectiveness of the cover closing process between the container and the cover body can be ensured.

[0086] In the present application, step S120 and step S130 implement a segmented closing process for the closing process between the container and the cover body, wherein the first part of the closing process is a preliminary closing of the container and the cover, and the first part of the closing process is mainly used to determine whether there is contact between the container and the cover body, and the second part of the closing process is to determine whether the container and the cover body are in a fit state after the first part of the closing process determines that there is contact between the container and the cover body. When the container and the cover body are in a fit state, the container and the cover are finally closed to complete the overall closing process.

[0087] In this embodiment, the technical solution of the present application can control the lid closing process between the container and the lid body according to the force parameters detected in real time during the lid closing process, wherein the container and the lid body are controlled to continue to approach and rotate according to the detected first force parameter, and the container and the lid body are controlled to stop approaching and continue to rotate according to the detected second force parameter, so as to complete the lid closing operation, improve the lid closing success rate between the container and the lid body, and thereby improve the production efficiency and stability of the production process.

[0088] Figure 2 It is another flowchart diagram of the lid closing control method shown in an embodiment of the present application.

[0089] See also Figure 2 , the cover closing control method of the present application comprises:

[0090] S210, controlling the cover closing device to move the container and / or the cover from the initial point, so that the cover and / or the container moves toward a preset target point.

[0091] The initial point position may be the initial position or initial posture of the container or cover body when the cover is closed. The preset target point position may be the teaching point position for normal cover closing pre-taught by the cover closing device. Among them, the teaching point position for normal cover closing may include but is not limited to: the corresponding position or posture of the cover body or container when the cover is successfully closed, the corresponding position or posture of the cover body or container when the first force parameter reaches the first preset threshold, and the corresponding position or posture of the cover body or container when the second force parameter reaches the second preset threshold. The teaching point position for normal cover closing may also be any point position between the aforementioned three points. The preset target point position may also be set to other points according to actual applications. For example, the preset target point position may be the point position where the cover body is screwed into the container opening for a preset number of turns. Among them, the teaching point position for normal cover closing may be obtained through manual teaching or machine teaching.

[0092] It should be understood that the preset target point can be used to point the container or the cover body when it is being moved when the container and the cover body are approaching each other. After the container and the cover body are in contact or in a fit, the container and the cover body can be considered to have completed alignment. In the subsequent closing process, the container and the cover body can be closed by controlling the container or the cover body through directional drive control of the closing device.

[0093] In some embodiments, the initial point position may be determined according to a preset target point position. For example, the initial point position may be a point position at a preset spacing along the axis of the container from the preset target point. Of course, the initial point position may also take into account the length specifications of the cover and the container, for example, the initial point position may be a preset target point at a distance of 1 to 5 mm from the container opening along the axis of the container.

[0094] S220, during the process of the lid and the container approaching each other, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, controlling the container clamping module to provide a preset movable space for the container, so that the container can be moved within the preset movable space without tipping over.

[0095] Among them, the cover body and the container are controlled and transferred by the cover closing device. The materials of the cover body and the container are generally made of materials with high hardness, which leads to a rigid collision process between the cover body and the container. In this way, the rigid collision between the container and the cover body may easily cause one of the cover body and the container to tilt, affecting the success rate of the cover closing process.

[0096] Before the cover body comes into contact with the container, the container clamping module can reserve a preset movable space for clamping and fixing the container. Under the action of the preset movable space, the container can move a small stroke without tipping over. When the cover body and the container are further approached in the subsequent process, the container can move within the preset movable space without tipping over, thereby reserving sufficient moving space for the rigid collision generated in the process of the cover body contacting the container, thereby preventing the cover body from tilting due to the rigid collision between the container and the cover body, thereby improving the success rate of the cover closing process.

[0097] Among them, the size of the preset movable space can be proportional to the diameter of the container, that is, the size of the preset movable space can be set according to the diameter of the container, and the preset movable space can be equal to the diameter of the container plus the preset width, and the preset width can be 1-4mm. For example, the container clamping module clamps the container by double-sided clamps, and one side of the clamp can be loosened, or the clamps on both sides can be loosened at the same time, and each side is loosened by 1-2mm. It should be noted that the diameter of the above-mentioned container can be the diameter of the container bottle. Of course, the size of the preset movable space can also be set according to actual application requirements. For example, the size of the preset movable space can be a fixed value, which does not change with the change of the container diameter.

[0098] S230, during the process of the cover body and the container approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to stop approaching each other, and the container clamping module is controlled to clamp the container. After the container clamping module clamps the container, the cover body and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover body.

[0099] When it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, for example, the first preset threshold value is 1 Newton, it can be considered that the cover is in contact with the container. Then, the container is clamped by the container clamping module, and then the cover and the container are controlled to continue to approach, so that the cover and the container are pre-fitted, that is, the cover is partially fitted to the container. While the cover and the container continue to approach, the cover closing device is controlled to rotate either the container or the cover, or the cover closing device is controlled to rotate the container and the cover at the same time, so that the cover begins to be screwed into the container.

[0100] In the above process, first clamping the container and then rotating the container and / or the cover can provide friction for closing the container, effectively avoiding slipping when the cover is screwed into the container, thereby improving the stability of the cover closing process. In the process of the cover and the container approaching each other, before detecting that the first force parameter fed back by the force sensor reaches the first preset threshold, it indicates that the cover and the container are not in contact, and after detecting that the first force parameter fed back by the force sensor reaches the first preset threshold, it indicates that the cover and the container are in contact. By using two different motion parameters for the above non-contact state and contact state, the process of the cover and the container approaching each other can be controlled, so as to accurately control the cover and the container in the non-contact state and the contact state, which can effectively improve the efficiency and stability of the cover closing process.

[0101] Specifically, during the process of the cover body and the container approaching each other, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, the cover body and the container are controlled to approach each other with a first motion parameter; after detecting that the first force parameter fed back by the force sensor reaches the first preset threshold, the cover body and the container are controlled to continue to approach each other with a second motion parameter, and the cover closing device is controlled to rotate the container and / or the cover body.

[0102] It should be understood that the first motion parameter and the second motion parameter may include the speed at which the cover and the container are brought close to each other. The first motion parameter may be greater than the second motion parameter. That is, when the cover and the container are not in contact, the cover and the container may be controlled to be brought close to each other at a faster speed to improve efficiency. When the cover and the container are in contact, the cover and the container may be controlled to be brought close to each other at a slower speed to avoid causing damage. Of course, the first motion parameter may also be equal to the second motion parameter.

[0103] S240, during the rotation of the container and / or the cover, it is detected that the second force parameter fed back by the force sensor reaches a second preset threshold, the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container and / or the cover to complete the cover closing operation.

[0104] When the container or cover is rotating, when it is detected that the second force parameter fed back by the force sensor reaches the second preset threshold, for example, the second preset threshold is 3 Newtons, it is considered that the cover and the container have reached a fitting state, and the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container or cover to complete the cover closing operation. Among them, when it is detected that the second force parameter fed back by the force sensor reaches the second preset threshold, it can also be considered that the container and the cover are in full contact, and the cover and the container are stopped from approaching, which can effectively avoid damage caused by overpressure between the container and the cover.

[0105] Figure 3 This is a data variation diagram of the second force parameter fed back by the force sensor shown in an embodiment of the present application.

[0106] For easier understanding of the lid closing control method of this application, please refer to Figure 3 , where the second force parameter is the force acting along the axis of the container or the torque rotating around the axis of the container. Specifically, the horizontal axis in the figure represents time, the vertical axis represents the magnitude of the second force parameter, and the circle position (peak value) in the figure is the data performance when the second force parameter reaches the second preset threshold.

[0107] In some embodiments, controlling the cover closing device to continue rotating the container and / or the cover body to complete the cover closing operation may be controlling the cover closing device to continue rotating the container and / or the cover body to reach a preset number of revolutions, stop rotating and end the cover closing operation.

[0108] After confirming that the cover body and the container are in a fit state, the cover body can continue to be screwed into the container by a preset number of turns, for example, the preset number of turns can be 2 turns, 2.5 turns, 3 turns or other values, and then the rotation is stopped and the cover closing operation is ended, so that the cover closing process between the cover body and the container is completed and the tightness between the cover body and the container is ensured.

[0109] In some embodiments, the lid closing device is controlled to continue rotating the container and / or the lid body to complete the lid closing operation. The lid closing device can also be controlled to continue rotating the container and / or the lid body so that the torque rotating along the axis of the container reaches a preset lid closing threshold, and the rotation is stopped to end the lid closing operation.

[0110] When the cover body and the container reach a fitting state, the cover closing device is controlled to continue to rotate the container and / or the cover body so that the torque of the container or the cover body rotating along the axis of the container reaches a preset cover closing threshold. It can be considered that the cover body has a corresponding tightness relative to the container to complete the cover closing operation. When the torque of the container or the cover body rotating along the axis of the container reaches the preset cover closing threshold, the rotation stops and the cover closing operation ends. In this way, by continuing to rotate the container and / or the cover body to reach a preset number of turns or the torque of the container rotating along the axis of the container reaches the preset cover closing threshold, it is ensured that the cover closing operation between the container and the cover body is completed, and the reliability of the cover closing process is further improved.

[0111] It should be understood that when the lid closing operation is completed, the tightness of the lid is greater than or equal to the tightness of the lid when the container and the lid are fitted. It can also be understood that when the container and the lid are fitted, the lid closing operation can be considered to be completed, so that the subsequent lid closing device does not need to control the container and / or the lid to continue rotating.

[0112] In other embodiments, it is also possible to determine whether the tightness of the closed cover meets the requirements by detecting whether the torque of the container or the cover rotating along the axis of the container reaches a preset closing threshold, that is, when the torque of the container or the cover rotating along the axis of the container reaches the preset closing threshold, it can be considered that the tightness of the closed cover meets the requirements. In addition, when the detected torque of the container or the cover rotating along the axis of the container does not reach the preset closing threshold, it can be considered that the tightness of the closed cover is too small, and the cover can be controlled to continue to be screwed into the container to increase the tightness of the closed cover. When the detected torque of the container or the cover rotating along the axis of the container is greater than the preset closing threshold, it can be considered that the tightness of the closed cover is too large, and the cover can be controlled to be screwed out of the container to reduce the tightness of the closed cover.

[0113] Among them, during the rotation of the container and / or the cover, there may be a situation where the container and the cover fail to fit together, that is, the second force parameter fed back by the force sensor is not detected to reach the second preset threshold. In order to improve the success rate of the cover closing process, in some embodiments, during the rotation of the container and / or the cover, the second force parameter fed back by the force sensor is not detected to reach the second preset threshold within a preset time threshold (for example, 30 seconds), and the cover closing device is controlled to move the container and the cover to reset, and the cover closing operation is performed again. Of course, when one of the container and the cover is used as a fixed end and does not need to be moved, and the other is used as a mobile end, it is only necessary to reset the container or cover that is the mobile end. It can be understood that performing the cover closing operation again refers to controlling the container and the cover to repeat steps S210 to S230.

[0114] In some embodiments, after the lid and the container are reset and the lid is closed for a preset number of times, the closed state between the container and the lid is detected. When the reset times reach the preset number of times, for example, the preset number of times is 3, the lid closing operation between the container and the lid can be stopped, and the closed state between the container and the lid can be checked. Among them, the above-mentioned process of detecting the closed state between the container and the lid can be mainly used to determine whether the container and the lid have completed the lid closing but still have not detected that the second force parameter fed back by the force sensor has reached the second preset threshold, so as to prevent misjudgment.

[0115] Among them, after the cover body and the container are reset and the cover is closed for a preset number of times, the force acting when the container and / or the cover body are moved away from each other along the axis of the container can be detected, and / or the clamping stroke of the container close to the cover body can be detected to determine whether the cover between the container and the cover body is successfully closed.

[0116] S250, after the cover closing operation is completed, detecting the cover closing state between the container and the cover body.

[0117] After the closing operation between the container and the cover body is completed, the closing state between the container and the cover body is detected to further ensure whether the closing operation between the container and the cover body is successful.

[0118] Specifically, the force acting when the container and / or the cover are moved away from each other along the axis of the container is detected, and / or the clamping stroke of the container close to the cover is detected to determine whether the container and the cover are closed successfully.

[0119] In some embodiments, it is possible to detect whether the force when clamping the container and / or the cover body away from each other along the axis of the container reaches a preset force threshold. If so, it is determined that the lid is closed successfully between the container and the cover body. Specifically, the container and / or the cover body can be clamped along the axis of the container by a lid closing device or other clamping mechanism with electric claws. At this time, if the cover body has been screwed into the container, the lid closing device or other clamping mechanism with electric claws that clamps the container and / or the cover body will have resistance (force) along the axis of the container. By detecting that the resistance reaches the preset force threshold, it can be determined that the cover body is screwed into the container, thereby determining that the lid is closed successfully between the container and the cover body; otherwise, the lid closing fails.

[0120] In some embodiments, it is possible to detect whether the clamping stroke of the container near the cover is greater than or equal to the diameter of the cover, and if so, it is determined that the cover is closed successfully between the container and the cover. Specifically, it is also possible to detect the clamping stroke of the container near the cover by the cover closing device or other clamping mechanism with electric claws. When the cover is screwed into the container, the clamping stroke of the container near the cover is greater than the diameter of the cover. By detecting that the clamping stroke is greater than or equal to the diameter of the cover, it can be determined that the cover is screwed into the container, thereby determining that the cover is closed successfully between the container and the cover; otherwise, the cover is closed unsuccessfully.

[0121] It can be understood that in order to avoid misjudgment (such as detecting that the resistance does not reach the preset force threshold because the clamp slips), the above two methods can be combined to make a judgment. As long as one of the two methods meets the requirements, the cover is judged to be closed successfully, or only if both methods meet the requirements can the cover be judged to be closed successfully.

[0122] Among them, the process of detecting the closed cover state between the container and the cover body after the cover body and the container are reset and the cover is closed for a preset number of times can adopt the process of detecting the closed cover state between the container and the cover body after the cover closing operation is completed. For the specific process, please refer to the above description and will not be repeated here.

[0123] In this embodiment, the technical solution of the present application controls the container clamping module to provide a preset movable space for the container during the process of the container and the cover body approaching each other, thereby preventing the cover body from tilting due to rigid collision between the container and the cover body, thereby improving the success rate of the cover closing process; after completing the cover closing operation between the container and the cover body, the cover closing state between the container and the cover body is detected to further ensure that the cover closing between the container and the cover body is successful.

[0124] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a cover closing control device, an electronic device and corresponding embodiments.

[0125] Figure 4 It is a structural schematic diagram of a lid closing control device shown in an embodiment of the present application.

[0126] The lid closing control method of the present application is mainly used for a lid closing device to close a container and a lid body, wherein one end of the container is provided with a container opening. The container may be a solution glass vessel such as a test tube, a solvent bottle, etc. Of course, the container may also be a solution vessel of other materials.

[0127] Specifically, a force sensor is provided on the lid closing device, and the lid closing device includes a container clamping module for clamping the container and a lid clamping module for clamping the lid. The force sensor can be provided on the container clamping module or the lid clamping module. Of course, the force sensor can be provided on both the container clamping module and the lid clamping module. Through the force sensor, relevant force parameters generated during the closing process between the container and the lid can be obtained, such as the force along the axis direction of the container, the torque rotating around the axis direction of the container, etc. Among them, the force sensor in the present application can be a single-dimensional or multi-dimensional force sensor (such as a six-dimensional force sensor). Of course, the force sensor can also use other sensors that can realize force and / or torque detection, which is not limited here.

[0128] It should be noted that in the present application, the cover closing device can also realize the transfer of the container and / or the cover body through a transfer mechanism such as a mechanical arm, a single Z-axis moving mechanism, an XYZ three-axis moving mechanism, etc. It can be understood that the aforementioned container clamping module and / or the cover body clamping module can be set in the above-mentioned transfer mechanism. Of course, when one of the container and the cover body does not need to be moved, the clamping can be achieved only by the clamping module. In addition, the cover closing device can also be provided with a rotating mechanism connected or not connected to the above-mentioned container clamping module and the cover body clamping module. The rotating mechanism may include but is not limited to a rotating motor. The cover closing device can use the rotating mechanism to control the container and / or the cover body to rotate. For example, the cover body clamping module is connected to the mechanical arm, and the container clamping module is fixedly arranged on the rotating mechanism. The mechanical arm drives the cover body clamping module that clamps the cover body to move, and the container clamping module can rotate the clamped container; or the container clamping module is fixed, and the mechanical arm drives the cover body clamping module that clamps the cover body to move and rotate.

[0129] See also Figure 4 The cover closing control device 300 of the present application includes: a transfer module 310 , a first cover closing module 320 , and a second cover closing module 330 .

[0130] The transfer module 310 is used to control the cover closing device to transfer the container and / or the cover so that the cover is close to the container.

[0131] When the container and the cover are closed, the transfer module 310 can move either the container or the cover to bring the two closer together, or can move both the container and the cover to bring the two closer together. It can be understood that when the cover is closed, the transfer module 310 can use one of the container and the cover as a fixed end and the other as a movable end to achieve transfer, or can use both the container and the cover as movable ends to achieve transfer.

[0132] The first lid closing module 320 is used to detect that the first force parameter fed back by the force sensor reaches a first preset threshold value during the process of the lid and the container approaching each other, control the lid and the container to continue to approach each other, and control the lid closing device to rotate the container and / or the lid.

[0133] The first force parameter fed back by the force sensor can be a force used to determine whether the cover is in contact with the container. When the first cover closing module 320 detects that the first force parameter fed back by the force sensor reaches a first preset threshold, it can be considered that the cover is in contact with the container. Then, the cover and the container are controlled to continue to approach, so that the cover and the container can be pre-fitted, that is, the cover part is fitted to the container, so that the cover and the container can be aligned. And the cover closing device is controlled to rotate either the container or the cover, or the cover closing device is controlled to rotate the container and the cover at the same time, so that the cover begins to be screwed into the container.

[0134] In some embodiments, during the process of the lid and the container approaching each other, the first lid closing module 320 can control the lid and the container to approach each other with a first motion parameter before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold value; after detecting that the first force parameter fed back by the force sensor reaches the first preset threshold value, control the lid and the container to continue to approach each other with a second motion parameter, and control the lid closing device to rotate the container and / or the lid; wherein the first motion parameter is greater than or equal to the second motion parameter.

[0135] In some embodiments, the first force parameter may include but is not limited to a force acting along the axis direction of the container.

[0136] In some embodiments, when the lid is approaching the container, the first lid closing module 320 can control the container clamping module to provide a preset movable space for the container before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, so that the container can be moved within the preset movable space without tipping over.

[0137] In some embodiments, the size of the preset movable space is proportional to the diameter of the container.

[0138] In some embodiments, the first lid closing module 320 may also detect that the first force parameter fed back by the force sensor reaches a first preset threshold value during the process of the lid and the container approaching each other, and control the lid and the container to stop approaching each other, and control the container clamping module to clamp the container; after the container clamping module clamps the container, control the lid and the container to continue to approach each other, and control the lid closing device to rotate the container and / or the lid.

[0139] The second lid closing module 330 is used to detect that the second force parameter fed back by the force sensor reaches a second preset threshold during the rotation of the container and / or the lid, control the lid and the container to stop approaching, and control the lid closing device to continue rotating the container and / or the lid to complete the lid closing operation.

[0140] The second force parameter fed back by the force sensor can be used to determine whether the cover and the container are completely fitted. It should be noted that when the cover and the container reach a fitted state, the cover and the container have been initially closed, and a sealed space is formed between the cover and the container, and the cover can continue to be screwed into the container.

[0141] When the container or the cover is rotating, when the second cover closing module 330 detects that the second force parameter fed back by the force sensor reaches a second preset threshold, it is considered that the cover and the container are in a fit state, and the cover and the container are controlled to stop approaching each other, and the cover closing device is controlled to continue rotating the container or the cover to complete the cover closing operation.

[0142] In some embodiments, the second force parameter may include, but is not limited to: one or more force parameters selected from the group consisting of: a force acting along the axis of the container, and a torque rotating around the axis of the container.

[0143] In some embodiments, the process of the cover and the container approaching each other may be that the transfer module 310 controls the cover closing device to move the container and / or the cover from an initial point so that the cover and / or the container approaches a preset target point.

[0144] It should be noted that the point position can be a position or an attitude. The initial point position can be the initial position or initial attitude of the container or cover when the cover is closed. The preset target point position is a teaching point position obtained by pre-teaching the cover closing device when the cover is closed normally, and the initial point position is determined based on the preset target point position. Among them, the preset target point position can be the corresponding position or attitude of the cover or container when the cover is closed successfully, or the preset target point position can be the corresponding position or attitude of the cover or container when the first force parameter reaches the first preset threshold value, or the preset target point position can be the corresponding position or attitude of the cover or container when the second force parameter reaches the second preset threshold value.

[0145] In some embodiments, the second lid closing module 330 can control the lid closing device to continue rotating the container and / or the lid body to reach a preset number of revolutions, stop rotating and end the lid closing operation; or control the lid closing device to continue rotating the container and / or the lid body so that the torque rotating along the axis of the container reaches a preset lid closing threshold, stop rotating and end the lid closing operation.

[0146] In some embodiments, the second lid closing module 330 may control the lid closing device to move the container and / or the lid for reset and perform the lid closing operation again if it is not detected that the second force parameter fed back by the force sensor reaches a second preset threshold within a preset time threshold during the rotation of the container and / or the lid.

[0147] Figure 5 It is another structural schematic diagram of the lid closing control device shown in an embodiment of the present application.

[0148] In some embodiments, see Figure 5 The cover closing control device of the present application further includes: a detection module 340.

[0149] The detection module 340 is used to detect the closed state between the container and the cover body after the cover closing operation is completed, so as to ensure that the container and the cover body are closed successfully.

[0150] In some embodiments, the detection module 340 can detect the force acting when the container and / or the cover are clamped away from each other along the axis of the container, and / or detect the clamping stroke of the container close to the cover to determine whether the container and the cover are closed successfully.

[0151] In some embodiments, the detection module 340 can detect whether the force applied when clamping the container and / or the cover away from each other along the axis of the container reaches a preset force threshold, and if so, it is determined that the container and the cover are closed successfully.

[0152] In some embodiments, the detection module 340 can detect whether the clamping stroke of the container close to the cover is greater than or equal to the diameter of the cover, and if so, it is determined that the cover between the container and the cover is closed successfully.

[0153] In some embodiments, the detection module 340 may detect the closed state between the container and the cover after the cover and the container are reset and the cover is closed for a preset number of times.

[0154] In this embodiment, the technical solution of the present application can control the lid closing process between the container and the lid body according to the force parameters detected in real time during the lid closing process, wherein the container and the lid body are controlled to continue to approach and rotate according to the detected first force parameter, and the container and the lid body are controlled to stop approaching and continue to rotate according to the detected second force parameter, so as to complete the lid closing operation, improve the lid closing success rate between the container and the lid body, and thereby improve the production efficiency and stability of the production process.

[0155] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0156] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0157] See also Figure 6 , the electronic device 1000 includes a memory 1010 and a processor 1020 .

[0158] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0159] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0160] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0161] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0162] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0163] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A lid closing control method, applied to a lid closing device for closing a container and a lid body, wherein the lid closing device is provided with a force sensor, and the lid closing device comprises a container clamping module for clamping the container and a lid clamping module for clamping the lid body, characterized in that: The method comprises: Controlling the cover closing device to move the container and / or the cover so that the cover is close to the container; When the cover and the container are approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover; During the rotation of the container and / or the cover, it is detected that the second force parameter fed back by the force sensor reaches a second preset threshold value, the cover and the container are controlled to stop approaching, and the cover closing device is controlled to continue rotating the container and / or the cover to complete the cover closing operation.

2. The method according to claim 1, characterized in that The step of controlling the cover closing device to move the container and / or the cover so that the cover is close to the container comprises: The lid closing device is controlled to move the container and / or the lid body from an initial point position so that the lid body and / or the container approaches a preset target point position; wherein the preset target point position is a teaching point position obtained during normal lid closing which is pre-taught by the lid closing device, and the initial point position is determined based on the preset target point position.

3. The method according to claim 1, characterized in that In the process of the cover body and the container approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover body, including: During the process of the cover body and the container approaching each other, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, the cover body and the container are controlled to approach each other with a first motion parameter; after detecting that the first force parameter fed back by the force sensor reaches the first preset threshold, the cover body and the container are controlled to continue approaching each other with a second motion parameter, and the cover closing device is controlled to rotate the container and / or the cover body; wherein, the first motion parameter is greater than or equal to the second motion parameter.

4. The method according to claim 1, characterized in that: The method further comprises: During the process of the cover body approaching the container, before detecting that the first force parameter fed back by the force sensor reaches a first preset threshold, the container clamping module is controlled to provide a preset movable space for the container, so that the container can be moved within the preset movable space without tipping over.

5. The method according to claim 4, characterized in that The size of the preset movable space is proportional to the diameter of the container.

6. The method according to claim 4, characterized in that In the process of the cover body and the container approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover body, including: During the process of the cover body and the container approaching each other, it is detected that the first force parameter fed back by the force sensor reaches a first preset threshold value, the cover body and the container are controlled to stop approaching each other, and the container clamping module is controlled to clamp the container. After the container clamping module clamps the container, the cover body and the container are controlled to continue to approach each other, and the cover closing device is controlled to rotate the container and / or the cover body.

7. The method according to claim 1, characterized in that The force sensor is arranged on the container clamping module and / or the cover clamping module; The first force parameter includes: the force acting along the axis direction of the container; the second force parameter includes: the force acting along the axis direction of the container and / or the torque rotating around the axis direction of the container.

8. The method according to any one of claims 1 to 7, characterized in that: The controlling the cover closing device to continue rotating the container and / or the cover body to complete the cover closing operation includes: Control the cover closing device to continue rotating the container and / or the cover body to reach a preset number of revolutions, stop the rotation and end the cover closing operation; or The cover closing device is controlled to continue to rotate the container and / or the cover body so that the torque rotating along the axis of the container reaches a preset cover closing threshold, and the rotation is stopped and the cover closing operation is ended.

9. The method according to claim 1, characterized in that: The method further comprises: After the cover closing operation is completed, the cover closing state between the container and the cover body is detected.

10. The method according to claim 9, characterized in that The detecting the closed cover state between the container and the cover body comprises: Detect the force applied when clamping the container and / or the cover body away from each other along the axis of the container, and / or detect the clamping stroke of the container close to the cover body to determine whether the container and the cover body are successfully closed.

11. The method according to claim 10, characterized in that The detecting of the force applied when the container and / or the cover are clamped away from each other along the axis of the container includes: Detecting whether the force applied when clamping the container and / or the cover away from each other along the axis of the container reaches a preset force threshold, and if so, determining that the container and the cover are closed successfully; The method of detecting a clamping stroke for clamping the container close to the cover body comprises: It is detected whether the clamping stroke of the container near the cover body is greater than or equal to the diameter of the cover body. If so, it is determined that the cover between the container and the cover body is closed successfully.

12. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: During the rotation of the container and / or the cover body, if the second force parameter fed back by the force sensor is not detected to reach a second preset threshold within a preset time threshold, the cover closing device is controlled to move the container and / or the cover body for reset, and then perform the cover closing operation again.

13. The method according to claim 12, characterized in that The method further comprises: After the cover body and the container are reset and the cover closing reaches a preset threshold number of times, the closed state between the container and the cover body is detected.

14. The method according to claim 13, characterized in that The detecting the closed cover state between the container and the cover body comprises: Detect the force applied when clamping the container and / or the cover body away from each other along the axis of the container, and / or detect the clamping stroke of the container close to the cover body to determine whether the container and the cover body are successfully closed.

15. A lid closing control device, used for a lid closing device to close a container and a lid body, the lid closing device is provided with a force sensor, the lid closing device comprises a container clamping module for clamping the container and a lid clamping module for clamping the lid body, characterized in that: The cover closing control device comprises: A transfer module, used for controlling the cover closing device to transfer the container and / or the cover so that the cover is close to the container; A first lid closing module, configured to detect that a first force parameter fed back by the force sensor reaches a first preset threshold value during the process of the lid and the container approaching each other, control the lid and the container to continue to approach each other, and control the lid closing device to rotate the container and / or the lid; The second lid closing module is used to detect that the second force parameter fed back by the force sensor reaches a second preset threshold during the rotation of the container and / or the lid body, control the lid body and the container to stop approaching, and control the lid closing device to continue rotating the container and / or the lid body to complete the lid closing operation.

16. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 14.

17. A computer-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method according to any one of claims 1 to 14.

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