Full-automatic packaging box pushing and conveying cooperation method and system for bottled oral liquid

Abstract

The invention discloses a full-automatic packaging box pushing and conveying cooperation method and system for bottled oral liquid, particularly relates to the technical field of material pushing of packaging machinery, and aims at solving the problems that in the prior art, due to the fact that the surface of a blister inner support is smooth and is provided with a groove, adhesion is prone to occurring, pushing separation is unstable, and the conveying posture is not corrected in time. The method comprises the following steps: acquiring pushing mechanical information in real time, judging an adhesion risk level, identifying a specific adhesion cause type when judging a high risk, controlling a pushing device to execute a combined pushing action matched with the pushing device so as to realize reliable separation, analyzing disturbance transmission characteristics caused by the pushing action, and identifying a front stable conveying reference individual; dynamically adjusting a follow-up correction strategy according to the disturbance characteristics, and adjusting the conveying speed according to the follow-up correction strategy; closed-loop cooperative control from intelligent diagnosis type pushing to self-adaptive following correction is achieved, and the success rate of inner support separation and the stability of the conveying posture are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of material feeding technology in packaging machinery, and more specifically, to a fully automated method and system for feeding and conveying pouch-packaged oral liquids. Background Technology

[0002] In the automated production process of bottled oral liquids, the blister tray (also known as an oral liquid plastic tray box) is a core inner packaging component in the packaging process. It is mainly used to fix and protect the oral liquid bottle. This blister tray is subsequently placed into the corresponding outer packaging box to form a complete packaging unit for the bottled oral liquid. The pushing and conveying operations of the blister trays rely on the coordinated operation of packaging machinery and a conveying system, belonging to the field of packaging operations and material conveying technology. In existing technologies, stacked bottled oral liquid blister trays are typically stored in a silo. A pushing device separates the stacked trays one by one, and a conveyor line receives and transfers them to subsequent bottling and boxing processes. To achieve continuous production, the pushing device and the conveyor line need to maintain coordinated operation. However, the collaborative design of existing equipment often focuses on basic rhythm synchronization, controlling the pushing force and conveying positioning intensity only through preset fixed parameters, without specifically adapting to the material and structural characteristics of the blister trays. The inner trays of tube-packaged oral liquids are mostly made of PVC or PET material. Their smooth surface and positioning grooves that fit the bottle make them easy to connect when stacked. This characteristic places specific requirements on the coordination of pushing and conveying.

[0003] In existing technologies, the push and conveying coordination control of the inner tray of the blister pack for oral liquid lacks dynamic adaptation to the material and structural characteristics of the inner tray. The force of the push separation process and the positioning constraint of the conveying and receiving process are not effectively matched, making it difficult to stably separate the stacked inner trays during push and unable to correct the instantaneous posture of the inner tray in time during conveying. This leads to problems such as inner tray adhesion during push and positioning groove displacement, which not only affects the accurate placement of the oral liquid bottle into the tray, but also interferes with the subsequent process of loading into the outer packaging box, ultimately affecting the continuous and stable operation of the packaging production line. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a fully automated packaging box pushing and conveying collaborative method and system for tube-packaged oral liquids to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A fully automated packaging box pushing and conveying collaborative method for vial-sized oral liquids includes the following steps:

[0007] S1. Real-time acquisition of dynamic mechanical information of the pushing device as it pushes the stacked blister trays forward;

[0008] S2. Determine the adhesion risk level of the blister pack to be separated based on dynamic mechanical information;

[0009] S3. When the adhesion risk level is high, the adhesion cause type of the blister pack to be separated is identified based on the feature parameters of dynamic mechanical information.

[0010] S4. Based on the type of adhesion, control the pushing device to perform a combined pushing action that matches the corresponding type of adhesion to separate the current blister inner tray to be separated;

[0011] S5. Analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line.

[0012] S6. Based on the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, dynamically adjust the following correction strategy with the stable conveying reference individual as the benchmark, and adjust the conveying speed of the corresponding section on the conveying line according to the adjusted following correction strategy.

[0013] Furthermore, S1 includes:

[0014] Obtain the real-time load current value of the push shaft drive motor;

[0015] Simultaneously acquire the real-time pressure value of the pressure sensor set at the contact surface between the push execution end and the foremost blister inner tray;

[0016] Simultaneously, the real-time displacement value of the blister pack to be separated relative to the stack is obtained, measured by a position sensor;

[0017] The real-time load current value, real-time pressure value, and real-time displacement value together constitute dynamic mechanical information.

[0018] Furthermore, S2 includes:

[0019] The real-time load current value and the real-time pressure value are compared with their corresponding first set threshold and second set threshold, respectively.

[0020] If the real-time load current value continuously exceeds the first set threshold and the real-time pressure value simultaneously continues to be lower than the second set threshold, the adhesion risk level is initially determined to be high risk.

[0021] After initially determining it to be high-risk, further analysis was conducted on the curve of real-time displacement value changing over time.

[0022] If the curve of the real-time displacement value shows a non-linear stagnation characteristic within a predetermined time, the adhesion risk level will be determined to be high risk.

[0023] Otherwise, the adhesion risk level is determined to be a normal risk.

[0024] Furthermore, S3 includes:

[0025] After the adhesion risk level is determined to be high risk, retrieve the real-time pressure value change data within the predetermined time window;

[0026] Analyze whether the real-time pressure value change data exhibits high-frequency, low-amplitude periodic fluctuation characteristics;

[0027] If there are high-frequency, low-amplitude periodic fluctuations, the adhesion cause is identified as vacuum adsorption.

[0028] If no features are found, further analysis should be conducted to determine whether the real-time displacement value change curve has a step-like abrupt change point accompanied by a sudden drop in pressure value.

[0029] If a stepwise abrupt change point exists, the adhesion cause type is identified as mechanical interlocking.

[0030] Furthermore, S4 includes:

[0031] After identifying the adhesion cause as vacuum adsorption, the control push device performs push in a preset first intermittent push mode.

[0032] After identifying the adhesion cause as mechanical interlocking, the control push device performs push in a preset second composite push mode.

[0033] Furthermore, the first intermittent push mode includes at least one pause and restart of the push process.

[0034] Furthermore, the second composite push mode includes a lateral micro-oscillation motion superimposed on the constant-speed push stroke.

[0035] Furthermore, S5 includes:

[0036] The image acquisition unit continuously acquires the initial motion posture sequence after the separated blister tray leaves the pushing device, as well as the micro-motion state sequence of the topmost subsequent blister tray at the front end of the pushing device.

[0037] Calculate the state correlation degree between the initial motion posture sequence and the micro-motion state sequence within a predetermined time window, and use this state correlation degree as the feature for separating the perturbation propagation.

[0038] Meanwhile, continuous pose data of multiple blister packs on the conveyor line are acquired based on the image acquisition unit;

[0039] From multiple blister packs, the individual whose pose data remains stable and is located in front of the separated blister pack is identified as the stable transport reference individual.

[0040] Furthermore, S6 includes:

[0041] The state correlation is compared with a preset correlation threshold;

[0042] If the state correlation is higher than the correlation threshold, a follow-up correction strategy is generated with the adjustment direction of reducing the following distance and increasing the response gain.

[0043] If the state correlation is lower than or equal to the correlation threshold, a follow-correction strategy is generated to maintain the default follow distance and response gain as the adjustment direction.

[0044] Based on the generated follow-up correction strategy, calculate the real-time speed setpoint required for the separated blister insert to match the target motion trajectory of the stable delivery reference individual;

[0045] Adjust the speed of the drive motor on the corresponding section of the conveyor line that carries the separated blister tray according to the real-time speed setting value.

[0046] On the other hand, the present invention provides a fully automated packaging box pushing and conveying collaborative system for vial-sized oral liquids, comprising the following modules:

[0047] The information acquisition module is used to acquire dynamic mechanical information in real time when the pushing device pushes the stacked blister trays forward;

[0048] The risk assessment module is used to determine the adhesion risk level of the blister packing to be separated based on dynamic mechanical information.

[0049] The cause identification module is used to identify the type of adhesion cause of the blister pack to be separated based on the feature parameters of dynamic mechanical information when the adhesion risk level is high.

[0050] The push control module is used to control the push device to perform a combination push action that matches the corresponding adhesion cause type to separate the current blister inner tray to be separated;

[0051] The feature analysis module is used to analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line.

[0052] The strategy adjustment module is used to dynamically adjust the following correction strategy based on the stable conveying reference individual, according to the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, and adjust the conveying speed of the corresponding section on the conveyor line according to the adjusted following correction strategy.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. Effectively solves the problems of push adhesion and conveying instability caused by the physical characteristics of the blister tray. By analyzing dynamic mechanical information in real time, it not only judges the risk of adhesion, but also identifies the specific causes such as vacuum adsorption or mechanical interlocking. Based on this, it executes differentiated and matched combination push actions, which can complete the separation of the tray efficiently and stably with less force and lower risk of component wear. This reduces production interruptions caused by push failure or tray damage, and provides a reliable guarantee for subsequent processes.

[0055] 2. In the conveying coordination process, proactive and adaptive attitude correction is achieved. By quantitatively analyzing the disturbance transmission characteristics caused by the separation action, the system can assess the instability of the current inner tray's motion state in advance. Based on this, using a stable conveying unit in front as a dynamic reference benchmark, the system adjusts the parameters of the following correction strategy in real time according to the disturbance assessment results, thereby dynamically adjusting the conveying speed. This transforms the conveyor line from a uniform, passive receiver into an intelligent system capable of actively predicting changes in the inner tray's attitude and implementing personalized speed intervention. Ultimately, this ensures that each blister inner tray enters the downstream packaging station smoothly with a stable and upright attitude, greatly improving the accuracy of automatic tray placement and subsequent boxing of oral liquid bottles and the overall continuity of the production line. Although this solution integrates multiple sensors and control logic, its core hardware consists of mature components found in modern automated production lines, such as servo motors, industrial cameras, and force sensors. The software algorithm is implemented on an embedded industrial controller or industrial personal computer, and its complexity is achievable within the current industrial computing capabilities, addressing the extremely high stability requirements for inner tray separation and conveying attitude in high-end pharmaceutical packaging. Attached Figure Description

[0056] Figure 1 This is a flowchart of the fully automated packaging box pushing and conveying coordinated method for tube-packaged oral liquids according to the present invention;

[0057] Figure 2 This is a schematic diagram of the structure of the fully automated packaging box pushing and conveying collaborative system for tube-packaged oral liquids according to the present invention. Detailed Implementation

[0058] 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] Example 1: Figure 1 The present invention provides a fully automated packaging box pushing and conveying coordinated method for tube-packaged oral liquids, which includes the following steps:

[0060] S1. Real-time acquisition of dynamic mechanical information of the pushing device as it pushes the stacked blister trays forward;

[0061] S2. Determine the adhesion risk level of the blister pack to be separated based on dynamic mechanical information;

[0062] S3. When the adhesion risk level is high, the adhesion cause type of the blister pack to be separated is identified based on the feature parameters of dynamic mechanical information.

[0063] S4. Based on the type of adhesion, control the pushing device to perform a combined pushing action that matches the corresponding type of adhesion to separate the current blister inner tray to be separated;

[0064] S5. Analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line.

[0065] S6. Based on the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, dynamically adjust the following correction strategy with the stable conveying reference individual as the benchmark, and adjust the conveying speed of the corresponding section on the conveying line according to the adjusted following correction strategy.

[0066] In step S1, to accurately characterize the mechanical state of the interaction between the pushing device and the stacked blister trays in real time, it is necessary to acquire multi-dimensional information that comprehensively reflects the force and motion state during the pushing process, and integrate this information into dynamic mechanical information that can be used for judgment in subsequent steps. This is specifically achieved through the following methods:

[0067] Obtain the real-time load current value of the push axis drive motor. The push device is powered by a servo motor or stepper motor as the push axis drive motor, and the armature current or phase current of the motor is proportional to its output torque. The real-time operating current of the motor is continuously sampled at a high sampling frequency, such as at least 1000 Hz, using a current sampling circuit integrated within the motor driver or an external current transformer connected to the motor's power line. The collected analog current signal is converted into a digital signal by an analog-to-digital converter. This digital signal represents the real-time load current value, typically in amperes, which reflects the output torque of the push axis drive motor. This real-time load current value directly reflects the magnitude of the pushing force applied by the push device to overcome the stacking resistance of the blister pack.

[0068] The system synchronously acquires real-time pressure values ​​from pressure sensors located at the contact surfaces of the pusher end and the foremost blister tray. At the pusher end of the pushing device, specifically the front face of the pusher plate that directly contacts the blister tray, an array of thin-film pressure sensors or a single high-precision pressure sensing unit is embedded. This pressure sensor directly measures the normal pressure between the contact surfaces when the pusher plate and the foremost blister tray come into contact. The analog voltage or current signal output by the pressure sensor is amplified and filtered by a signal conditioning circuit before being sent to a data acquisition unit for analog-to-digital conversion, thus obtaining a real-time pressure value in Newtons or kilopascals. This real-time pressure value provides accurate information on the actual clamping force at the contact interface.

[0069] Simultaneously, the real-time displacement value of the blister tray to be separated relative to the stack is acquired, measured by a position sensor. This real-time displacement value refers to the relative motion displacement of the blister tray to be separated relative to the stationary stack behind it. Implementation methods include, but are not limited to, the following: Using a laser displacement sensor, aligned with the side or rear end of the blister tray to be separated, ensuring its optical path is unobstructed; the sensor emits a laser beam and receives the reflected light, measuring the absolute displacement of the tray relative to the sensor reference point by calculating the change in the laser spot position. Since the stack itself is relatively fixed in position or its displacement is known during the pushing process, the real-time displacement value of the blister tray to be separated relative to the stack can be obtained by calculating the difference between the two displacements. Another implementation method is to use a visual measurement method, capturing images containing the edge of the blister tray to be separated and the reference edge of the stack using an industrial camera, and calculating the relative displacement change between the two using edge detection and pixel coordinate comparison techniques in image processing algorithms. This real-time displacement value is in millimeters.

[0070] Real-time load current, real-time pressure, and real-time displacement values ​​together constitute dynamic mechanical information. To ensure the synchronization and comparability of these three parameters in time, a unified high-precision timestamp is applied to each data record from current sampling, pressure sensing, and position sensing during data acquisition. The time synchronization accuracy needs to reach a high level, for example, better than 1 millisecond. The central processing unit aligns and binds the three data streams according to this timestamp. The aligned data constitutes a dynamic mechanical information dataset containing time, electric drive, contact force, and motion displacement dimensions. This dataset is stored in memory as an array or structure in specific variables or a cache. The real-time load current, real-time pressure, and real-time displacement values ​​together form a multi-dimensional feature vector, providing a cross-validation data basis for subsequent steps to determine the risk of adhesion.

[0071] In step S2, the adhesion risk level of the blister packing to be separated is determined based on the dynamic mechanical information obtained from step S1. This determination process is a multi-condition, hierarchical logical decision-making flow. The specific implementation is as follows:

[0072] The process involves comparing the real-time load current and real-time pressure values ​​with their corresponding first and second set thresholds, respectively. The first set threshold is a current reference value used to determine whether the load on the push motor is too high, and the second set threshold is a pressure reference value used to determine whether the contact pressure between the push plate and the inner tray is insufficient. The specific values ​​of these two thresholds are determined through the following steps: First, during the equipment installation and commissioning phase, at least 50 consecutive normal separation tests are conducted using a batch of standard blister packs known to be free of adhesion defects. During this process, the real-time load current waveform of the push shaft drive motor is fully recorded for each separation, and its peak value is extracted; simultaneously, the pressure readings of the pressure sensor during the stable pushing phase are recorded, and their average value is calculated. Second, the arithmetic mean of all collected load current peak data is calculated to obtain the load current reference value; the arithmetic mean of all stable pressure average data is calculated to obtain the contact pressure reference value. Next, considering sensor fluctuations, mechanical wear, and batch differences in materials, a safety margin is introduced. The load current reference value is multiplied by a coefficient of 1.3 to 1.5, for example, 1.35, and the result is set as the first set threshold. Multiply the contact pressure reference value by a coefficient of 0.5 to 0.7, for example, 0.65, and the result is set as the second set threshold. Finally, this initially set threshold group is input into the control system for verification in subsequent small-batch trial production. If the false judgment rate is found to be too high due to overly sensitive thresholds, the first set threshold is gradually increased or the second set threshold is decreased in 5% increments; if true adhesion is missed, the threshold is adjusted in the opposite direction. After several iterations, until the system achieves an accuracy rate of over 95% in judging normal separation and true adhesion in at least 1000 separation tests, the thresholds determined at this point are the final first and second set thresholds for use. During comparison, the processing unit extracts the latest real-time load current data points from the dynamic mechanical information dataset, compares each data point with the first set threshold to determine if it is greater than the first set threshold; simultaneously, it extracts the latest real-time pressure data points, compares each data point with the second set threshold to determine if it is less than the second set threshold.

[0073] The selection rule for coefficient k is based on the material of the blister tray and the number of stacked layers. Specifically, when the tray material is PVC, due to its relatively high surface friction coefficient, k is set to 1.3-1.4; when the tray material is PET, due to its higher surface smoothness and greater risk of vacuum adsorption, k is set to 1.4-1.5. This coefficient range was calibrated through 500 sets of separation experiments with different materials and different stacked layers (10-50 layers). Experimental data shows that within this range, the k value can achieve an accuracy rate of over 98% in judging high-risk adhesion, while controlling the false judgment rate to within 2%, thus avoiding production interruptions caused by unreasonable thresholds.

[0074] The system performs a logical judgment to initially determine the adhesion risk level as high if the real-time load current value continuously exceeds a first preset threshold and the real-time pressure value continuously falls below a second preset threshold. The "continuously exceeding" and "continuously falling" conditions need to be clearly defined for specific timeframes. A judgment time window is set, the duration of which can be selected between 20 milliseconds and 100 milliseconds, for example, 50 milliseconds. Within this judgment time window, the proportion of real-time load current data points exceeding the first preset threshold and the proportion of real-time pressure data points falling below the second preset threshold are calculated. If the proportion of data points exceeding the first preset threshold exceeds 80% and the proportion of data points falling below the second preset threshold also exceeds 80%, the continuous condition is simultaneously met, triggering the initial determination of a high-risk adhesion level. If either of the above two proportion conditions does not reach 80%, the continuous condition is not simultaneously met, and the process directly proceeds to determine the adhesion risk level as a normal risk.

[0075] After initially determining a high-risk situation, the next step is to further analyze the real-time displacement value over time. This involves retrieving a real-time displacement value data sequence that is time-aligned with the aforementioned determination time window; this sequence consists of displacement values ​​and corresponding timestamps.

[0076] If the real-time displacement value change curve exhibits non-linear stagnation characteristics within a predetermined time period, the final analysis and judgment will determine the adhesion risk level as high risk. This predetermined time can be the same as the judgment time window, for example, 50 milliseconds. Non-linear stagnation characteristics are identified by analyzing the numerical characteristics of the displacement sequence. First, the total increment of the real-time displacement values ​​within the predetermined time period is calculated; the total increment equals the last displacement value minus the first displacement value in the sequence. Simultaneously, the standard deviation of the first-order difference of the displacement value sequence within this time period is calculated; the first-order difference refers to the sequence of differences between the last and the previous displacement values. A minimum displacement threshold is set to determine complete stagnation; this threshold can be set according to the sensor resolution, for example, 0.1 mm. A set displacement threshold is set to determine minute movement; this threshold can be estimated based on the normal separation speed, for example, 0.5 mm. A set proportional threshold is set to determine the degree of fluctuation, for example, 2. The conditions for identifying non-linear stagnation characteristics are: the total increment is less than the set displacement threshold, and the ratio of the standard deviation of the first-order difference to the total increment is greater than the set proportional threshold. When the curve of the change in real-time displacement value meets this condition, the adhesion risk level is ultimately determined to be high risk.

[0077] Otherwise, proceed to the step of determining the adhesion risk level as a normal risk. "Otherwise" here covers two situations: first, the initial high-risk determination is not triggered, meaning the real-time load current value and real-time pressure value do not simultaneously meet the aforementioned conditions of continuously exceeding and continuously falling below; second, although the initial determination is high risk, the change curve of the real-time displacement value does not meet the aforementioned identification conditions of nonlinear stagnation characteristics. Normal risk indicates that the separation resistance of the currently separating blister pack is within the normal expected range. The final determined adhesion risk level, whether high risk or normal risk, will be output as a clear logical flag or variable value and passed to the subsequent step S3 for its invocation.

[0078] In step S3, when the adhesion risk level is determined to be high, the adhesion cause type of the blister packing to be separated is identified based on the feature parameters of the dynamic mechanical information. The specific implementation is as follows:

[0079] After the adhesion risk level is determined to be high, the process retrieves real-time pressure value change data within a predetermined time window. The starting point of the predetermined time window is set at the logical judgment moment in step S2 when the adhesion risk level is finally determined to be high, and data from a continuous period of time before this moment is included in the window for analysis. The duration of the predetermined time window needs to be sufficient to cover the process of adhesion force change, and its value can be determined according to the movement speed of the pushing device and the duration of typical adhesion events; for example, the window duration can be selected between 100 milliseconds and 300 milliseconds. The processing unit extracts all real-time pressure value sampling points and their corresponding timestamps falling within this predetermined time window from the circular data buffer storing dynamic mechanical information, based on a unified timestamp index, forming a pressure time series arranged in chronological order.

[0080] The step of analyzing real-time pressure value changes to determine if they exhibit high-frequency, low-amplitude periodic fluctuations is crucial for identifying vacuum adsorption adhesion. The specific process for analyzing this characteristic is as follows: First, the extracted pressure time series is preprocessed to suppress noise using a 5-point or 7-point moving average filter for smoothing. In the smoothed series, peaks and troughs are identified by finding inflection points: data points are sequentially traversed, and when a data point's value is simultaneously greater than the values ​​of its two preceding and following data points, it is recorded as a peak and its corresponding value; when a data point's value is simultaneously less than the values ​​of its two preceding and following data points, it is recorded as a trough and its corresponding value. Then, the time interval between consecutive peaks is calculated, and the median of these intervals is taken as the dominant period T of the fluctuation, with its reciprocal being the dominant frequency f. Next, the absolute value of the pressure difference between each peak and its next adjacent trough is calculated, and the median of these differences is taken as the typical amplitude A of the fluctuation. To distinguish the fluctuations unique to vacuum adsorption from ordinary noise, a criterion needs to be established. The frequency criterion is based on the fact that the physical processes of vacuum adsorption rupture and reconstruction are typically rapid, with an empirical lower limit of approximately 8 Hz. Therefore, the frequency threshold is set to 8 Hz. The amplitude criterion is based on the fluctuation range of normal contact pressure during stable pushing. By analyzing a large amount of pressure data during normal separation, the fluctuation amplitude typically does not exceed 15% of the stable pressure value. Therefore, the amplitude threshold is set to 15% of the second set threshold. If the calculated dominant frequency f is greater than 8 Hz and the typical amplitude A is less than 15% of the second set threshold, then the real-time pressure value change data is determined to exhibit high-frequency, low-amplitude periodic fluctuation characteristics. If either of the above two conditions is not met, then the characteristic is determined to be absent.

[0081] The 8 Hz frequency threshold was determined based on experiments on the physical properties of vacuum adsorption adhesion. By building a vacuum adsorption simulation platform, the cycle of vacuum rupture and reconstruction between the inner trays of the blister pack under different bonding gaps was tested. The results showed that the main frequency of pressure fluctuations under vacuum adsorption was concentrated in the 8-25 Hz range, and fluctuations below 8 Hz were caused by mechanical vibration or sensor noise. The 15% amplitude threshold was based on statistical analysis of pressure data from 1000 normal separation operations. The results showed that the maximum pressure fluctuation amplitude during normal pushing did not exceed 15% of the stable pressure value; fluctuations exceeding this value were unrelated to adhesion. This threshold, verified on the production line, showed a 97% specificity for identifying vacuum adsorption adhesion.

[0082] Based on the results of the above feature analysis, if there are high-frequency, low-amplitude periodic fluctuations, the adhesion cause type is identified as vacuum adsorption. At this time, the processing unit assigns an internal state variable, i.e., the adhesion cause type, a specific enumerated value or string characterizing vacuum adsorption, such as "vacuum adsorption," and ends the identification process of this step, passing the identification result to the subsequent step S4.

[0083] If it is determined that there are no high-frequency, low-amplitude periodic fluctuation characteristics, then a further analysis is performed to determine whether the change curve of the real-time displacement value has a step-like abrupt change point accompanied by a sudden drop in pressure value. This step is used to identify adhesion of mechanical interlocking type. The specific analysis process is as follows: Simultaneously retrieve the real-time displacement value sampling point data within the same predetermined time window as mentioned above to form a displacement time series. In the displacement time series, traverse each data point in chronological order to check whether it constitutes a displacement abrupt change point. The specific checking method is as follows: First, perform a difference operation on the displacement time series to obtain the instantaneous velocity series. Then, find the peak points in the instantaneous velocity series that are more than twice the normal pushing speed. The time positions corresponding to these peak points are the candidate moments when the displacement changes abruptly. Next, backtrack to the original displacement series, and near these candidate moments, calculate the displacement increment within a very short time window. If this increment exceeds three times the resolution of the displacement sensor, then it is confirmed that there is a displacement step-like abrupt change point at that location. Simultaneously, pressure data points with the same timestamp as the displacement abrupt change point are located in the pressure time series. It is then checked whether the minimum pressure within the next 5 sampling points is more than 20% lower than the average pressure within the previous 5 sampling points. If both significant displacement increment and significant pressure drop are met simultaneously, a step-like abrupt change point accompanied by a pressure drop is identified. For a checked displacement data point, the displacement difference between it and the Nth subsequent data point is calculated, where N is a small integer (e.g., N equals 3), representing the displacement change over a very short period. If this displacement difference is greater than a preset displacement abrupt change threshold, the point is initially marked as a displacement abrupt change point. The displacement abrupt change threshold is set considering the sensor resolution and normal push speed; for example, it is set to 0.3 mm. For each marked displacement abrupt change point, the pressure data point with the same or closest timestamp as the displacement abrupt change point is immediately searched in the pressure time series, and it is checked whether a pressure drop exists near this pressure data point. The checking method is: calculate the pressure difference between this pressure data point and the Mth subsequent pressure data point, where M is a small integer (e.g., M equals 3). If the pressure difference is less than a preset pressure drop threshold, a pressure drop is considered to exist. The pressure drop threshold is negative and is set to take into account the noise level of the pressure sensor; for example, the pressure drop threshold is set to 15% of a second preset threshold and then negative. If a displacement abrupt change point is found, and a pressure drop that meets the above conditions exists at its corresponding moment, then a step-like abrupt change point accompanied by a pressure drop is determined to exist.

[0084] Based on the results of the displacement-pressure correlation analysis, a final judgment is made: if a step-like abrupt change point exists, the adhesion cause type is identified as mechanical interlocking. At this point, the processing unit assigns the adhesion cause type variable to a specific enumerated value or string representing mechanical interlocking, such as "mechanical interlocking," ends the identification process, and outputs the result. If no valid step-like abrupt change point accompanied by a sudden drop in pressure is found within the predetermined time window, the identification process in this step ends, and the adhesion cause type variable can be assigned a default value, such as "unknown." The entire step S3 distinguishes between the two main adhesion causes by analyzing the waveform pattern of real-time pressure values ​​and the spatiotemporal correlation characteristics between real-time displacement values ​​and real-time pressure values.

[0085] In step S4, based on the type of adhesion, the pushing device is controlled to perform a combined pushing action matching the corresponding adhesion type to separate the current blister pack inner tray to be separated. This step receives the identification result from step S3, i.e., whether the adhesion type is vacuum adsorption or mechanical interlocking, and selects and executes one of two preset, targeted pushing control modes accordingly to achieve efficient and stable inner tray separation. The specific implementation is as follows:

[0086] After identifying the adhesion cause as vacuum adsorption, the control pusher executes the push in a preset first intermittent push mode. The core of this first intermittent push mode is to utilize short pauses and restarts in the push stroke to disrupt the localized vacuum negative pressure formed by the tight adhesion of smooth surfaces between the inner trays of the blister pack. This mode relies on precise motion control of the push shaft drive motor. Specific parameters of the first intermittent push mode include a baseline push speed, at least one pause point, and the pause duration corresponding to each pause point. The baseline push speed is set with reference to the push speed during normal separation, for example, 50 millimeters per second. The pause points are set at specific stages of the push stroke, for example, at 30% and 70% of the total push stroke. The pause duration is adjusted according to the intensity of the vacuum adsorption, which can be estimated based on the high-frequency, low-amplitude fluctuation amplitude obtained in step S3. For example, a larger fluctuation amplitude indicates stronger adsorption, and the pause duration can be increased accordingly. The pause duration is typically in the range of 50 milliseconds to 200 milliseconds. The control process is as follows: The processing unit sends a sequence of motion commands for the first intermittent pushing mode to the motion controller of the push shaft drive motor. This sequence of commands includes multiple motion segments, each of which pushes a distance at a constant speed at a reference pushing speed. A pause segment with zero speed is inserted between adjacent motion segments, and the duration of the pause segment is the pause duration. The pushing device executes the action according to this sequence of commands. First, it accelerates to the reference pushing speed and runs to the first pause point. Then, the driver controls the motor to smoothly reduce the speed to zero within a preset acceleration / deceleration time, such as 10 milliseconds, and maintain the pause duration. Then, it accelerates back to the reference pushing speed within the same acceleration / deceleration time and continues running to the next pause point or completes the entire separation pushing stroke. Through this intermittent pushing, the rebound caused by the slight elastic deformation between the blister packs and any air that may have seeped in during each pause helps to break the vacuum seal, thus achieving separation with less force upon restarting.

[0087] After identifying the adhesion cause as mechanical interlocking, the control pusher executes the push in a preset second composite push mode. The core of this second composite push mode is to superimpose a slight lateral oscillation along a constant main push direction, generating minute lateral vibrations or swings to help release the mechanical jamming between the blister pack's inner tray positioning groove and the corresponding protrusion below or the bottle body. To achieve this composite action, a specific mechanical design was implemented on the actuator of the pusher. Specifically, the actuator is not a single rigid push plate, but rather consists of a main push plate and an oscillating head. The main push plate is fixedly connected to the pusher shaft and provides the main forward thrust. The oscillating head is mounted on the front end face of the main push plate via a set of linear guide rails, allowing it to slide relative to the main push plate in a horizontal direction perpendicular to the push direction. A miniature servo electric cylinder or voice coil motor is installed between the main push plate and the oscillating head to drive the oscillating head in high-frequency, micro-amplitude reciprocating motion. When the system identifies mechanical interlocking, the control system simultaneously sends motion commands to the main push shaft drive motor and the miniature servo electric cylinder's driver. The main push shaft motor operates at a set constant speed, while the micro servo electric cylinder receives a sinusoidal position command with an amplitude of 0.3 mm and a frequency of 15 Hz. This drives the oscillating head to perform a slight lateral oscillation while moving forward, thus applying the oscillating shear force directly to the inner tray to be separated. This mode includes two independent control quantities: constant speed movement in the main push direction and lateral oscillation movement. The constant speed movement in the main push direction is set to a value slightly lower than the normal push speed, for example, 40 mm per second, to reduce impact. The lateral oscillation action is defined by two parameters: oscillation amplitude and oscillation frequency. The oscillation amplitude is determined based on the size of the blister inner tray and the mechanical fit clearance, typically a few tenths of a millimeter, for example, 0.2 mm to 0.5 mm. The oscillation frequency is selected to effectively transmit vibration without causing system resonance, for example, 10 Hz to 30 Hz. The two motion commands are superimposed by synchronously sending them to their respective actuators. The control process is as follows: The processing unit generates two sets of synchronous motion commands. One set is a uniform speed motion command sent to the main push shaft drive motor, with the target speed being the set constant speed movement speed. The other set of commands is the oscillating motion command sent to the lateral micro-motion mechanism. This command is typically a sinusoidal position command, with the amplitude being the oscillation amplitude and the frequency being the oscillation frequency. Two motor controllers receive the commands and execute them synchronously, causing the pushing actuator to advance at a constant speed along the main pushing direction while simultaneously performing a high-frequency, micro-amplitude reciprocating motion along a sinusoidal trajectory laterally. This composite motion results in the force acting on the inner tray of the blister pack to be separated having both a forward thrust and a periodic lateral shear force, effectively disturbing the mechanical engagement points and making them easier to release. The duration of the entire second composite pushing mode is equal to the main pushing stroke required to complete the separation divided by the constant speed.

[0088] All preset parameters for the two push modes, including the baseline push speed, pause time, pause duration, constant speed, oscillation amplitude, and oscillation frequency, are stored in the non-volatile memory of the processing unit and can be set and optimized through the human-machine interface during the equipment debugging phase. When step S3 identifies the type of adhesion, the processing unit directly calls the corresponding preset parameter set and generates a corresponding control command sequence, which is then sent to the motion controller for execution. In this way, step S4 achieves precise mechanical intervention for specific adhesion causes, thereby reliably separating the blister pack without applying excessive force or causing damage.

[0089] In step S5, the characteristics of the separation disturbance transmission caused by the combined pushing action, manifested in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, are analyzed, and a stable conveying reference individual located in front of the separated blister trays on the conveyor line is identified simultaneously. This step aims to quantitatively evaluate the dynamic impact of the pushing action in step S4 on the system and to find a reliable reference target for subsequent correction. The specific implementation is as follows:

[0090] The process involves continuously acquiring the initial motion posture sequence of the separated blister tray after it leaves the pushing device, as well as the micro-motion state sequence of the topmost subsequent blister tray at the front of the pushing device, through an image acquisition unit. The image acquisition unit refers to one or more industrial cameras fixed above the exit of the pushing device and the starting section of the conveyor line. These cameras are equipped with lenses of appropriate focal lengths and light sources to ensure clear capture of the edge features of the blister tray. The acquisition frequency of the image acquisition unit must be sufficient to capture rapid motion; for example, the acquisition frequency is set to 200 frames per second. The initial motion posture sequence refers to the posture change data of the separated blister tray during the initial travel on the conveyor line from the moment it completely detaches from the pushing device contact point. The posture is characterized by two parameters: position and angle, specifically obtained through image processing: for each frame, an edge detection algorithm is used to identify the specific contour of the separated blister tray. By calculating the minimum bounding rectangle of the contour or fitting the center line, the two-dimensional coordinates of the center point of the tray in the current image coordinate system and the rotation angle around the vertical axis are obtained. Arranging these attitude parameters in chronological order constitutes the initial motion attitude sequence, which covers a predetermined analysis period, such as 300 milliseconds from the moment of separation. The micro-motion state sequence refers to the minute motion data of the topmost subsequent blister pack to be separated within the same predetermined analysis period in the material hopper at the front of the pushing device. Since this pack should theoretically remain stationary, any minute displacement could be caused by the impact transmitted when the previous pack separated. Similarly, through image processing, the contour of this subsequent blister pack is tracked, and its center point coordinates are calculated, thus obtaining a sequence of its position changes over time, i.e., the micro-motion state sequence.

[0091] The process involves calculating the state correlation between the initial motion posture sequence and the micro-motion state sequence within a predetermined time window, using this correlation as a feature to separate the perturbation propagation characteristics. The state correlation is a parameter used to quantify the impact of the initial motion instability of the separated inner tray on subsequent stacked inner trays. Its calculation is based on precise time synchronization and reliable feature extraction. First, the output signal of the image acquisition unit is synchronized with the system's main controller clock, and all image frames are timestamped with microsecond precision. From the timestamped initial motion posture sequence, the velocity component of the separated inner tray in the transport direction is extracted. Specifically, this is done by numerically differentiating and smoothing its center point X-coordinate sequence to obtain the velocity sequence Vfront. Similarly, the velocity component sequence Vrear of the subsequent inner tray in the same direction is extracted from the micro-motion state sequence. Since the micro-motion velocity amplitude of the subsequent inner tray is very small, the Vrear sequence is bandpass filtered before calculation to remove extremely low-frequency drift and high-frequency noise, retaining frequency band signals that may be caused by perturbations. Then, the Pearson correlation coefficient between the Vfront sequence and the filtered Vrear sequence within a 300-millisecond time window is calculated. The absolute value of this coefficient, ranging from 0 to 1, is defined as the state correlation degree. The closer the value is to 1, the stronger the temporal correlation between the velocity fluctuations of the separated inner tube and the micro-motions of the subsequent inner tube; that is, the more significant the disturbance transmission characteristics generated by the separation action. The Pearson correlation coefficient is calculated as follows: first, the covariance of the two difference sequences is calculated; then, the standard deviation of each difference sequence is calculated separately; finally, the covariance is divided by the product of the two standard deviations. The calculated correlation coefficient value ranges from -1 to +1, and its absolute value is taken as the state correlation degree. The closer the state correlation degree is to 1, the stronger the temporal synchronization between the velocity fluctuations of the separated inner tube and the micro-motion velocity fluctuations of the subsequent inner tube; that is, the more significant the separation disturbance transmission characteristics. This state correlation degree is calculated and stored as a floating-point number.

[0092] The process involves acquiring continuous pose data of multiple blister trays on the conveyor line using an image acquisition unit. This image acquisition unit can be a line scan camera covering a longer section of the conveyor line or another high-frame-rate area scan camera, with its field of view encompassing a conveyor area at least three to five tray lengths in front of the separated blister trays. Continuous pose data refers to the continuously changing center point position and rotation angle data of all visible blister trays within this field of view over time. For each frame, an image recognition algorithm identifies the contour of each blister tray in the field of view, assigning a unique and continuous tracking identifier to each contour. The real-time center point coordinates and rotation angle of each tracked tray are calculated. This data is organized by tray identifier and timestamp, forming an independent pose time series for each tray, with a duration of one observation window, e.g., 500 milliseconds.

[0093] The process involves identifying a stable transport reference individual from among multiple blister trays whose pose data remains continuously stable and which is located in front of the blister tray to be separated. The identification process performs stability and position determination on each blister tray within the field of view. The stability criterion is based on the pose time series of the tray, calculating two indices: a position stability index and an angular stability index. The position stability index is the standard deviation of the center point coordinates of the tray within the observation window; the larger of the standard deviations of the X and Y coordinates is calculated. The angular stability index is the standard deviation of the rotation angle of the tray within the observation window. A position stability threshold, for example, 0.2 mm, and an angular stability threshold, for example, 0.5 degrees, are set. If the position stability index of a tray is less than the position stability threshold, and its angular stability index is less than the angular stability threshold, then the pose data of that tray is considered to be continuously stable. Position determination involves calculating the distance between the stable tray and the blister tray to be separated in the transport direction. If this distance is greater than zero, the stable tray is located in front of the blister tray to be separated. Among all the blister packs that simultaneously meet the stability and forward position conditions, the individual closest to the separated blister pack is selected and identified as the stable delivery reference individual. If multiple individuals meet the conditions and are at the same distance, one is selected. The identifier of the identified stable delivery reference individual and its latest pose data are recorded and output. Through step S5, the system simultaneously obtains the quantitative characteristic state correlation degree characterizing the impact of the pushing action disturbance, and a stable target stable delivery reference individual for guiding subsequent corrections, providing clear input for the dynamic adjustment in step S6.

[0094] In step S6, based on the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, the following correction strategy, using a stable conveying reference individual as a benchmark, is dynamically adjusted, and the conveying speed of the corresponding section on the conveyor line is adjusted according to the adjusted following correction strategy. This step receives information on the state correlation and the stable conveying reference individual from step S5, and dynamically optimizes the conveying speed through a feedback control loop to actively correct the posture of the separated blister pack and smoothly integrate it into the conveying flow. The specific implementation is as follows:

[0095] The process compares the state correlation degree with a preset correlation degree threshold. The correlation degree threshold is a boundary value used for decision-making, determined by statistical analysis of the state correlation between successful and stable delivery cases and cases with delivery problems in historical production data. Specifically, during equipment debugging or learning phases, multiple sets of state correlation degree data during normal and stable delivery are collected, the average and standard deviation of these data are calculated, and the correlation degree threshold is set as the average plus one standard deviation. For example, if the average is 0.3 and the standard deviation is 0.1, the correlation degree threshold can be set to 0.4. The processing unit reads the state correlation degree value calculated in step S5 and directly compares it with the stored correlation degree threshold to determine whether the state correlation degree is higher than, equal to, or lower than the threshold. This comparison result determines the direction of subsequent strategy adjustments.

[0096] The steps for determining Rth are as follows: 1. Collect at least 1000 sets of state correlation data under stable conveying conditions, and calculate their average value μ and standard deviation σ; 2. Take Rth = μ + σ. For example, when μ = 0.3 and σ = 0.1, Rth = 0.4. This value can ensure that 95% of stable conditions are judged as normal risks, avoiding over-correction. The method for determining K1 (distance adjustment coefficient) is as follows: 1. Establish a dynamic model of the blister tray conveying and analyze the response characteristics of the following distance under different disturbance intensities; 2. Combine the production line cycle time (30-60 pieces / minute) for closed-loop debugging. When the cycle time is 30 pieces / minute, K1 is taken as 0.5-2 mm / unit correlation degree; when the cycle time is 60 pieces / minute, K1 is taken as 2-5 mm / unit correlation degree. The debugging results show that within this range, the K1 value can control the tray posture correction response time within 100 milliseconds while ensuring system stability.

[0097] The branch logic is executed based on the comparison results. If the state correlation is higher than the correlation threshold, it indicates that there is a significant initial disturbance in the currently separated inner tube, requiring stronger correction. The parameters in the follow-up correction strategy will be dynamically adjusted according to the specific value of the state correlation. The specific mapping relationship is achieved through a preset adjustment function: the target following distance Ltarget is: Ltarget = Ldefault - K1 × (R - Rth), where R is the current state correlation, Rth is the correlation threshold, and K1 is the distance adjustment coefficient, which can be set to five millimeters per unit correlation based on system debugging. At the same time, the proportional control gain Pgain is obtained by adding an adjustment amount to the default gain Pdefault, i.e., Pgain = Pdefault + K2 × (R - Rth), where K2 is the gain adjustment coefficient, which can be set to 0.5 times the default gain per unit correlation. In this way, the higher the state correlation, the smaller the target spacing and the stronger the control force will be to tighten the separated inner tube, making it move towards the stable reference individual more quickly and stabilize its attitude. If the state correlation is lower than or equal to the correlation threshold, a follow-up correction strategy is generated to maintain the default follow-up distance and response gain. This condition indicates that the separation disturbance transmission characteristics are weak, and the motion state of the separated blister pack is relatively independent and stable. Therefore, maintaining the original, relatively mild correction parameters is sufficient. In this case, the follow-up distance parameter in the follow-up correction strategy remains at the preset default follow-up distance value, and the response gain parameter remains at the preset default response gain value.

[0098] The execution of this step involves calculating the real-time speed setpoint required for the separated blister tray to match the target motion trajectory of the stable transport reference individual, based on the generated following correction strategy. This calculation process is the execution of a closed-loop control algorithm. The target motion trajectory is determined by the current motion state of the stable transport reference individual and the adjusted following distance. First, based on the latest data acquired by the image acquisition unit, the current center point position and velocity of the stable transport reference individual, as well as the current center point position of the separated blister tray, are acquired in real time. The positional deviation of the separated blister tray relative to the stable transport reference individual in the transport direction is calculated. This deviation is equal to the current position of the separated blister tray minus the current position of the stable transport reference individual minus the adjusted target following distance. Simultaneously, the speed deviation between the two can be calculated. The calculation of the real-time speed setpoint employs a proportional-integral-derivative (PID) control algorithm. The input to this algorithm is the aforementioned positional deviation, and may also include the speed deviation. The output of the algorithm is the speed adjustment amount used to correct the position of the separated blister tray. Specifically, the speed adjustment amount is equal to the position deviation multiplied by the proportional gain coefficient, plus the integral of the position deviation multiplied by the integral gain coefficient, plus the derivative of the position deviation multiplied by the derivative gain coefficient. The proportional gain coefficient is the response gain determined in the follow-up correction strategy. The integral gain coefficient and the derivative gain coefficient can be preset to fixed values ​​or adjusted in conjunction with the proportional gain coefficient. Ultimately, the real-time speed setting of the conveyor section where the separated blister tray is located is equal to the base conveyor speed of that section plus or minus the calculated speed adjustment amount. The base conveyor speed is a constant speed value set by the conveyor line to maintain the production cycle.

[0099] The process involves adjusting the speed of the drive motor carrying the separated blister tray on the conveyor line according to the real-time speed setpoint. The corresponding section carrying the separated blister tray refers to the independently driven conveyor belt or chain plate area on the conveyor line where the tray is currently positioned. This section is driven by an independent servo motor or variable frequency motor. The processing unit sends the calculated real-time speed setpoint to the controller of the drive motor in the form of an analog voltage signal, pulse frequency command, or communication message. Upon receiving the command, the motor controller adjusts the motor's output torque through its internal speed loop control, ensuring that the motor's actual speed quickly and accurately tracks the real-time speed setpoint. The speed adjustment response time should be fast enough, for example, reaching more than 95% of the speed setpoint within 100 milliseconds to ensure timely correction. By adjusting the conveyor speed of this section in real time, the relative motion between the separated blister tray and the stable conveying reference individual can be changed, thereby actively reducing positional deviation and gradually aligning its posture with the reference individual, ultimately achieving smooth conveying. The speed adjustment process continues throughout the correction phase until the separated blister pack leaves the independent drive section or the deviation is reduced to an acceptable range. Step S6 feeds back the quantitative evaluation results of the separation disturbance transmission characteristics to the closed-loop control of the conveying speed, realizing intelligent correction that combines adaptive, feedforward, and feedback mechanisms, significantly improving the coordination and robustness of the conveying process.

[0100] Example 2: Figure 2 A schematic diagram of the fully automated packaging box pushing and conveying collaborative system for tube-packaged oral liquids of the present invention is provided. The fully automated packaging box pushing and conveying collaborative system for tube-packaged oral liquids includes the following modules:

[0101] The information acquisition module is used to acquire dynamic mechanical information in real time when the pushing device pushes the stacked blister trays forward;

[0102] The risk assessment module is used to determine the adhesion risk level of the blister packing to be separated based on dynamic mechanical information.

[0103] The cause identification module is used to identify the type of adhesion cause of the blister pack to be separated based on the feature parameters of dynamic mechanical information when the adhesion risk level is high.

[0104] The push control module is used to control the push device to perform a combination push action that matches the corresponding adhesion cause type to separate the current blister inner tray to be separated;

[0105] The feature analysis module is used to analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line.

[0106] The strategy adjustment module is used to dynamically adjust the following correction strategy based on the stable conveying reference individual, according to the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, and adjust the conveying speed of the corresponding section on the conveyor line according to the adjusted following correction strategy.

[0107] All calculations involved in the embodiments are dimensionless numerical calculations, and the preset parameters and thresholds in the calculations are set by those skilled in the art according to the actual situation.

[0108] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0109] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and inventive constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0110] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0112] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0113] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automated method for pushing and conveying packaging boxes for vials of oral liquids, characterized in that, Includes the following steps: S1. Real-time acquisition of dynamic mechanical information of the pushing device as it pushes the stacked blister trays forward; S2. Determine the adhesion risk level of the blister pack to be separated based on dynamic mechanical information; S3. When the adhesion risk level is high, the adhesion cause type of the blister pack to be separated is identified based on the feature parameters of dynamic mechanical information. S4. Based on the type of adhesion, control the pushing device to perform a combined pushing action that matches the corresponding type of adhesion to separate the current blister inner tray to be separated; S5. Analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line. S6. Based on the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, dynamically adjust the following correction strategy with the stable conveying reference individual as the benchmark, and adjust the conveying speed of the corresponding section on the conveying line according to the adjusted following correction strategy.

2. The fully automated packaging box pushing and conveying coordinated method for vial-sized oral liquids according to claim 1, characterized in that, S1 includes: Obtain the real-time load current value of the push shaft drive motor; Simultaneously acquire the real-time pressure value of the pressure sensor set at the contact surface between the push execution end and the foremost blister inner tray; Simultaneously, the real-time displacement value of the blister pack to be separated relative to the stack is obtained, measured by a position sensor; The real-time load current value, real-time pressure value, and real-time displacement value together constitute dynamic mechanical information.

3. The fully automated packaging box pushing and conveying coordinated method for tube-packaged oral liquids according to claim 1, characterized in that, S2 include: The real-time load current value and the real-time pressure value are compared with their corresponding first set threshold and second set threshold, respectively. If the real-time load current value continuously exceeds the first set threshold and the real-time pressure value simultaneously continues to be lower than the second set threshold, the adhesion risk level is initially determined to be high risk. After initially determining it to be high-risk, further analysis was conducted on the curve of real-time displacement value changing over time. If the curve of the real-time displacement value shows a non-linear stagnation characteristic within a predetermined time, the adhesion risk level will be determined to be high risk. Otherwise, the adhesion risk level is determined to be a normal risk.

4. The fully automated packaging box pushing and conveying coordinated method for vial-sized oral liquids according to claim 1, characterized in that, S3 include: After the adhesion risk level is determined to be high risk, retrieve the real-time pressure value change data within the predetermined time window; Analyze whether the real-time pressure value change data exhibits high-frequency, low-amplitude periodic fluctuation characteristics; If there are high-frequency, low-amplitude periodic fluctuations, the adhesion cause is identified as vacuum adsorption. If no features are found, further analysis should be conducted to determine whether the real-time displacement value change curve has a step-like abrupt change point accompanied by a sudden drop in pressure value. If a stepwise abrupt change point exists, the adhesion cause type is identified as mechanical interlocking.

5. The fully automated packaging box pushing and conveying coordinated method for vial-sized oral liquids according to claim 1, characterized in that, S4 include: After identifying the adhesion cause as vacuum adsorption, the control push device performs push in a preset first intermittent push mode. After identifying the adhesion cause as mechanical interlocking, the control push device performs push in a preset second composite push mode.

6. The fully automated packaging box pushing and conveying coordinated method for vial-sized oral liquids according to claim 5, characterized in that, The first intermittent push mode includes at least one pause and restart of the push schedule.

7. The fully automated packaging box pushing and conveying coordinated method for vial-sized oral liquids according to claim 5, characterized in that, The second composite push mode includes a lateral micro-oscillation motion superimposed on the constant speed push stroke.

8. The fully automated packaging box pushing and conveying coordinated method for tube-packaged oral liquids according to claim 1, characterized in that, S5 include: The image acquisition unit continuously acquires the initial motion posture sequence after the separated blister tray leaves the pushing device, as well as the micro-motion state sequence of the topmost subsequent blister tray at the front end of the pushing device. Calculate the state correlation degree between the initial motion posture sequence and the micro-motion state sequence within a predetermined time window, and use this state correlation degree as the feature for separating the perturbation propagation. Meanwhile, continuous pose data of multiple blister packs on the conveyor line are acquired based on the image acquisition unit; From multiple blister packs, the individual whose pose data remains stable and is located in front of the separated blister pack is identified as the stable transport reference individual.

9. The fully automated packaging box pushing and conveying coordinated method for tube-packaged oral liquids according to claim 1, characterized in that, S6 include: The state correlation is compared with a preset correlation threshold; If the state correlation is higher than the correlation threshold, a follow-up correction strategy is generated with the adjustment direction of reducing the following distance and increasing the response gain. If the state correlation is lower than or equal to the correlation threshold, a follow-correction strategy is generated to maintain the default follow distance and response gain as the adjustment direction. Based on the generated follow-up correction strategy, calculate the real-time speed setpoint required for the separated blister insert to match the target motion trajectory of the stable delivery reference individual; Adjust the speed of the drive motor on the corresponding section of the conveyor line that carries the separated blister tray according to the real-time speed setting value.

10. A fully automated packaging box pushing and conveying collaborative system for tube-packaged oral liquids, used to implement the fully automated packaging box pushing and conveying collaborative method for tube-packaged oral liquids as described in any one of claims 1-9, characterized in that, Includes the following modules: The information acquisition module is used to acquire dynamic mechanical information in real time when the pushing device pushes the stacked blister trays forward; The risk assessment module is used to determine the adhesion risk level of the blister packing to be separated based on dynamic mechanical information. The cause identification module is used to identify the type of adhesion cause of the blister pack to be separated based on the feature parameters of dynamic mechanical information when the adhesion risk level is high. The push control module is used to control the push device to perform a combination push action that matches the corresponding adhesion cause type to separate the current blister inner tray to be separated; The feature analysis module is used to analyze the separation disturbance transmission characteristics caused by the combined pushing action in the stack of separated blister trays and subsequent blister trays at the front end of the pushing device, and simultaneously identify the stable conveying reference individual located in front of the separated blister tray on the conveyor line. The strategy adjustment module is used to dynamically adjust the following correction strategy based on the stable conveying reference individual, according to the influence of the separation disturbance transmission characteristics on the motion state of the separated blister pack, and adjust the conveying speed of the corresponding section on the conveyor line according to the adjusted following correction strategy.

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