Method and device for path calibration based on product clamping

Abstract

The embodiment of the application discloses a path calibration method and device based on product clamping, which can automatically identify the deviation and correct the path when the product clamping path deviates. It does not depend on the accuracy of the clamp itself, but dynamically adjusts the action track by real-time sensing the product position, thereby effectively avoiding clamping failure, product falling or clamping problems caused by errors, and significantly improving the clamping accuracy and operation stability of the system. With the help of three-dimensional coordinate information analyzed by magnetic field distortion, the method can accurately locate the actual position of the product, and generate an accurate motion track accordingly, effectively avoiding problems such as product clamping, falling or mispositioning caused by path deviation, thereby improving the stability and reliability of the clamping action.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of product clamping, and in particular to a path calibration method and device based on product clamping. BACKGROUND

[0002] In the process of processing bagged jelly (for example: suck suck) and other products, it is necessary to transfer the bagged jelly from the processing position after sealing to the transfer conveyor belt. At this time, the bagged jelly needs to be taken off from the previous work station and placed on the clamping station on the conveyor belt so as to process the production date, vacuum treatment and the like of each bagged jelly in the next process.

[0003] The traditional way is to use manual clamping. The manual clamping places the bagged jelly on the clamping station on the conveyor belt. However, the transfer efficiency of this transfer mode is too low and completely depends on the efficiency of the manual operation.

[0004] The existing way is to use a machine to transfer, such as the structure in the attached Figure 1 After clamping at the first work station (reference numeral 1), the clamping assembly is turned by 90°, and then the clamped bagged jelly is moved to the clamping work station (reference numeral 2) to clamp the bottle cap of the bagged jelly (reference numeral 5) on the clamping work station, so as to arrange the bagged jellies into a product group that can be transported by the conveyor belt, so as to facilitate subsequent processing. Although the clamping machine is used for clamping and transferring, the clamping assembly will be worn out during long-term use. The wear will affect the clamping and placing path. The clamping groove of the clamping work station is fixed in size and slightly larger than the neck of the bottle cap of the bagged jelly. When the clamping assembly clamps and transfers based on the original path in the case of wear, the clamping assembly deviates to one side due to wear, which causes the clamping assembly to collide with the left side (reference numeral 3) or the right side (reference numeral 4) of the clamping work station. At this time, the bagged jelly is easily dropped from the clamping assembly, which cannot clamp and transfer the bagged jelly to the clamping work station, thereby affecting the clamping and transferring efficiency of the bagged jelly. SUMMARY

[0005] Therefore, it is necessary to propose a path calibration method and device based on product clamping in view of the above problems.

[0006] A path calibration method based on product clamping, the method comprising:

[0007] A magnetic piece is installed at the product bottle mouth to obtain a first product;

[0008] When the clamping assembly clamps the first product into the first area, the magnetic field data in the first area is obtained, and a magnetic field distortion signal is generated according to the magnetic field data;

[0009] According to the magnetic field distortion signal, three-dimensional coordinates of the first product located in the first area are analyzed to obtain a first coordinate set;

[0010] A coordinate position of the clamping station is obtained to generate a second coordinate set;

[0011] According to the first coordinate set and the second coordinate set, a set of trajectory path lines is generated;

[0012] A standard trajectory range is obtained, and according to the standard trajectory range and the set of trajectory path lines, calibration trajectory data is generated;

[0013] The calibration trajectory data is sent to the adjustment assembly to control the adjustment assembly to clamp the first product in the first area and move to the clamping station according to the calibration trajectory.

[0014] In at least one embodiment of the present application, the calibration trajectory data is sent to the adjustment assembly to control the adjustment assembly to clamp the first product in the first area and move to the clamping station according to the calibration trajectory, specifically comprising:

[0015] When the clamping assembly clamps the first product into the first area, a motion signal is generated and sent to the adjustment assembly to control the adjustment assembly to move synchronously from the position of entering the first area with the clamping assembly;

[0016] When the adjustment assembly receives the calibration trajectory data, the calibration trajectory data is executed to control the adjustment assembly to approach the first product in the first area and clamp the first product;

[0017] When the adjustment assembly clamps the first product, the adjustment assembly moves according to the calibration trajectory according to the calibration trajectory data.

[0018] In at least one embodiment of the present application, when the adjustment assembly receives the calibration trajectory data, the calibration trajectory data is executed to control the adjustment assembly to approach the first product in the first area and clamp the first product, specifically comprising:

[0019] When the adjustment assembly clamps the first product, a reset signal is generated and sent to the clamping assembly to control the clamping assembly to return.

[0020] In at least one embodiment of the present application, when the clamping assembly clamps the first product into the first area, the magnetic field data in the first area is obtained, and according to the magnetic field data, a magnetic field distortion signal is generated, specifically comprising:

[0021] A magnetic activation command is generated to control the adjustment component to generate two symmetrical magnetic fields in the first region, and the magnetic field signal intensity data in the first region is obtained by the magnetic field sensor array in the adjustment component, thereby obtaining the magnetic field data.

[0022] In at least one embodiment of this application, the specific steps of resolving the three-dimensional coordinates of the first product located in the first region based on the magnetic field distortion signal to obtain a first coordinate set; obtaining the coordinate position of the clamping station to generate a second coordinate set; generating a trajectory path line set based on the first coordinate set and the second coordinate set; obtaining a standard trajectory range; and generating calibration trajectory data based on the standard trajectory range and the trajectory path line set include:

[0023] Based on the diameter and three-dimensional coordinates of the engagement point of the first product, the vertical coordinate points from both sides of the first product to the adjustment component are calculated to obtain the first coordinate set, which is the three-dimensional coordinate of the first product located in the first region.

[0024] Obtain the three-dimensional coordinates of two coordinate points at the slot opening in the card engagement station within the first region to obtain the second coordinate set;

[0025] The second coordinate set is extended along the direction of the opening of the clamping station to form two parallel straight lines to obtain the standard trajectory range;

[0026] Two parallel straight lines are formed by extending each vertical coordinate point of the first coordinate set along the direction of the opening of the locking station to obtain a set of trajectory path lines.

[0027] In at least one embodiment of this application, the specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include:

[0028] Determine whether all trajectory paths in the set of trajectory paths are within the range of the standard trajectory. If they are, generate an initial trajectory line and control the movement of the adjustment component based on the initial trajectory line.

[0029] In at least one embodiment of this application, the specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include:

[0030] If not located, then select trajectory path lines that are not located within the standard trajectory range from the set of trajectory path lines, and generate calibration trajectory lines;

[0031] Calculate the shortest distance from the calibration trajectory line to each straight line within the standard trajectory range to obtain the first distance and the second distance;

[0032] If the first distance is greater than the second distance, then calibration trajectory data is generated based on the second distance.

[0033] In at least one embodiment of this application, if the first distance is greater than the second distance, the step of generating calibration trajectory data based on the second distance further includes:

[0034] If the first distance is less than the second distance, then calibration trajectory data is generated based on the first distance.

[0035] A path calibration device based on product clamping, applied in the path calibration method based on product clamping as described in any one of the above claims, the device comprising:

[0036] Magnetic component, used to fix the product at the bottle nozzle;

[0037] The main body is equipped with a movement position and a locking position;

[0038] A clamping component is disposed on the main body and extends to the moving position;

[0039] An adjustment component is disposed on the main body, and the engagement station to the initial position of the adjustment component forms a first region.

[0040] In at least one embodiment of this application, the gripping component includes:

[0041] The telescopic shaft has one end fixed to the main body and the other end extending to the moving position;

[0042] A flip motor is located at the end of the telescopic shaft away from the main body, and a gripper is fixedly provided at the output end of the flip motor;

[0043] The adjustment component includes:

[0044] A drive cylinder is mounted on the main body at one end and has a drive plate at the other end;

[0045] A clamping sensing group is located at the end of the drive plate away from the drive cylinder, and there are two clamping sensing groups, which are symmetrically arranged. The clamping sensing group includes: a telescopic cylinder, a magnetic induction coil, a clamping head, and a magnetic field sensor array. One end of the telescopic cylinder is fixed to the drive plate, and the other end of the telescopic cylinder extends to the first area and is fixedly connected to the clamping head. The magnetic induction coil is located on the telescopic cylinder, and the magnetic field sensor array is located on the clamping head. The telescopic cylinder is arranged perpendicular to the opening direction of the clamping station.

[0046] The path calibration method and apparatus based on product clamping of this embodiment will have at least the following beneficial effects:

[0047] The product clamping-based path calibration method and device described above can automatically identify and correct deviations when there are errors in the product clamping path. It does not rely on the precision of the clamp itself, but rather senses the product position in real time and dynamically adjusts the motion trajectory, thereby effectively avoiding clamping failures, product drops, or jamming caused by errors, and significantly improving the system's clamping accuracy and operational stability.

[0048] By using the three-dimensional coordinate information obtained from the magnetic field distortion, this method can accurately locate the actual position of the product and generate a precise motion trajectory accordingly. This effectively avoids problems such as product jamming, falling, or misalignment caused by path deviation, thereby improving the stability and reliability of the clamping action. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] in:

[0051] Figure 1 For processing machines in the existing technology;

[0052] Figure 2 This is a structural diagram of a path calibration device based on product clamping in one embodiment;

[0053] Figure 3 for Figure 2 Partial structural diagram of a path calibration device based on product clamping;

[0054] Figure 4 for Figure 2 Exploded view of the clamping sensor assembly;

[0055] Figure 5 for Figure 2 Structural diagram of the clamping component;

[0056] Figure 6 This is a flowchart of a path calibration method based on product clamping.

[0057] Figure 7 A flowchart illustrating the movement of the gripping component and the adjusting component within the first area;

[0058] Figure 8 The flowchart is for magnetic induction.

[0059] Figure 9 A flowchart illustrating another embodiment of the path calibration method based on product clamping;

[0060] Figure 10 for Figure 3 Another structural diagram of the middle part.

[0061] 100. Path calibration device based on product clamping;

[0062] 110. Magnetic components;

[0063] 120. Main body; 120a. Movement position; 120b. Engagement position;

[0064] 130. Gripping assembly; 131. Telescopic shaft; 132. Tilting motor; 133. Gripper;

[0065] 140. Adjustment assembly; 140a. First region; 141. Drive cylinder; 142. Drive plate; 143. Clamping induction group; 144. Telescopic cylinder; 145. Magnetic induction coil; 146. Clamping head; 147. Magnetic field sensor array. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] This invention discloses a path calibration method based on product clamping, the method comprising:

[0068] S101. Install the magnetic component 110 at the bottle mouth of the product to obtain the first product;

[0069] S102. When the clamping component 130 clamps the first product and enters the first region 140a, it acquires the magnetic field data in the first region 140a and generates a magnetic field distortion signal based on the magnetic field data.

[0070] S103. Based on the magnetic field distortion signal, the three-dimensional coordinates of the first product located in the first region 140a are analyzed to obtain the first coordinate set;

[0071] S104. Obtain the coordinate position of the card assembly station 120b and generate the second coordinate set;

[0072] S105. Generate a set of trajectory path lines based on the first coordinate set and the second coordinate set;

[0073] S106. Obtain the standard trajectory range, and generate calibration trajectory data based on the standard trajectory range and the trajectory path line set;

[0074] S107. The calibration trajectory data is sent to the adjustment component to control the adjustment component to clamp the first product in the first area 140a and move to the clamping station 120b according to the calibration trajectory.

[0075] Please refer to Figures 1-10 In this embodiment, firstly, a magnetic component 110 is installed at the bottle nozzle to obtain a first product. Next, when the gripping assembly 130 completes gripping the first product and moves it to a first region 140a, the system collects magnetic field data within that region. Because the product has the magnetic component 110 attached to it, its entry into this region interferes with the original magnetic field distribution. The system generates a magnetic field distortion signal by analyzing the changes in the magnetic field.

[0076] Subsequently, based on the magnetic field distortion signal, the system resolved the actual three-dimensional coordinate position of the first product in the first region 140a. These coordinate points were recorded as the first coordinate set, representing the current spatial position of the product.

[0077] The system will also acquire the spatial coordinate information of the card assembly station 120b and generate a second coordinate set, which represents the location where the product is expected to be placed.

[0078] After obtaining the product's current location (first coordinate set) and target location (second coordinate set), the system generates a set of trajectory path lines connecting the two locations based on these two sets of coordinate data. These path lines reflect the spatial trajectory that the product should follow as it moves from its current location to its target location.

[0079] To further determine the reasonableness of these trajectories, the system invokes a preset standard trajectory range. This range is typically set based on equipment structure or tolerance requirements and is used to determine whether the product's movement path is within acceptable limits. The system compares and analyzes the set of trajectory paths with the standard trajectory range; if deviations are found, a set of calibration trajectory data is generated based on the degree of offset.

[0080] Finally, this set of calibrated trajectory data is sent to the adjustment component. Based on this data, the adjustment component re-clamps the first product within the first area 140a and accurately moves it to the clamping station 120b along the corrected path to achieve precise clamping.

[0081] It can automatically identify and correct deviations when there are errors in the product clamping path. It does not rely on the precision of the clamp itself, but senses the product position in real time and dynamically adjusts the motion trajectory, thereby effectively avoiding clamping failures, product drops, or jamming caused by errors, and significantly improving the clamping accuracy and operational stability of the system.

[0082] By using the three-dimensional coordinate information obtained from the magnetic field distortion, this method can accurately locate the actual position of the product and generate a precise motion trajectory accordingly. This effectively avoids problems such as product jamming, falling, or misalignment caused by path deviation, thereby improving the stability and reliability of the clamping action.

[0083] By working in conjunction with the magnetic component 110 and the magnetic field sensor, real-time sensing of the product's current position is achieved. Combined with the trajectory path generation and standard trajectory comparison mechanism, the trajectory can be automatically corrected when the fixture deviates, ensuring that the clamping path is always within a controlled range.

[0084] In at least one embodiment of this application, the step of sending the calibration trajectory data to the adjustment component to control the adjustment component to grip the first product within the first region 140a and move to the clamping station 120b according to the calibration trajectory specifically includes:

[0085] S201. When the gripping component 130 grips the first product and enters the first region 140a, a motion signal is generated and the motion signal is sent to the adjustment component to control the adjustment component to move synchronously with the gripping component 130 from the position of entering the first region 140a.

[0086] S202. After the adjustment component receives the calibration trajectory data, it executes the calibration trajectory data to control the adjustment component to move closer to the first product in the first region 140a and clamp the first product.

[0087] S203. When the adjustment component holds the first product, it moves according to the calibration trajectory based on the calibration trajectory data.

[0088] Please refer to Figures 1-10 In this embodiment, when the gripping component 130 moves the gripped first product to the first region 140a, the system automatically generates a motion signal, which indicates that the product has entered the trajectory calibration region. This signal is then sent to the adjustment component.

[0089] Upon receiving the signal, the adjustment component immediately begins to move, its initial movement path synchronized with that of the gripping component 130, ensuring consistent motion between the two. This allows the adjustment component to approach the product more smoothly and quickly, reducing the risk of trajectory errors and motion interference.

[0090] Once the adjustment component has synchronously moved to the first region 140a, the system sends the previously generated calibration trajectory data to the adjustment component. Upon receiving this data, the adjustment component controls its clamping mechanism to move closer to the product based on the actual position of the product reflected in the calibration trajectory.

[0091] Subsequently, the adjustment components complete the precise clamping action on the first product. This clamping process does not rely on a fixed path or preset position, but is a dynamic adaptive clamping based entirely on the current position of the product.

[0092] After clamping the product, the adjustment assembly continues to move according to the calibration trajectory data. Ensure the product moves accurately along the pre-corrected path to the clamping station 120b and is placed.

[0093] The trajectory has been compared and optimized with the standard trajectory range in the previous stage, and has the accuracy after correction. Therefore, it can ensure that the product does not deviate, collide or fall during the movement.

[0094] By triggering a motion signal when the gripping component 130 enters the first region 140a, the movement of the adjustment component is synchronized with that of the gripping component 130, effectively avoiding conflicts or timing misalignments between mechanisms and improving system coordination.

[0095] In this solution, the calibration trajectory can be identified and corrected in real time, and the adjustment component can perform clamping based on the corrected position data, which significantly improves the clamping success rate.

[0096] The system has the ability to adaptively adjust the 133 error of the gripper, no longer relying on a high-precision mechanical structure, extending the service life of the equipment, reducing maintenance costs, and enhancing the robustness and intelligence of the system under various working conditions.

[0097] In at least one embodiment of this application, the specific steps of executing the calibration trajectory data after the adjustment component receives the calibration trajectory data to control the adjustment component to move closer to the first product within the first region 140a and clamp the first product include:

[0098] S204. When the adjustment component clamps the first product, a reset signal is generated and the reset signal is sent to the clamping component 130 to control the clamping component 130 to return.

[0099] Please refer to Figures 1-10 In this embodiment, after the system has completed trajectory correction and generated calibration trajectory data, the data is sent to the adjustment component. The adjustment component controls its own movement path accordingly, so that it moves along the calibrated and precise trajectory to approach the first product located in the first region 140a, i.e., in the state of being gripped and ready for transfer.

[0100] After the adjustment component moves to the target position, it performs a clamping action to effectively grasp the first product. This operation is based on precise position data obtained from previous trajectory calibration, ensuring stable and reliable clamping action. Even if there is a deviation in the actual position of the first product, the system can still accurately complete the clamping.

[0101] Once it is confirmed that the adjustment component has successfully clamped the first product, the system generates a reset signal. This signal means that the adjustment component has completed clamping and can instruct the clamping component 130 to leave the site, return to its initial position, and prepare for the next cycle.

[0102] The system sends the reset signal to the gripping component 130. After receiving the signal, the gripping component 130 controls itself to perform a return action according to the preset logic, that is, to exit the first area 140a and reset to the standby position to avoid interference with the adjustment component and release the workspace.

[0103] The reset signal mechanism ensures that the gripping component 130 only performs the retraction action after the adjustment component has completed the gripping, thereby avoiding problems such as overlapping actions and equipment collision.

[0104] By immediately triggering the gripper 133 to reset after clamping is completed, the gripping component 130 can quickly exit and prepare for the next cycle operation, reducing waiting time and improving the overall production capacity and cycle control accuracy.

[0105] This logic enables the system to have clear state switching nodes, that is, the gripper 133 is only allowed to retract when the gripping is completed, which effectively avoids failures such as product falling or gripper 133 running empty due to misjudgment or malfunction, and improves the overall robustness of the system.

[0106] In at least one embodiment of this application, when the gripping component 130 grips the first product and enters the first region 140a, magnetic field data within the first region 140a is acquired, and a magnetic field distortion signal is generated based on the magnetic field data. The specific steps include:

[0107] S301. Generate a magnetic activation command to control the adjustment component to generate two symmetrical magnetic fields in the first region 140a, and obtain magnetic field signal intensity data in the first region 140a through the magnetic field sensor array 147 in the adjustment component to obtain the magnetic field data.

[0108] Please refer to Figures 1-10 In this embodiment, the gripping component 130 grips the first product from the upstream station and moves it to the first area 140a set by the system. This area is a key area for magnetic field detection and position calibration, and also the starting point of the entire path correction control chain.

[0109] When the first product enters the first area 140a, the system detects this state and automatically issues a magnetic activation command, which is used to control the adjustment component to start its internal magnetic field generator.

[0110] After executing the magnetic activation command, the adjustment component activates two preset magnetic field sources, typically devices composed of electromagnetic coils. These two magnetic field sources are distributed within the first region 140a, forming a spatially symmetrical magnetic field structure. Their function is to establish a known and stable magnetic field reference to enhance the response sensitivity to changes in product position.

[0111] The adjustment component is equipped with a magnetic field sensor array 147, which is deployed at key locations in the first region 140a to sense changes in the strength and distribution of the magnetic field in real time. Since a magnetic component 110 is pre-installed on the product, its entry into the first region 140a will disturb the originally symmetrical and stable magnetic field.

[0112] After the magnetic field sensor array 147 detects these disturbances, it records the current magnetic field strength distribution value, thus forming magnetic field signal strength data.

[0113] The collected magnetic field signal intensity data constitutes the magnetic field data, which will serve as the foundation for generating subsequent magnetic field distortion signals. The system will then compare the original magnetic field distribution with the current actual distribution to analyze the degree of magnetic field distortion and deduce the product's actual position in space.

[0114] By using the magnetic component 110 and the interference mechanism of a symmetrical magnetic field, the system can detect minute changes in the product's position in space. It does not rely on a vision system or contact sensor and is suitable for scenarios involving flexible packaging, easily deformable, or transparent products.

[0115] By using two symmetrical magnetic fields as reference fields, a balanced and stable magnetic field distribution can be formed, making the disturbances caused by the product more measurable and directional, thus improving the resolvability of magnetic field data and system stability.

[0116] The magnetic field sensor array 147 can sense the degree of product offset relative to the ideal position, forming an accurate spatial error model, which provides key support for subsequent trajectory compensation and path calibration.

[0117] The magnetic activation command and detection process are fully controlled by the system and embedded in the gripping logic, which has a high degree of automation and is easy to integrate into existing automatic gripping or conveying systems.

[0118] This invention achieves path control by sensing position rather than relying heavily on the mechanical repeatability of the gripper 133, thereby reducing the impact of machining tolerances on the overall system accuracy and improving the equipment's fault tolerance and reliability.

[0119] In at least one embodiment of this application, the specific steps of resolving the three-dimensional coordinates of the first product located in the first region 140a based on the magnetic field distortion signal to obtain a first coordinate set; obtaining the coordinate position of the clamping station 120b to generate a second coordinate set; generating a trajectory path line set based on the first coordinate set and the second coordinate set; obtaining a standard trajectory range; and generating calibration trajectory data based on the standard trajectory range and the trajectory path line set include:

[0120] S401. Based on the diameter and three-dimensional coordinates of the engagement point of the first product, calculate the vertical coordinate points from both sides of the first product to the adjustment component 140 to obtain the first coordinate set, which is the three-dimensional coordinates of the first product located in the first region 140a.

[0121] S402. Obtain the three-dimensional coordinates of two coordinate points at the slot opening in the carding station 120b within the first region 140a, and obtain the second coordinate set.

[0122] S403. Extend the second coordinate set along the direction of the opening of the locking station 120b to form two parallel straight lines to obtain the standard trajectory range.

[0123] S404. Extend two parallel straight lines along the direction of the opening of the locking station 120b using each vertical coordinate point of the first coordinate set to obtain a set of trajectory path lines.

[0124] Please refer to Figures 1-10 In this embodiment, after the clamping component 130 delivers the first product into the first region 140a and completes the magnetic field data acquisition, the system has generated a magnetic field distortion signal. This step first calculates the three-dimensional coordinates of the first product within the first region 140a based on this distortion signal, combined with the physical structure of the first product (especially the diameter of the "clamping point" used for clamping) and the magnetic field strength distribution.

[0125] To more accurately characterize the product's spatial contours, the system not only identifies its center point but also calculates the coordinates of both sides of the locking structure (i.e., both ends of the cap) in a direction perpendicular to the adjustment component 140, thus obtaining a first set of coordinates. This coordinate set accurately reflects the lateral dimensions and position of the product's locking parts in space.

[0126] The system then acquires the spatial position of the card-fitting station 120b, specifically extracting the coordinates of two edge points at the card slot opening. These two points are located within the first region 140a, representing the target position range where the product should ultimately be placed, thus forming the second coordinate set.

[0127] Using two points in the second coordinate set as references, extend along the direction of the opening of clamping station 120b (usually the clamping and conveying direction) to form two parallel straight lines. These two straight lines constitute a closed channel or window, the so-called standard trajectory range, within which all qualified clamping paths should fall completely.

[0128] Similarly, the system extends each vertical coordinate point (i.e., the boundary points on both sides of the product) in the first coordinate set along the opening direction of the engagement station 120b, forming two parallel straight lines respectively. The set of lines formed in this way is the set of feasible path lines for the product.

[0129] These path lines indicate the path along which the edge of the product will approach engagement station 120b if it is moved directly in its current state without correction. If these path lines deviate from the standard trajectory range, it indicates a risk of product misalignment.

[0130] By refining the magnetic field distortion signal to the edges of the product's locking structure, the path judgment is no longer based on a single reference point, but on the complete path constructed based on the actual outer contour of the product, resulting in more accurate judgment and more stable control.

[0131] By constructing a standard trajectory range, the system can tolerate clamping errors within a certain range. As long as the trajectory path remains within the permissible range, unnecessary alarms or interventions can be avoided, achieving more flexible path control.

[0132] The geometric relationship between the path set and the standard trajectory is clear and quantifiable, which facilitates the calculation of the degree of offset, the determination of the error direction, and the generation of correction paths, thereby improving the system's ability to respond quickly to position drift.

[0133] By modeling the dimensions of the interlocking parts and analyzing their three-dimensional coordinates, this method is particularly suitable for products with asymmetrical structures, flexible packaging, or containers that may deform.

[0134] In at least one embodiment of this application, the specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include:

[0135] S405. Determine whether all trajectory path lines in the set of trajectory path lines are within the range of the standard trajectory;

[0136] S406. If all are located, an initial trajectory line is generated, and the movement of the adjustment component is controlled according to the initial trajectory line.

[0137] Please refer to Figures 1-10In this embodiment, the system constructs a set of standard trajectory ranges based on the structural characteristics of the engagement station 120b (such as the spatial coordinates on both sides of the slot opening), which is an effective channel area defined by two parallel straight lines extending along the engagement direction. This area represents the tolerance range that the movement path of the first product should fall into during its movement to the engagement station 120b.

[0138] Based on the three-dimensional coordinates (i.e. the first coordinate set) of the first product in the first region 140a, the system generates two trajectory path lines extending along the locking direction. These two lines describe the extension direction of the two sides of the first product in space and constitute a trajectory path line set.

[0139] The system compares each path in the trajectory path set with the standard trajectory range, and determines whether each path is within the standard range.

[0140] If the judgment result is "yes", meaning that all trajectory paths have not exceeded the standard boundary, it indicates that the current position of the product meets the accuracy requirements and no correction is needed.

[0141] Once it is confirmed that the set of trajectory paths is entirely within the standard trajectory range, the system can directly generate an initial trajectory line based on one or more paths in the trajectory set. This initial trajectory line is the motion path that the adjustment component uses for subsequent gripping and moving of the product.

[0142] Subsequently, the system control adjustment component operates according to the initial trajectory line, gripping the first product from the first area 140a and moving it to the clamping station 120b.

[0143] If the system forces trajectory correction during every clamping process, it not only consumes a lot of computational resources but may also cause the trajectory to change continuously, affecting stability. This embodiment determines whether the trajectory path is entirely within the standard trajectory range, allowing operations to be performed directly along the original trajectory when the product's positional deviation is tolerable, saving computation time and improving the overall system response speed.

[0144] By directly using the initial trajectory line to control the adjustment component, unnecessary trajectory compensation steps are eliminated, making the motion control of the adjustment component simpler and more efficient, and also reducing the overall control complexity of the system.

[0145] The standard trajectory range setting itself has a certain tolerance range, allowing products to be considered as having acceptable trajectories within a certain error range. Therefore, this solution gives the system a certain degree of flexibility to adapt to common deviations such as equipment wear and minor product dimensional differences, and will not frequently trigger calibration actions due to minor errors.

[0146] Executing the initial trajectory directly when there is no trajectory offset can maximize the continuity of the beat and avoid clamping delay or beat disorder caused by trajectory correction.

[0147] In at least one embodiment of this application, the specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include:

[0148] S407. If not located, then select the trajectory path lines that are not located within the standard trajectory range from the set of trajectory path lines, and generate a calibration trajectory line.

[0149] S408. Calculate the shortest distance from the calibration trajectory line to each straight line within the standard trajectory range to obtain the first distance and the second distance;

[0150] S409. If the first distance is greater than the second distance, then generate calibration trajectory data based on the second distance.

[0151] Please refer to Figures 1-10 In this embodiment, the system first determines whether there are any paths in the current trajectory path set that are outside the standard trajectory range. The standard trajectory range is defined by two boundary lines (usually two parallel straight lines) preset according to the structure of the target clamping station 120b, which are used to limit the acceptable motion trajectory of the product.

[0152] When the detected trajectory path line exceeds this range, it is determined to be a trajectory deviation, and trajectory correction is required.

[0153] The system filters out all paths that are not within the standard trajectory range from the set of trajectory paths, extracts these paths separately as path data to be corrected, and forms the so-called calibration trajectory lines.

[0154] Subsequently, the system calculates the shortest distance between each selected calibration trajectory line and the two boundary lines of the standard trajectory range.

[0155] Assuming the standard trajectory range is defined by two straight lines L1 and L2, the shortest distance from each calibration trajectory line to L1 is the first distance, and the shortest distance to L2 is the second distance.

[0156] The system compares the first distance and the second distance. If the first distance is greater than the second distance, it means that the offset is closer to the second boundary. At this time, the system recalculates a corrected trajectory path based on the direction and offset corresponding to the second distance, i.e., the calibration trajectory data. This data will then be used to control the adjustment components to correct the clamping and trajectory correction of the product.

[0157] By determining the distance of the offset path relative to the two standard boundaries, the system can identify the direction of the offset and select the more suitable side as the reference for trajectory correction, ensuring that the adjustment action direction is correct and the correction range is appropriate, thereby improving the clamping success rate.

[0158] In at least one embodiment of this application, if the first distance is greater than the second distance, the step of generating calibration trajectory data based on the second distance further includes:

[0159] S410. If the first distance is less than the second distance, then generate calibration trajectory data based on the first distance.

[0160] Please refer to Figures 1-10 In this embodiment, after the system detects that there is a path line in the set of trajectory paths that exceeds the standard trajectory range, it calculates the distance between the path line and the two boundary lines of the standard trajectory range. The first distance is the shortest distance from the trajectory path line to the first boundary line (such as the left trajectory boundary), and the second distance is the shortest distance from the trajectory path line to the second boundary line (such as the right trajectory boundary).

[0161] The system compares the numerical values ​​of the first distance and the second distance to determine which boundary line the trajectory path is closer to:

[0162] If the first distance is greater than the second distance, it means that the trajectory deviates from the direction closer to the second boundary line (right side). In this case, calibration trajectory data is generated based on the second distance. If the first distance is less than the second distance, it means that the trajectory deviates from the direction closer to the first boundary line (left side). In this case, calibration trajectory data is generated based on the first distance.

[0163] Whether based on the first distance or the second distance, once it is determined which side the trajectory offset is closer to, the system uses that side as a reference to calculate the required correction amount and generates a compensated calibration trajectory data accordingly.

[0164] This trajectory data is used for subsequent control and adjustment of component actions, that is, clamping and moving the product along the corrected trajectory, thereby ensuring that the product can be accurately delivered to the clamping station 120b without deviation or jamming.

[0165] Further refining the judgment of the direction of the boundary crossing can accurately identify whether the deviation occurs on the left or right, thereby adopting a more reasonable correction path and achieving directional trajectory compensation.

[0166] By selecting the side with the smaller offset for correction, the risk of the path moving in the wrong or excessive direction is avoided, thus making the trajectory correction more accurate and improving the trajectory control precision and execution stability of the system.

[0167] A path calibration device 100 based on product clamping, applied in the path calibration method based on product clamping as described in any one of the above claims, the device comprising:

[0168] Magnetic component 110 is fixed to the bottle mouth of the product;

[0169] The main body 120 is provided with a moving position 120a and a locking position 120b;

[0170] A clamping component 130 is disposed on the main body 120 and extends to the moving position 120a;

[0171] An adjustment component 140 is disposed on the main body 120, and the engagement station 120b to the initial position of the adjustment component 140 forms a first region 140a.

[0172] Please refer to Figures 1-10 In this embodiment, the magnetic component 110 is fixed to the bottle mouth of the product, serving as a sensing trigger in the product device. After the product enters the system, the magnetic component 110 can generate magnetic field coupling with the magnetic field sensor in the adjustment assembly 140, thereby obtaining its spatial position without contacting the product. The magnetic component 110 is a ring magnet.

[0173] The main body 120 is the basic frame shell of the entire path calibration device. It has two main areas inside: the movement position 120a, which is the working starting area of ​​the clamping component 130, that is, the area where the product is clamped and initially transported; and the clamping position 120b, which is the target area for the final clamping of the product, used for subsequent processing steps (such as coding, vacuuming, etc.).

[0174] The gripping component 130 is disposed on the body 120 and extends to the motion position 120a, and is responsible for gripping the product from the upstream process and moving it to the path identification area (i.e., the first area 140a).

[0175] This component typically includes grippers 133, drive motors or cylinders, etc., which can perform product gripping and transfer. However, in actual production, path deviation or wear of grippers 133 may occur due to long-term use.

[0176] The adjustment component 140 is also located on the main body 120. The space between the engagement station 120b and its own initial position is the first region 140a, which is the trajectory calibration region.

[0177] In this area, the adjustment component 140 is responsible for generating the magnetic field, collecting magnetic field data, calculating the actual coordinate position of the product, and determining whether to perform clamping compensation, path correction, or other operations based on the comparison results. The adjustment component 140 can further deliver the product to the clamping station 120b.

[0178] The first area 140a is formed between the initial position of the adjustment component 140 and the clamping station 120b. After the product is fed into this area by the clamping component 130, the adjustment component 140 performs spatial positioning and trajectory judgment on it, and decides whether correction processing is required.

[0179] By utilizing the cooperation of the magnetic component 110 and the adjustment component 140, the system can sense the product position offset in real time and dynamically adjust the trajectory, thereby achieving precise clamping even when the gripper 133 is offset or worn.

[0180] The motion accuracy of the clamping component 130 no longer directly determines the final clamping quality. Even if it is offset due to wear, the adjustment component 140 can still complete the compensation action to achieve corrective placement.

[0181] The path recognition and correction process is completed independently in the dedicated first area 140a, avoiding interference between the gripping and placement actions and improving the stability and controllability of the system operation.

[0182] In at least one embodiment of this application, the gripping component 130 includes:

[0183] The telescopic shaft 131 has one end fixed to the main body 120 and the other end extending to the moving position 120a;

[0184] A flip motor 132 is located at the end of the telescopic shaft 131 away from the main body 120, and a gripper 133 is fixedly provided at the output end of the flip motor 132;

[0185] The adjustment component 140 includes:

[0186] The drive cylinder 141 is mounted on the main body 120 at one end and has a drive plate 142 at the other end;

[0187] A clamping sensing group 143 is disposed at one end of the drive plate 142 away from the drive cylinder 141, and there are two clamping sensing groups 143, which are symmetrically arranged. The clamping sensing group 143 includes: a telescopic cylinder 144, a magnetic induction coil 145, a clamping head 146, and a magnetic field sensor array 147. One end of the telescopic cylinder 144 is fixed to the drive plate 142, and the other end of the telescopic cylinder 144 extends to the first region 140a and is fixedly connected to the clamping head 146. The magnetic induction coil 145 is disposed on the telescopic cylinder 144, and the magnetic field sensor array 147 is disposed on the clamping head 146. The telescopic cylinder 144 is arranged perpendicular to the opening direction of the clamping station 120b.

[0188] Please refer to Figures 1-10In this embodiment, the gripping assembly 130 achieves linear movement of its position via a telescopic shaft 131. One end of the telescopic shaft 131 is fixed to the device body 120, and the other end extends to the moving position 120a, allowing the gripper 133 to move back and forth along a fixed path to grip the product located at the moving position 120a. The telescopic shaft 131 can be a telescopic cylinder 144, a telescopic hydraulic cylinder, or the like.

[0189] A flip motor 132 is provided at the end of the telescopic shaft 131, and a gripper 133 is connected to its output end. When the product is gripped, the flip motor 132 can drive the gripper 133 to rotate a certain angle (such as 90°), so that the product's posture changes, making it easier for it to be identified and accurately placed in the subsequent path.

[0190] The adjustment assembly 140 achieves linear movement via a drive cylinder 141, one end of which is fixed to the main body 120, and the other end is connected to a drive plate 142. The drive plate 142 serves as a moving platform for carrying multiple functional modules into the first area 140a to perform calibration and clamping tasks.

[0191] Two sets of clamping sensor groups 143 are symmetrically mounted on the drive board 142, respectively distributed on its left and right sides. Each group includes the following components:

[0192] The telescopic cylinder 144 is used to advance the gripping head 146 to the position of the product to achieve gripping or sensing detection; the gripping head 146 is installed at the end of the telescopic cylinder 144 to perform the actual gripping action; the magnetic induction coil 145 is installed on the body of the telescopic cylinder 144 to generate a stable magnetic field; the magnetic field sensor array 147 is set on the gripping head 146 to accurately detect the magnetic field distortion caused by the product carrying the magnetic component 110 in the area.

[0193] The clamping sensor group 143 is arranged facing the first area 140a, and the extension direction of the telescopic cylinder 144 is set perpendicular to the opening direction of the clamping station 120b, which can accurately intervene in the product clamping from the side.

[0194] The clamping component 130 clamps and feeds the product into the first area 140a by extending, retracting and flipping. The adjustment component 140 receives a magnetic activation command and establishes a stable magnetic field through the magnetic induction coil 145. The magnetic field sensor array 147 collects magnetic field distortion data and analyzes the three-dimensional coordinates of the product. If the path deviates, one of the two clamping sensing groups 143 of the adjustment component 140 performs a clamping action according to the calibration trajectory and moves the product to the clamping station 120b. The entire process achieves high-precision path correction and dynamic control through the combination of clamping structure and sensors.

[0195] By using the telescopic shaft 131 and the flipping motor 132 in the gripping assembly 130, it can flexibly meet the gripping needs of products of different heights and postures, and at the same time quickly and safely guide the products into the path calibration area, thereby improving gripping adaptability.

[0196] The adjustment component 140, through the synergistic effect of the magnetic field induction coil and the sensor array, can sense the three-dimensional spatial position of the product in real time without contacting the product.

[0197] Because the opening direction of the telescopic cylinder 144 is perpendicular to that of the clamping station 120b, the clamping action will not interfere with the product's forward and backward movement trajectory, which is conducive to accurately controlling the closing timing and force of the gripper 133 and reducing problems such as falling or deflection.

[0198] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0199] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A path calibration method based on product clamping, characterized in that, The method includes: The magnetic component is installed at the bottle nozzle to obtain the first product. When the gripping component grips the first product and enters the first area, it acquires the magnetic field data within the first area and generates a magnetic field distortion signal based on the magnetic field data. The three-dimensional coordinates of the first product located in the first region are analyzed based on the magnetic field distortion signal to obtain the first coordinate set; Obtain the coordinates of the card-fitting station and generate a second coordinate set; Generate a set of trajectory path lines based on the first coordinate set and the second coordinate set; Obtain the standard trajectory range, and generate calibration trajectory data based on the standard trajectory range and the set of trajectory path lines; The calibration trajectory data is sent to the adjustment component to control the adjustment component to clamp the first product in the first area and move to the clamping station according to the calibration trajectory.

2. The path calibration method based on product clamping according to claim 1, characterized in that, The step of sending the calibration trajectory data to the adjustment component to control the adjustment component to grip the first product in the first area and move to the clamping station according to the calibration trajectory specifically includes: When the gripping component grips the first product and enters the first area, a motion signal is generated and sent to the adjustment component to control the adjustment component to move synchronously with the gripping component from the position of entering the first area. After the adjustment component receives the calibration trajectory data, it executes the calibration trajectory data to control the adjustment component to move closer to the first product in the first area and clamp the first product. When the adjustment component holds the first product, it moves according to the calibration trajectory based on the calibration trajectory data.

3. The path calibration method based on product clamping according to claim 2, characterized in that, The specific steps of the adjustment component executing the calibration trajectory data after receiving the calibration trajectory data to control the adjustment component to move closer to the first product in the first area and clamp the first product include: When the adjustment component clamps the first product, a reset signal is generated and sent to the clamping component to control the clamping component to return.

4. The path calibration method based on product clamping according to claim 1, characterized in that, When the gripping component grips the first product and enters the first area, the magnetic field data within the first area is acquired, and a magnetic field distortion signal is generated based on the magnetic field data. The specific steps include: A magnetic activation command is generated to control the adjustment component to generate two symmetrical magnetic fields in the first region, and the magnetic field signal intensity data in the first region is obtained by the magnetic field sensor array in the adjustment component, thereby obtaining the magnetic field data.

5. The path calibration method based on product clamping according to claim 1, characterized in that, The three-dimensional coordinates of the first product located in the first region are analyzed based on the magnetic field distortion signal to obtain a first coordinate set; the coordinate position of the locking station is obtained to generate a second coordinate set; and a set of trajectory path lines is generated based on the first coordinate set and the second coordinate set. The specific steps for obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the set of trajectory path lines include: Based on the diameter and three-dimensional coordinates of the engagement point of the first product, the vertical coordinate points from both sides of the first product to the adjustment component are calculated to obtain the first coordinate set, which is the three-dimensional coordinate of the first product located in the first region. Obtain the three-dimensional coordinates of two points at the slot opening in the card engagement station within the first region to obtain the second coordinate set; The second coordinate set is extended along the direction of the opening of the clamping station to form two parallel straight lines to obtain the standard trajectory range; Two parallel straight lines are formed by extending each vertical coordinate point of the first coordinate set along the direction of the opening of the locking station to obtain a set of trajectory path lines.

6. The path calibration method based on product clamping according to claim 1, characterized in that, The specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include: Determine whether all trajectory paths in the set of trajectory paths are within the range of the standard trajectory. If they are, generate an initial trajectory line and control the movement of the adjustment component based on the initial trajectory line.

7. The path calibration method based on product clamping according to claim 6, characterized in that, The specific steps of obtaining the standard trajectory range and generating calibration trajectory data based on the standard trajectory range and the trajectory path set further include: If not located, then select trajectory path lines that are not located within the standard trajectory range from the set of trajectory path lines, and generate calibration trajectory lines; Calculate the shortest distance from the calibration trajectory line to each straight line within the standard trajectory range to obtain the first distance and the second distance; If the first distance is greater than the second distance, then calibration trajectory data is generated based on the second distance.

8. The path calibration method based on product clamping according to claim 7, characterized in that, If the first distance is greater than the second distance, the step of generating calibration trajectory data based on the second distance further includes: If the first distance is less than the second distance, then calibration trajectory data is generated based on the first distance.

9. A path calibration device based on product clamping, applied in the path calibration method based on product clamping as described in any one of claims 1-8, characterized in that, The device includes: Magnetic component, used to fix the product at the bottle nozzle; The main body is equipped with a movement position and a locking position; A clamping component is disposed on the main body and extends to the moving position; An adjustment component is disposed on the main body, and the engagement station to the initial position of the adjustment component forms a first region.

10. The path calibration device based on product clamping according to claim 9, characterized in that, The clamping component includes: The telescopic shaft has one end fixed to the main body and the other end extending to the moving position; A flip motor is located at the end of the telescopic shaft away from the main body, and a gripper is fixedly provided at the output end of the flip motor; The adjustment component includes: A drive cylinder is mounted on the main body at one end and has a drive plate at the other end; A clamping sensing group is located at the end of the drive plate away from the drive cylinder, and there are two clamping sensing groups, which are symmetrically arranged. The clamping sensing group includes: a telescopic cylinder, a magnetic induction coil, a clamping head, and a magnetic field sensor array. One end of the telescopic cylinder is fixed to the drive plate, and the other end of the telescopic cylinder extends to the first area and is fixedly connected to the clamping head. The magnetic induction coil is located on the telescopic cylinder, and the magnetic field sensor array is located on the clamping head. The telescopic cylinder is arranged perpendicular to the opening direction of the clamping station.

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