Equipment control method and device, product assembly equipment and storage medium

Abstract

The embodiment of the invention provides an equipment control method and device, product assembling equipment and a storage medium, the product assembling equipment comprises a product assembling unit, an accessory cutting unit and an accessory conveying unit, and an electronic cam curve is introduced in the running process of the product assembling equipment; the product assembling unit, the accessory cutting unit and the accessory conveying unit in the product assembling equipment can be accurately controlled, the matching degree of all the units is improved, the processes of accessory placing, cover buckling and the like in the production process are accurately achieved, meanwhile, the cover buckling accuracy is improved, the product percent of pass and the product production efficiency are improved, and the production cost is reduced. The technical problem that in the prior art, product production efficiency of product assembling equipment is low is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automation, and in particular to an equipment control method, device, product assembly equipment and storage medium. Background Art

[0002] In the production process, the factory process of cup-shaped products usually involves the operation of snapping the cup lid on the cup body. In the early days, this operation was generally performed manually, but the manual method of snapping the lid is inefficient and very easy to miss. In order to improve this phenomenon, production equipment with automatic snapping function has been developed in the prior art to improve the efficiency of snapping the lid.

[0003] However, the current production equipment with automatic capping function is unable to perform operations such as placing accessories during the capping process. In addition, since the production equipment has low control accuracy over each component, the operation of each component is not synchronized and the coordination is poor, which leads to poor capping and other problems during the production process, greatly affecting the production efficiency of the product. Summary of the invention

[0004] The embodiments of the present application provide an equipment control method, device, product assembly equipment and storage medium. The embodiments of the present application introduce electronic cam curves to accurately control each unit in the product assembly equipment, improve the coordination between the units, and accurately implement the operation of placing accessories during the cover-fastening process, thereby improving the production efficiency of the product and solving the technical problem of low production efficiency of products in the prior art.

[0005] In a first aspect, an embodiment of the present application provides an equipment control method, which is applicable to a product assembly equipment, wherein the product assembly equipment includes a product assembly unit, an accessory cutting unit, and an accessory conveying unit, wherein the product assembly unit includes a plurality of first stations, a plurality of second stations, and a rotating assembly, wherein one first station corresponds to one second station, and each second station is arranged above the corresponding first station, wherein the rotating assembly is used to drive the first station and the second station to rotate synchronously, wherein the first station is used to obtain a cup body, and the second station is used to obtain a cup lid and to perform a lid-fastening action; the accessory cutting unit is used to cut the accessory material to obtain an accessory, and the accessory conveying unit is used to obtain the accessory and transmit the accessory to a preset position passed by the first station, wherein the method includes:

[0006] Acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating component and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and the accessory cutting unit;

[0007] Control the action of the product assembly unit, and control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the cover-fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0008] Wherein, in the process of controlling the action of the product assembly unit and controlling the actions of the accessory cutting unit and the accessory conveying unit according to the first electronic cam curve and the second electronic cam curve respectively, it also includes:

[0009] Real-time detection of a first movement position of the rotating assembly, a second movement position of the accessory conveying unit, and a third movement position of the accessory cutting unit;

[0010] Adjusting the real-time motion position of the accessory conveying unit according to the first motion position, the second motion position and the first relative motion relationship;

[0011] The real-time movement position of the accessory cutting unit is adjusted according to the first movement position, the third movement position and the second relative movement relationship.

[0012] Wherein, adjusting the real-time motion position of the accessory conveying unit according to the first motion position, the second motion position and the first relative motion relationship includes:

[0013] Determining an ideal motion position corresponding to the accessory conveying unit according to the first motion position and the first relative motion relationship;

[0014] determining whether a position adjustment condition is satisfied according to the second motion position and the ideal motion position;

[0015] When the position adjustment conditions are met, the real-time movement position of the accessory conveying unit is adjusted.

[0016] Wherein, determining whether a position adjustment condition is met according to the second motion position and the ideal motion position includes:

[0017] determining a motion position error between the second motion position and the ideal motion position;

[0018] Determining whether the motion position error exceeds a preset position error threshold;

[0019] Whether the position adjustment condition is met is determined based on a judgment result of whether the motion position error exceeds a preset position error threshold.

[0020] Wherein, the real-time movement position adjustment of the accessory conveying unit includes:

[0021] The movement speed of the accessory conveying unit is adjusted.

[0022] The product assembly equipment further includes a first conveying component, the first conveying component is used to convey the cup body to the first position, a first sensor is further provided at the first position, the first sensor is used to detect whether the cup body exists on the first conveying component and output a corresponding detection signal, and the method further includes:

[0023] When it is determined through the detection signal that the cup body does not exist on the first conveying assembly, determining the current target movement position of the last target first station that acquired the cup body;

[0024] Determining a target angle at which the rotating component needs to rotate according to the target motion position and the preset position;

[0025] The rotating assembly is controlled to rotate to the target angle so that after the target first station obtains the accessory at the preset position, the accessory cutting unit and the accessory conveying unit are controlled to stop moving.

[0026] The rotating assembly includes a servo motor, a reducer and a rotating shaft, the servo motor is used to drive the reducer to rotate, the reducer is used to drive the rotating shaft to rotate, the rotating shaft is used to drive the first station and the second station to rotate synchronously, and controlling the rotating assembly to rotate the target angle includes:

[0027] Determine the target number of revolutions that the reducer needs to rotate according to the target angle and the preset angle, wherein the preset angle is the angle that the rotating shaft rotates when the reducer rotates one revolution;

[0028] The servo motor is controlled to drive the reducer to rotate the target number of revolutions.

[0029] In a second aspect, an embodiment of the present invention provides an equipment control device, which is applicable to product assembly equipment, wherein the product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit, wherein the product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly, wherein one first station corresponds to one second station, and each second station is arranged above the corresponding first station, wherein the rotating assembly is used to drive the first station and the second station to rotate synchronously, wherein the first station is used to obtain a cup body, and the second station is used to obtain a cup lid and to perform a lid-fastening action; the accessory cutting unit is used to cut the accessory material to obtain an accessory, and the accessory conveying unit is used to obtain the accessory and transmit the accessory to a preset position passed by the first station, wherein the device includes:

[0030] An electronic cam curve acquisition module, used to acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating assembly and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating assembly and the accessory cutting unit;

[0031] An equipment control module is used to control the action of the product assembly unit, and at the same time control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the cover-fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0032] In a third aspect, an embodiment of the present invention provides a product assembly device, the product assembly device includes a product assembly unit, an accessory cutting unit and an accessory conveying unit, the product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly, one first station corresponds to one second station, and each second station is arranged above the corresponding first station, the rotating assembly is used to drive the first station and the second station to rotate synchronously, the first station is used to obtain the cup body, the second station is used to obtain the cup cover and to perform the cover-fastening action; the accessory cutting unit is used to cut the accessory material to obtain the accessories, the accessory conveying unit is used to obtain the accessories and transmit the accessories to the preset position passed by the first station, and the product assembly device also includes a processor and a memory;

[0033] The memory is used to store a computer program and transmit the computer program to the processor;

[0034] The processor is used to execute a device control method as described in the first aspect according to instructions in the computer program.

[0035] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute a device control method as described in the first aspect.

[0036] The embodiments of the present application provide an equipment control method, device, product assembly equipment and storage medium. The product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit. The embodiments of the present application introduce an electronic cam curve during the operation of the product assembly equipment, which can accurately control the product assembly unit, the accessory cutting unit and the accessory conveying unit in the product assembly equipment, improve the coordination between the various units, and accurately implement the processes of placing accessories and fastening covers during the production process. At the same time, the accuracy of fastening covers is improved, the product qualification rate and product production efficiency are improved, and the technical problem of low product production efficiency of product assembly equipment in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flowchart of a device control method provided in an embodiment of the present application.

[0038] Figure 2 A schematic diagram of the structure of a product assembly device provided in an embodiment of the present application.

[0039] Figure 3 A top view of a product assembly device provided in an embodiment of the present application.

[0040] Figure 4 A flowchart of another device control method provided in an embodiment of the present application.

[0041] Figure 5 A schematic diagram of the structure of a device control device provided in an embodiment of the present application.

[0042] Figure 6 A schematic diagram of the structure of a product assembly device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following description and accompanying drawings fully illustrate the specific embodiments of the present application so that those skilled in the art can practice them. The examples represent possible variations only. Unless explicitly required, separate components and functions are optional, and the order of operation can vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. In this article, each embodiment may be represented individually or generally by the term "invention", which is only for convenience, and if more than one invention is provided in fact, it is not intended to automatically limit the scope of the application to any single invention or inventive concept. In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. The various embodiments are described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. As for the structures, products, etc. provided in the embodiments, since they correspond to the parts provided in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0044] like Figure 1 As shown, Figure 1 A flow chart of a device control method provided in an embodiment of the present application. The device control method provided in an embodiment of the present application can be applied to product assembly equipment, which includes a product assembly unit, an accessory cutting unit, and an accessory conveying unit. The product assembly unit includes a plurality of first stations, a plurality of second stations, and a rotating assembly. One first station corresponds to one second station, and each second station is arranged above the corresponding first station. The rotating assembly is used to drive the first station and the second station to rotate synchronously. The first station is used to obtain the cup body, and the second station is used to obtain the cup lid and to perform the lid-fastening action. The accessory cutting unit is used to cut the accessory material to obtain the accessories, and the accessory conveying unit is used to obtain the accessories and transfer the accessories to a preset position along the way of the first station.

[0045] For example, Figure 2 As shown, Figure 2 Schematic diagram of the structure of a product assembly device provided in an embodiment of the present application. In this embodiment, the product assembly device 1 is used to assemble yogurt products as an example for explanation. Figure 2In the embodiment, the first conveyor belt 30 is used to convey the cup body loaded with yogurt to the product assembly unit 10, so that the first station 11 can obtain the cup body; the cover lowering machine 50 is used to place the cup cover on the second conveyor belt 40, and the second conveyor belt 40 is used to convey the cup cover to the product assembly unit 10, so that the second station 12 can obtain the cup cover. In one embodiment, the product assembly device 1 is provided with a cup separation star wheel 80 at the transmission end point of the first conveyor belt 30, and a cover separation star wheel 70 is provided at the transmission end point of the second conveyor belt 40, such as Figure 3 As shown, Figure 3 The top view of a product assembly device provided in an embodiment of the present application is shown in FIG. The cup body conveyed on the first conveyor belt 30 can be matched with the position of the first station 11 through the cup separation star wheel 80, so that the first station 11 can obtain the cup body; and the cup cover conveyed on the second conveyor belt 40 can be matched with the position of the second station 12 through the cover separation star wheel 70. The rotating assembly 13 drives the first station 11 and the second station 12 to rotate synchronously, so that each first station 11 can obtain the cup body at the cup separation star wheel 80 and each second station 12 can obtain the cup cover at the cover separation star wheel 70. In addition, the accessory cutting unit 60 is used to cut the straw material to obtain the straw. After the accessory conveying unit 20 obtains the straw from the accessory cutting unit 60, it conveys the straw to the preset position passed by the first station 11, so that the first station 11 can obtain the straw when it obtains the cup body and moves to the preset position. After the first station 11 obtains the straw, the second station 12 located above the first station 11 can perform the cover buckling action, so that the cup cover is buckled on the cup body to complete the assembly of the yogurt product. After the yogurt product is assembled, the yogurt product can be transferred to the product output conveyor belt through the cup star wheel 90.

[0046] The device control method provided in the embodiment of the present application comprises the following steps:

[0047] Step 101: Acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between a rotating component and an accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and an accessory cutting unit.

[0048] In this embodiment, after the product assembly device is started, it is first necessary to initialize each unit to restore the position of each unit to the initial position to ensure the accuracy of the subsequent synchronous control of each unit. The action of initializing the product assembly device can be performed autonomously after the product assembly device is started, or it can be performed under the control of the user after the product assembly device is started. Exemplarily, the product assembly device also provides an initialization button for the user to operate. After the user triggers the initialization button, the product assembly device can perform initialization.

[0049] After the product assembly equipment is initialized, before executing the production process, it is necessary to obtain the first electronic cam curve and the second electronic cam curve. The electronic cam curve is a position relationship curve between the main shaft and the slave shaft, which is usually expressed in a two-dimensional coordinate system, where the main shaft position is the X-axis and the slave shaft position is the Y-axis. In the mechanical cam system, the contour shape of the cam determines the motion law of the follower, while in the electronic cam system, the motion of the mechanical cam is simulated by the constructed cam curve. The electronic cam system inputs the electronic cam curve into the drive device and performs servo control in a calculated manner, thereby achieving the same motion purpose as the mechanical cam system. In this embodiment, the main shaft of the first electronic cam curve is the rotating component of the product assembly unit, the slave shaft is the accessory cutting unit, and the first electronic cam curve includes the first relative motion relationship between the rotating component and the accessory conveying unit. The main shaft of the second electronic cam curve is the rotating component of the product assembly unit, the slave shaft is the accessory conveying unit, and the second electronic cam curve includes the second relative motion relationship between the rotating component and the accessory cutting unit. In addition, when constructing an electronic cam curve, it is necessary to determine the cam key points, where the cam key points refer to the points that are pre-set on the cam profile and have a key impact on the movement of the mechanism. These cam key points usually include the starting point, end point, acceleration point, deceleration point, and position control point.

[0050] Step 102, control the action of the product assembly unit, and control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, performs the cover fastening action, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0051] After determining the first cam curve and the second cam curve, the product assembly equipment can execute the production process. The product assembly equipment controls the action of the product assembly unit, and the rotating component in the action of the product assembly unit starts to drive the first station and the second station to rotate. At the same time, the product assembly component controls the action of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively.

[0052] Specifically, after the first station and the second station start to rotate synchronously from the initial position, the cup body is obtained when the first station moves to the first position, for example, the first position is the position of the above-mentioned cup separation star wheel; and the cup cover is obtained when the second station moves to the second position, for example, the second position is the position of the above-mentioned cover separation star wheel. After that, the first station continues to move from the first position to the preset position. During the process of the first station moving from the first position to the preset position, the product assembly equipment needs to control the accessory cutting unit to cut the component material to obtain the accessory, and control the accessory conveying unit to obtain the accessory from the accessory acquisition cutting unit. When the first station moves to the preset position, the accessory conveying unit is controlled to convey the accessory to the preset position at the same time, so that the first station can obtain the accessory at the preset position. After obtaining the accessory, the first station will continue to move from the preset position to the third position. When the second station corresponding to the first station moves to the third position, the product assembly equipment needs to control the second station to perform the cover buckling action, so as to buckle the cup cover on the cup body, realize the assembly of the cup body, the accessory and the cup cover, and complete the production of the product. During the production process of the product, the product assembly unit, the parts cutting unit and the parts conveying unit are synchronized through electronic cam curves. In high-speed production, precise coordination between the various mechanisms can still be guaranteed to meet the high-speed production requirements of the production line.

[0053] As described above, the embodiment of the present application provides an equipment control method. By introducing an electronic cam curve, the embodiment of the present application can accurately control the product assembly unit, the accessory cutting unit and the accessory conveying unit in the product assembly equipment, improve the coordination between the various units, and accurately implement the processes of placing accessories and fastening covers during the production process. At the same time, the accuracy of fastening covers is improved, the product qualification rate and product production efficiency are improved, and the technical problem of low product production efficiency of product assembly equipment in the prior art is solved.

[0054] On the basis of the above embodiment, in the process of controlling the action of the product assembly unit and controlling the actions of the accessory cutting unit and the accessory conveying unit according to the first electronic cam curve and the second electronic cam curve respectively, the process further includes:

[0055] Step 103 , detecting in real time the first movement position of the rotating assembly, the second movement position of the accessory conveying unit, and the third movement position of the accessory cutting unit.

[0056] In this embodiment, the product assembly equipment needs to detect the movement position of each unit in real time during the process of controlling the operation of the product assembly unit, the accessory cutting unit, and the accessory conveying unit, and adjust the movement position of each unit according to the electronic cam curve to ensure the synchronous operation between the units. Specifically, the product assembly equipment needs to detect the first movement position of the rotating component, the second movement position of the accessory conveying unit, and the third movement position of the accessory cutting unit in real time. The first movement position can be determined by obtaining the encoding signal of the servo motor that drives the rotating component to rotate, and the second movement position and the third movement position are obtained in the same way.

[0057] Step 104: Adjust the real-time movement position of the accessory conveying unit according to the first movement position, the second movement position and the first relative movement relationship.

[0058] After the first motion position and the second motion position are detected in real time, the real-time motion position of the accessory delivery unit needs to be further adjusted according to the first motion position, the second motion position and the first relative motion relationship. For example, the ideal motion position of the accessory delivery unit can be determined according to the first motion position and the first relative motion relationship, and the real-time motion position of the accessory delivery unit can be adjusted according to the deviation between the second motion position and the ideal motion position.

[0059] On the basis of the above embodiment, in step 104, the real-time motion position of the accessory conveying unit is adjusted according to the first motion position, the second motion position and the first relative motion relationship, including:

[0060] Step 1041: Determine an ideal motion position corresponding to the accessory conveying unit according to the first motion position and the first relative motion relationship.

[0061] In this embodiment, it is first necessary to determine the ideal movement position that the accessory conveying unit ideally needs to reach when the rotating assembly moves to the first movement position based on the first movement position and the first relative movement relationship.

[0062] Step 1042: Determine whether a position adjustment condition is met according to the second motion position and the ideal motion position.

[0063] After determining the ideal motion position of the accessory delivery unit, it is necessary to further determine whether the accessory delivery unit meets the position adjustment condition based on the second motion position and the ideal motion position. Exemplarily, whether the position adjustment condition is met can be determined based on the error between the second motion position and the ideal motion position. Specifically, first determine the motion position error between the second motion position and the ideal motion position, determine whether the motion position error exceeds a preset position error threshold, and then determine whether the position adjustment condition is met based on the judgment result of whether the motion position error exceeds the preset position error threshold. In this embodiment, when the motion position error exceeds the position error threshold, it is determined that the position adjustment condition is met. In addition, the position error threshold can be set according to actual needs. If the accuracy requirement in the production process is high, the position error threshold can be set smaller.

[0064] Step 1043: When the position adjustment conditions are met, adjust the real-time movement position of the accessory conveying unit.

[0065] When it is determined that the position adjustment conditions are met, the real-time movement position of the accessory delivery unit needs to be adjusted. Specifically, when adjusting the real-time movement position of the accessory delivery unit, the movement speed of the accessory delivery unit can be adjusted so that the real-time movement position of the accessory delivery unit is synchronized with the ideal movement position. For example, when the second movement position is faster than the ideal movement position on the movement trajectory of the accessory delivery unit, the movement speed of the accessory delivery unit can be reduced, and the normal movement speed can be restored after the second movement position and the ideal movement position are subsequently detected to be synchronized; when the second movement position is slower than the ideal movement position on the movement trajectory of the accessory delivery unit, the movement speed of the accessory delivery unit can be increased, and the normal movement speed can be restored after the second movement position and the ideal movement position are subsequently detected to be synchronized.

[0066] Step 105: Adjust the real-time motion position of the accessory cutting unit according to the first motion position, the third motion position and the second relative motion relationship.

[0067] Similarly, when adjusting the real-time motion position of the accessory conveying unit, it is also necessary to adjust the real-time motion position of the accessory cutting unit according to the first motion position, the third motion position and the second relative motion relationship. The principle of adjusting the real-time motion position of the accessory cutting unit is similar to the principle of adjusting the real-time motion position of the accessory conveying unit, and will not be described in detail in this embodiment.

[0068] As described above, the embodiment of the present application detects the first movement position of the rotating component, the second movement position of the accessory conveying unit, and the third movement position of the accessory cutting unit in real time, and determines the ideal movement positions that the accessory conveying unit and the accessory cutting unit need to reach respectively according to the first movement position and the relative movement relationship in the electronic cam curve, and finally adjusts the movement position of the accessory conveying unit according to the second movement position and the ideal movement position of the accessory conveying unit, and adjusts the movement position of the accessory cutting unit according to the third movement position and the ideal movement position of the accessory cutting unit to ensure synchronous operation between the various units. The embodiment of the present application further improves the accuracy of coordination between the various units by compensating for the real-time movement position of the various units of the product assembly equipment, which helps to improve the qualified rate of the product.

[0069] The present application also provides another device control method, such as Figure 4 As shown, Figure 4 The flowchart of another device control method provided in the embodiment of the present application is a specific embodiment of the device control method provided in the embodiment of the present application. In the embodiment of the present application, the product assembly device also includes a first conveying component, which is used to convey the cup body to the first position. A first sensor is also provided at the first position. The first sensor is used to detect whether there is a cup body on the first conveying component and output a corresponding detection signal. Exemplarily, the first conveying component is Figure 2 In the first conveyor belt shown, the first sensor can be a photoelectric sensor, which includes a transmitter and a receiver. When there is no cup body on the first conveyor belt, the light beam emitted by the transmitter can directly irradiate the receiver, and the receiver receives the light signal and converts it into an electrical signal. After the detection circuit processes the electrical signal, it outputs a first detection signal indicating that there is no product on the first conveyor belt. When there is a cup body on the conveyor belt, the product will block the light beam emitted by the transmitter, causing the receiver to be unable to receive the light signal or the received light signal to be weakened. At this time, the electrical signal converted by the receiver will change, and after the detection circuit recognizes and processes the change, it outputs a second detection signal indicating that there is a product on the first conveyor belt. In addition, since there will be a certain gap between two adjacent cup bodies on the conveyor belt, in order to avoid false detection, it can be determined that there is no cup body on the first conveyor belt after the photoelectric sensor continuously outputs the first detection signal for a preset time.

[0070] The device control method provided in the embodiment of the present application includes:

[0071] Step 201 : obtaining a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between a rotating component and an accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and an accessory cutting unit.

[0072] Step 202, control the action of the product assembly unit, and control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, performs the cover fastening action, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0073] Step 203: when it is determined through the detection signal that there is no cup body on the first conveying assembly, determine the current target movement position of the last target first station that acquired the cup body.

[0074] In this embodiment, when the product assembly equipment determines that there is no cup body on the first conveying component through the detection signal output by the first sensor, it is necessary to determine the current target motion position of the last target first station that obtained the cup body. Exemplarily, the product assembly equipment can determine the first time when the existence of the cup body on the first conveying component was last detected, and determine the first station located at the first position at the first time as the last target first station that obtained the cup body. Afterwards, the time difference between the first time and the current time is determined, and the current target motion position of the target first station can be determined based on the time difference and the movement speed of the rotating component. In another embodiment, it is also possible to detect whether there is a cup body on the first station by setting a pressure sensor at the bottom of the first station to determine the last target first station that obtained the cup body.

[0075] Step 204: Determine the target angle that the rotating component needs to rotate according to the target motion position and the preset position.

[0076] After determining the current target motion position of the target first station, the target angle that the rotating component needs to rotate can be determined based on the position difference between the target motion position and the preset position. Exemplarily, the target angle that the rotating component needs to rotate can be determined based on the first angle that the rotating component needs to rotate when it rotates from the position corresponding to the 0° angle to the target motion position, and the second angle that the rotating component needs to rotate when it rotates from the position corresponding to the 0° angle to the preset position, and the difference between the first angle and the second angle. When the rotating component continues to rotate the target angle from the current angle, the target first station can be moved to the preset position.

[0077] Step 205 , control the rotating assembly to rotate to a target angle, so that after the target first station obtains the accessory at a preset position, control the accessory cutting unit and the accessory conveying unit to stop the action.

[0078] After the target angle is determined, the rotating assembly can be controlled to continue to rotate the target angle, so that the target first station continues to move from the target motion position to the preset position. In one embodiment, the rotating assembly includes a servo motor, a reducer, and a rotating shaft, the servo motor is used to drive the reducer to rotate, the reducer is used to drive the rotating shaft to rotate, and the rotating shaft is used to drive the first station and the second station to rotate synchronously. Controlling the rotating assembly to rotate the target angle in step 205 includes:

[0079] Step 2051, determining the target number of revolutions that the reducer needs to rotate according to the target angle and the preset angle, wherein the preset angle is the angle that the rotating shaft rotates when the reducer rotates one revolution.

[0080] In this embodiment, when controlling the rotation of the rotating shaft, it is necessary to first determine the preset angle that the reducer drives the rotating shaft to rotate when the servo motor drives the reducer to rotate one circle. After determining the preset angle, the target number of circles that the reducer needs to rotate is determined based on the target angle and the preset angle. In one embodiment, the target angle can be divided by the preset angle to obtain the target number of circles that the reducer needs to rotate.

[0081] Step 2052: Control the servo motor to drive the reducer to rotate a target number of revolutions.

[0082] After determining the target number of revolutions that the reducer needs to rotate, the servo motor can be controlled to drive the reducer to rotate the target number of revolutions so that the rotating shaft can rotate the target angle.

[0083] When the rotating shaft rotates to the target angle, the target first station moves to the preset position, and the accessory conveying unit just transfers the accessory to the preset position, so that the target first station can obtain the accessory. Afterwards, since the first station subsequent to the target first station does not obtain the cup body, the product assembly equipment needs to control the accessory cutting unit and the accessory conveying unit to stop the action to avoid continuing to convey the accessory to the subsequent first station.

[0084] As mentioned above, in the embodiment of the present application, when the product assembly equipment determines that there is no cup body on the first conveying component through the detection signal output by the first sensor, the product assembly equipment will control the accessory cutting unit and the accessory conveying unit to stop the action after the last target first station that obtains the cup body moves to the preset position and obtains the accessories, thereby avoiding continuing to convey the accessories to the first station that has not obtained the cup body, avoiding waste of accessories and confusion in the production process, and ensuring the production efficiency of the product.

[0085] The embodiment of the present invention also provides a device control device, such as Figure 5 As shown, Figure 5 A schematic diagram of the structure of an equipment control device provided in an embodiment of the present invention, the equipment control device is applicable to product assembly equipment, the product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit, the product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly, one first station corresponds to one second station, and each second station is arranged above the corresponding first station, the rotating assembly is used to drive the first station and the second station to rotate synchronously, the first station is used to obtain the cup body, the second station is used to obtain the cup cover and to perform the cover buckling action; the accessory cutting unit is used to cut the accessory material to obtain the accessory, the accessory conveying unit is used to obtain the accessory and transmit the accessory to the preset position of the first station, the equipment control device includes:

[0086] The electronic cam curve acquisition module 301 is used to acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating component and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and the accessory cutting unit;

[0087] The equipment control module 302 is used to control the action of the product assembly unit, and at the same time control the action of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the lid fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0088] Based on the above embodiment, it also includes:

[0089] The position detection module is used to detect the first movement position of the rotating component, the second movement position of the accessory conveying unit and the third movement position of the accessory cutting unit in real time while controlling the movement of the product assembly unit and controlling the movement of the accessory cutting unit and the accessory conveying unit according to the first electronic cam curve and the second electronic cam curve respectively.

[0090] The first position adjustment module is used to adjust the real-time movement position of the accessory conveying unit according to the first movement position, the second movement position and the first relative movement relationship.

[0091] The second position adjustment module is used to adjust the real-time movement position of the accessory cutting unit according to the first movement position, the third movement position and the second relative movement relationship.

[0092] Based on the above embodiment, the first position adjustment module includes:

[0093] An ideal position determination submodule, used to determine an ideal motion position corresponding to the accessory conveying unit according to the first motion position and the first relative motion relationship;

[0094] A condition judgment submodule, used to determine whether a position adjustment condition is met according to the second motion position and the ideal motion position;

[0095] The position adjustment submodule is used to adjust the real-time movement position of the accessory conveying unit when the position adjustment conditions are met.

[0096] Based on the above embodiment, the condition judgment submodule is specifically used to determine the motion position error between the second motion position and the ideal motion position; determine whether the motion position error exceeds a preset position error threshold; and determine whether the position adjustment condition is met based on the judgment result of whether the motion position error exceeds the preset position error threshold.

[0097] On the basis of the above-mentioned embodiment, the position adjustment submodule is specifically used to adjust the movement speed of the accessory conveying unit.

[0098] On the basis of the above embodiment, the product assembly equipment further includes a first conveying assembly, which is used to convey the cup body to the first position. A first sensor is also provided at the first position, which is used to detect whether there is a cup body on the first conveying assembly and output a corresponding detection signal. The equipment control device also includes:

[0099] A target position determination module, for determining the current target motion position of the last target first station that acquired the cup body when it is determined through the detection signal that there is no cup body on the first conveying assembly;

[0100] A target angle determination module is used to determine the target angle that the rotating component needs to rotate according to the target motion position and the preset position;

[0101] The stop control module is used to control the rotating component to rotate to a target angle so that after the target first station obtains the accessory at a preset position, the accessory cutting unit and the accessory conveying unit are controlled to stop moving.

[0102] Based on the above embodiment, the rotating component includes a servo motor, a reducer and a rotating shaft. The servo motor is used to drive the reducer to rotate, the reducer is used to drive the rotating shaft to rotate, and the rotating shaft is used to drive the first workstation and the second workstation to rotate synchronously. The stop control module is specifically used to determine the target number of revolutions that the reducer needs to rotate based on the target angle and the preset angle. The preset angle is the angle at which the rotating shaft rotates when the reducer rotates one circle; the servo motor is controlled to drive the reducer to rotate the target number of revolutions.

[0103] The equipment control device provided in the embodiment of the present application is included in the product assembly equipment, and can be used to execute the equipment control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0104] It is worth noting that in the embodiment of the above-mentioned equipment control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0105] This embodiment also provides a product assembly device, such as Figure 6 As shown, Figure 6A structural schematic diagram of a product assembly device provided in an embodiment of the present application, the product assembly device 1 includes a product assembly unit 10, an accessory cutting unit 60 and an accessory conveying unit 20, the product assembly unit 10 includes a plurality of first stations, a plurality of second stations and a rotating assembly, one first station corresponds to one second station, and each second station is arranged above the corresponding first station, the rotating assembly is used to drive the first station and the second station to rotate synchronously, the first station is used to obtain the cup body, the second station is used to obtain the cup lid and to perform the lid-fastening action; the accessory cutting unit 60 is used to cut the accessory material to obtain the accessories, the accessory conveying unit 20 is used to obtain the accessories and transmit the accessories to the preset position along the first station, the product assembly device 1 also includes a processor 111 and a memory 113.

[0106] The memory 113 is used to store the computer program 112 and transmit the computer program 112 to the processor 111;

[0107] The processor 111 is used to execute the steps in the above-mentioned device control method embodiment according to the instructions in the computer program 112.

[0108] Exemplarily, the computer program 112 may be divided into one or more modules / units, one or more modules / units are stored in the memory 113, and are executed by the processor 111 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 112 in the product assembly device 1.

[0109] The product assembly device 1 may include, but is not limited to, a processor 111 and a memory 113. Those skilled in the art will appreciate that Figure 6 It is only an example of the product assembly device 1 and does not constitute a limitation of the product assembly device 1. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the product assembly device 1 may also include input and output devices, network access devices, buses, etc.

[0110] The processor 111 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 any conventional processor, etc.

[0111] The memory 113 may be an internal storage unit of the product assembly device 1, such as a hard disk or memory of the product assembly device 1. The memory 113 may also be an external storage device of the product assembly device 1, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the product assembly device 1. Furthermore, the memory 113 may also include both an internal storage unit and an external storage device of the product assembly device 1. The memory 113 is used to store computer programs and other programs and data required by the product assembly device 1. The memory 113 may also be used to temporarily store data that has been output or is to be output.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0113] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0114] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0116] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store computer programs.

[0117] The embodiment of the present application also provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a device control method. The device control method includes the following steps:

[0118] Acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating component and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and the accessory cutting unit;

[0119] Control the action of the product assembly unit, and control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the cover-fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

[0120] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made to the present application without departing from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A device control method, characterized in that: Applicable to product assembly equipment, the product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit, the product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly, one first station corresponds to one second station, and each second station is arranged above the corresponding first station, the rotating assembly is used to drive the first station and the second station to rotate synchronously, the first station is used to obtain the cup body, the second station is used to obtain the cup cover and to perform the cover-fastening action; the accessory cutting unit is used to cut the accessory material to obtain the accessory, the accessory conveying unit is used to obtain the accessory and transmit the accessory to a preset position passed by the first station, and the method includes: Acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating component and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating component and the accessory cutting unit; Control the action of the product assembly unit, and control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the cover-fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

2. The device control method according to claim 1, characterized in that: In the process of controlling the action of the product assembly unit and controlling the actions of the accessory cutting unit and the accessory conveying unit according to the first electronic cam curve and the second electronic cam curve respectively, the process further includes: Real-time detection of a first movement position of the rotating assembly, a second movement position of the accessory conveying unit, and a third movement position of the accessory cutting unit; Adjusting the real-time motion position of the accessory conveying unit according to the first motion position, the second motion position and the first relative motion relationship; The real-time movement position of the accessory cutting unit is adjusted according to the first movement position, the third movement position and the second relative movement relationship.

3. The device control method according to claim 2, characterized in that: The adjusting the real-time movement position of the accessory conveying unit according to the first movement position, the second movement position and the first relative movement relationship includes: Determining an ideal motion position corresponding to the accessory conveying unit according to the first motion position and the first relative motion relationship; determining whether a position adjustment condition is satisfied according to the second motion position and the ideal motion position; When the position adjustment conditions are met, the real-time movement position of the accessory conveying unit is adjusted.

4. The device control method according to claim 3, characterized in that: The determining whether a position adjustment condition is met according to the second motion position and the ideal motion position includes: determining a motion position error between the second motion position and the ideal motion position; Determining whether the motion position error exceeds a preset position error threshold; Whether the position adjustment condition is met is determined according to a judgment result of whether the motion position error exceeds a preset position error threshold.

5. The device control method according to claim 3, characterized in that: The real-time adjustment of the movement position of the accessory conveying unit includes: The movement speed of the accessory conveying unit is adjusted.

6. The device control method according to claim 1, characterized in that: The product assembly equipment further includes a first conveying assembly, the first conveying assembly is used to convey the cup body to the first position, a first sensor is further provided at the first position, the first sensor is used to detect whether the cup body exists on the first conveying assembly and output a corresponding detection signal, and the method further includes: When it is determined through the detection signal that the cup body does not exist on the first conveying assembly, determining the current target movement position of the last target first station that acquired the cup body; Determining a target angle at which the rotating component needs to rotate according to the target motion position and the preset position; The rotating assembly is controlled to rotate to the target angle so that after the target first station obtains the accessory at the preset position, the accessory cutting unit and the accessory conveying unit are controlled to stop moving.

7. The device control method according to claim 6, characterized in that: The rotating assembly includes a servo motor, a reducer, and a rotating shaft. The servo motor is used to drive the reducer to rotate. The reducer is used to drive the rotating shaft to rotate. The rotating shaft is used to drive the first station and the second station to rotate synchronously. The controlling the rotating assembly to rotate the target angle includes: Determine the target number of revolutions that the reducer needs to rotate according to the target angle and the preset angle, wherein the preset angle is the angle that the rotating shaft rotates when the reducer rotates one revolution; The servo motor is controlled to drive the reducer to rotate the target number of revolutions.

8. A device control device, characterized in that: Applicable to product assembly equipment, the product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit, the product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly, one first station corresponds to one second station, and each second station is arranged above the corresponding first station, the rotating assembly is used to drive the first station and the second station to rotate synchronously, the first station is used to obtain the cup body, the second station is used to obtain the cup cover and to perform the cover-fastening action; the accessory cutting unit is used to cut the accessory material to obtain the accessory, the accessory conveying unit is used to obtain the accessory and transmit the accessory to the preset position passed by the first station, the device includes: An electronic cam curve acquisition module, used to acquire a first electronic cam curve and a second electronic cam curve, wherein the first electronic cam curve includes a first relative motion relationship between the rotating assembly and the accessory conveying unit, and the second electronic cam curve includes a second relative motion relationship between the rotating assembly and the accessory cutting unit; An equipment control module is used to control the action of the product assembly unit, and at the same time control the actions of the accessory conveying unit and the accessory cutting unit according to the first electronic cam curve and the second electronic cam curve respectively, so that the first station obtains the cup body at the first position, and after the second station obtains the cup cover at the second position, when the first station continues to move to the preset position, the accessory conveying unit transfers the accessory to the preset position so that the first station obtains the accessory, and when the second station continues to move from the preset position to the third position, the cover-fastening action is performed, and the accessory is obtained by the accessory cutting unit cutting the accessory material during the process of the first station moving from the first position to the preset position.

9. A product assembly device, characterized in that: The product assembly equipment includes a product assembly unit, an accessory cutting unit and an accessory conveying unit. The product assembly unit includes a plurality of first stations, a plurality of second stations and a rotating assembly. One first station corresponds to one second station, and each second station is arranged above the corresponding first station. The rotating assembly is used to drive the first station and the second station to rotate synchronously. The first station is used to obtain the cup body, and the second station is used to obtain the cup cover and to perform the cover-fastening action. The accessory cutting unit is used to cut the accessory material to obtain the accessories. The accessory conveying unit is used to obtain the accessories and transmit the accessories to the preset position passed by the first station. The product assembly equipment also includes a processor and a memory. The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute a device control method according to any one of claims 1 to 7 according to instructions in the computer program.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute a device control method according to any one of claims 1 to 7 when executed by a computer processor.

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