Bottle cap grabbing and screwing control method and system and bottle cap grabbing and screwing all-in-one machine

Abstract

The invention provides a bottle cap grabbing and screwing control method and a bottle cap grabbing and screwing all-in-one machine, and belongs to the technical field of control. The method comprises the steps that a target container is determined from to-be-packaged containers on a conveying device; basic data such as the real-time position, the running speed and the orientation angle of a container opening of the target container are obtained; determining an optimal rotation track executed by the upper cover based on the dynamic data; and a control instruction is generated according to the track, and the bottle cap grabbing and screwing all-in-one machine is driven to complete the buckling action. According to the bottle cap grabbing and screwing control system, by sensing the state of the container in real time and dynamically planning the movement track of the upper cap, the defect that a traditional fixed track method cannot adapt to the dynamic pose change of the container is overcome, and the adaptability and alignment precision of the action of the upper cap are remarkably improved. The invention further provides a bottle cap grabbing and screwing control system and a related device.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a bottle cap gripping and tightening control method, system and integrated bottle cap gripping and tightening machine. Background Technology

[0002] In automated packaging equipment employing bottle cap gripping and tightening machines, such as the capping and pressing processes for bottles and cans, the core control task lies in driving the cap to move, enabling it to quickly and reliably align and engage with the continuously moving container opening on the conveyor belt. Currently, the control methods commonly used in the industry are mostly based on preset fixed programs. Specifically, the cap actuator (such as a rotating spindle) typically operates according to a pre-set, fixed angle, speed curve, and timing sequence, and its movement trajectory is immutable. This method is based on an idealized assumption that the spatial position, running speed, and orientation of each container opening remain constant and completely consistent with preset conditions.

[0003] However, in actual continuous production environments, the above assumptions are often difficult to uphold. Due to factors such as minor vibrations in the conveyor chain, manufacturing tolerances of the containers themselves, and accidental deviations during transport, the actual position, speed, and even the orientation angle of the bottle opening when the container arrives at the capping station will dynamically and unpredictably deviate from the theoretical values. Traditional fixed-track control methods lack the ability to perceive and compensate for such dynamic deviations. The direct consequence is that the capping mechanism continues to move along the original trajectory, easily leading to misalignment between the cap and the container opening, causing problems such as cap jamming, twisting, poor sealing, or even container tipping. This not only reduces the packaging quality and pass rate of the product but also forces the equipment to reduce its operating speed to maintain basic stability, thus limiting the efficiency and capacity of the production line. Summary of the Invention

[0004] This application provides a bottle cap gripping and tightening control method and a bottle cap gripping and tightening integrated machine to improve the above-mentioned problems.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, embodiments of this application disclose a bottle cap gripping and tightening control method. The method is applicable to a packaging system, which includes a conveying device, a bottle cap gripping and tightening integrated machine, and a controller. The method is executed by the controller and includes: Identify the target container from one or more containers to be packaged located on the conveyor; Acquire basic data for the target container, including the real-time location, running speed, and container opening orientation angle of the target container. Determine the optimal rotation trajectory based on the basic data; Control commands are generated based on the optimal rotation trajectory, and the bottle cap gripping and tightening machine is controlled to perform the capping action on the target container based on the control commands.

[0006] Optionally, in conjunction with the first aspect, the packaging equipment includes a first vision sensor and a second vision sensor, which, based on fundamental data, determine the optimal rotation trajectory, including: Real-time location is determined based on the first visual sensor; The orientation angle of the container opening and the center point of the container opening are obtained based on the second vision sensor; The optimal rotation trajectory is generated by determining the center point of the top cover and minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point.

[0007] Optionally, in conjunction with the first aspect, the center point of the top cover is determined, and the optimal rotation trajectory is generated with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, including: The real-time motion trajectory of the container opening center point is determined as a time-varying reference path; The first constraint condition is determined based on the time-varying reference path. The first constraint condition is that the center point of the upper cover must coincide with the time-varying reference path at a predetermined pre-contact time. The normal to the top cover is determined based on the center point of the top cover, and the normal to the container opening is determined based on the center point of the container opening. Establish an objective function for the motion parameters of the top cover rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal of the top cover and the normal of the container opening. The objective function is solved based on the first constraint, and the optimal rotation trajectory is determined based on the solution results.

[0008] Optionally, in conjunction with the first aspect, the objective function is solved based on the first constraint condition, and the optimal rotation trajectory is determined based on the solution result, including: Using the basic data of the target container as initial conditions, the optimization problem consisting of the objective function and the first constraint condition is solved in a rolling manner within a finite time domain; Based on the angular velocity and angular acceleration sequences obtained by solving the objective function, the control output and control commands are determined.

[0009] Optionally, in conjunction with the first aspect, an objective function is established regarding the motion parameters of the upper cover's rotation axis. This objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the upper cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal to the upper cover and the normal to the container opening. The objective function is:

[0010] in: The spatial coordinate vector of the center point of the cover at the pre-contact time point; The spatial coordinate vector of the center point of the container opening at the pre-contact time point; The unit normal vector of the cover at the pre-contact time point; The unit normal vector at the container opening at the pre-contact time point; ||·|| denotes the Euclidean norm of a vector; • Represents the dot product operation of vectors; and These are the preset weighting coefficients.

[0011] Optionally, in conjunction with the first aspect, determining the center point of the top cover, with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, and generating the optimal rotation trajectory, further includes: Obtain the kinematic parameters of the bottle cap gripping and tightening integrated machine; Based on the kinematic parameters, establish the constraint relationship between its angular displacement, angular velocity and angular acceleration, and use it as the second constraint condition; The objective function is solved based on the first constraint condition. Based on the solution results, the optimal rotation trajectory is determined, including: The objective function is solved based on the first and second constraints, and the optimal rotation trajectory is determined based on the solution results.

[0012] Secondly, this application proposes a bottle cap gripping and tightening control system, which includes a conveying device, a bottle cap gripping and tightening integrated machine, and a controller, for executing a bottle cap gripping and tightening control method as proposed in the first aspect. The bottle cap gripping and tightening control system is configured as follows: Identify the target container from one or more containers to be packaged located on the conveyor; Acquire basic data for the target container, including the real-time location, running speed, and container opening orientation angle of the target container. Determine the optimal rotation trajectory based on the basic data; Control commands are generated based on the optimal rotation trajectory, and the bottle cap gripping and tightening machine is controlled to perform the capping action on the target container based on the control commands.

[0013] In conjunction with the second aspect, optionally, the packaging equipment includes a first vision sensor and a second vision sensor, which determine the optimal rotation trajectory based on basic data, including: Real-time location is determined based on the first visual sensor; The orientation angle of the container opening and the center point of the container opening are obtained based on the second vision sensor; The optimal rotation trajectory is generated by determining the center point of the top cover and minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point.

[0014] In conjunction with the second aspect, optionally, the center point of the top cover is determined, and the optimal rotation trajectory is generated with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, including: The real-time motion trajectory of the container opening center point is determined as a time-varying reference path; The first constraint condition is determined based on the time-varying reference path. The first constraint condition is that the center point of the upper cover must coincide with the time-varying reference path at a predetermined pre-contact time. The normal to the top cover is determined based on the center point of the top cover, and the normal to the container opening is determined based on the center point of the container opening. Establish an objective function for the motion parameters of the top cover rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal of the top cover and the normal of the container opening. The objective function is solved based on the first constraint, and the optimal rotation trajectory is determined based on the solution results.

[0015] In conjunction with the second aspect, optionally, the objective function is solved based on the first constraint condition, and the optimal rotation trajectory is determined based on the solution result, including: Using the basic data of the target container as initial conditions, the optimization problem consisting of the objective function and the first constraint condition is solved in a rolling manner within a finite time domain; Based on the angular velocity and angular acceleration sequences obtained by solving the objective function, the control output and control commands are determined.

[0016] In conjunction with the second aspect, optionally, an objective function is established regarding the motion parameters of the upper cover's rotation axis. This objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the upper cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal to the upper cover and the normal to the container opening. The objective function is:

[0017] in: The spatial coordinate vector of the center point of the cover at the pre-contact time point; The spatial coordinate vector of the center point of the container opening at the pre-contact time point; The unit normal vector of the cover at the pre-contact time point; The unit normal vector at the container opening at the pre-contact time point; ||·|| denotes the Euclidean norm of a vector; • Represents the dot product operation of vectors; and These are the preset weighting coefficients.

[0018] In conjunction with the second aspect, optionally, determining the center point of the top cover, with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, and generating the optimal rotation trajectory, further includes: Obtain the kinematic parameters of the bottle cap gripping and tightening integrated machine; Based on the kinematic parameters, establish the constraint relationship between its angular displacement, angular velocity and angular acceleration, and use it as the second constraint condition; The objective function is solved based on the first constraint condition. Based on the solution results, the optimal rotation trajectory is determined, including: The objective function is solved based on the first and second constraints, and the optimal rotation trajectory is determined based on the solution results.

[0019] Thirdly, this application proposes a bottle cap gripping and tightening integrated machine, applied to a bottle cap gripping and tightening control system as proposed in the second aspect, comprising: The upper seat plate has a drive assembly on its top surface; A ball screw spline assembly is provided between the lower seat plate and the upper seat plate, and a gripper mechanism is provided at the end of the ball screw spline assembly away from the upper seat plate. The drive assembly is connected to the ball screw spline assembly for transmission. The drive assembly is used to drive the ball screw spline assembly to move, so that the ball screw spline assembly drives the gripper mechanism to move.

[0020] In conjunction with the third aspect, the gripper mechanism includes a cover gripping arm, a column, a pneumatic finger connecting plate, a pneumatic finger, and grippers; the cover gripping arm is connected to the spline connecting sleeve of the upper cover mechanism; the column is mounted on the cover gripping arm; the pneumatic finger connecting plate is sleeved on the column by a compression spring; the lower end of the pneumatic finger connecting plate is connected to the pneumatic finger; the grippers are symmetrically mounted on the left and right ends of the bottom of the pneumatic finger.

[0021] A fourth aspect of this invention provides an electronic device, the electronic device comprising: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method proposed in the first aspect of the present invention.

[0022] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect of the present invention.

[0023] In summary, the above method has the following technical effects: This application proposes a bottle cap gripping and tightening control method. First, a target container is identified from the containers to be packaged on a conveying device. Basic data such as the real-time position, running speed, and container opening orientation angle of the target container are acquired. Based on this dynamic data, the optimal rotation trajectory for the cap is determined. Then, a control command is generated according to this trajectory to drive the bottle cap gripping and tightening integrated machine to complete the fastening action. The bottle cap gripping and tightening control system proposed in this invention overcomes the shortcomings of traditional fixed trajectory methods that cannot adapt to dynamic changes in container posture by sensing the container status in real time and dynamically planning the cap's movement trajectory, significantly improving the adaptability and alignment accuracy of the cap's action. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating a bottle cap gripping and tightening control method proposed in an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of the structure of a bottle cap gripping and tightening integrated machine proposed in an embodiment of this application.

[0026] Figure 3 This is a three-dimensional structural diagram of the gripper mechanism in a bottle cap gripping and tightening integrated machine proposed in an embodiment of this application.

[0027] The reference numerals in the attached figures are as follows: 1-Upper seat plate; 2-Lower seat plate; 3-Ball screw spline assembly; 4-Drive assembly; 5-Gripper mechanism; 501-Cover gripper arm; 502-Column; 503-Pneumatic finger connecting plate; 504-Pneumatic finger; 505-Gripper; 506-Compression spring. Detailed Implementation

[0028] 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, not all, of the embodiments of the present invention. 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.

[0029] This application provides a bottle cap gripping and tightening control method, applicable to a packaging system. The packaging system includes a conveying device, a bottle cap gripping and tightening integrated machine, and a controller. For details, please refer to [link to relevant documentation]. Figure 2 The bottle cap gripping and tightening integrated machine includes: The upper seat plate 1 and the lower seat plate 1 have a drive assembly 4 on their top surfaces; The lower seat plate 2 is provided with a ball screw spline assembly 3 between the lower seat plate 2 and the upper seat plate 1. A gripper mechanism 5 is provided at the end of the ball screw spline assembly 3 away from the upper seat plate 1. The drive assembly 4 is connected to the ball screw spline assembly 3 for transmission. The drive assembly 4 is used to drive the ball screw spline assembly 3 to move, so that the ball screw spline assembly 3 drives the gripper mechanism 5 to move.

[0030] In this embodiment, the bottle cap gripping and tightening integrated machine is used to drive the bottle cap to move. In other embodiments, other structures may be used to drive the bottle cap to move, which is not limited in this application.

[0031] For example, please refer to Figure 3 The gripper mechanism includes a cap-slip gripping arm 501, a column 502, a pneumatic finger connecting plate 503, pneumatic fingers 504, and grippers 505. The cap-slip gripping arm 501 is connected to the cap mechanism via a spline connection sleeve. The column 502 is mounted on the cap-slip gripping arm 501. The pneumatic finger connecting plate 503 is sleeved on the column 502 via a compression spring 506. The lower end of the pneumatic finger connecting plate 503 is connected to the pneumatic finger 504. The grippers are symmetrically mounted on the left and right ends of the bottom of the pneumatic fingers. The grippers 505 are symmetrically mounted on the left and right ends of the bottom of the pneumatic fingers 504. It should be noted that when the gripper mechanism 5 grips the bottle cap, the pneumatic finger 504 operates, driving the grippers 505 to tighten. After the grippers 505 clamp the bottle cap, they place it on the bottle neck thread, reducing the occurrence of misalignment between the bottle cap and the bottle neck thread, facilitating subsequent capping operations, improving product packaging quality, and increasing production efficiency.

[0032] Specifically, in this embodiment, the method is executed by the controller; please refer to [link to relevant documentation]. Figure 1 The method includes steps S101-S104: S101: Identify the target container from one or more containers to be packaged located on the conveying device.

[0033] Understandably, after the packaging system is started, the controller's logic processing unit continuously monitors the operating status of the conveyor. When one or more containers to be packaged are detected entering the preset sensing area, the controller initiates the target selection program. Based on preset process logic and real-time system status data, this program explicitly designates one container from all identified containers as the object to be covered, i.e., the target container.

[0034] S102: Obtain the basic data corresponding to the target container. The basic data includes the real-time position, running speed and container opening orientation angle of the target container.

[0035] Understandably, the controller, through its integrated or communicating data acquisition module, directly receives or preliminarily processes a set of basic data describing the key states of the target container. This basic data set explicitly includes the real-time coordinate position of the target container in three-dimensional space, its instantaneous velocity vector along the conveying direction, and the angle parameter corresponding to the normal direction of its container opening plane in space. The specific acquisition method is not limited in this application.

[0036] S103: Determine the optimal rotation trajectory based on the basic data.

[0037] In this step, the controller uses the acquired basic data as its sole input and processes and calculates it through an internally preset trajectory planning algorithm. Essentially, its function is to map the basic data describing the dynamic state of the target container into a time-continuous sequence of angular displacement commands used to control the rotation mechanism of the top cover; this command sequence is defined as the optimal rotation trajectory.

[0038] Specifically, in this embodiment, the packaging equipment may further include a first vision sensor and a second vision sensor, wherein the first vision sensor can be used to determine the real-time position, and the second vision sensor is used to obtain the orientation angle of the container opening and the center point of the container opening.

[0039] By determining the center point of the top cover, and with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, the optimal rotation trajectory can be generated.

[0040] Specifically, the determination process may include the following steps: S1031: Determine the real-time motion trajectory of the center point of the container opening as a time-varying reference path.

[0041] Understandably, based on the acquired target container opening center point data, the controller can perform a trajectory modeling process. For example, the spatial position sequence of the container opening center point at discrete time points, continuously acquired by sensors, is processed through interpolation or state estimation algorithms to construct a continuous spatial curve with time as the independent variable. This curve is defined as the real-time motion trajectory of the container opening center point and serves as a time-varying reference path, i.e., an instantaneous reference path, to be tracked during subsequent planning of the upper cover's movement.

[0042] S1032: Determine the first constraint condition based on the time-varying reference path. The first constraint condition is that the center point of the upper cover must coincide with the time-varying reference path at a predetermined pre-contact time.

[0043] Understandably, the center point of the upper cover mechanism must reach its corresponding spatial position on the time-varying reference path at the precise moment of the pre-contact time, thus achieving spatiotemporal overlap between the two. Therefore, the controller combines the time-varying reference path with a key time node and the pre-contact time pre-set by the process parameters to generate a clear mathematical constraint, namely the first constraint condition.

[0044] S1033: Determine the normal of the top cover based on the center point of the top cover, and determine the normal of the container opening based on the center point of the container opening.

[0045] Understandably, the controller calculates the direction vector perpendicular to the expected contact plane, with the center point of the cover as a reference, based on the geometric model of the cover itself at the present and future moments; this is the cover normal. Simultaneously, based on the 3D data of the container opening collected by the second vision sensor, the controller calculates the direction vector, with the center point of the container opening as a reference, representing the orientation of its opening plane, by fitting a plane or recognizing features; this is the container opening normal.

[0046] S1034: Establish an objective function for the motion parameters of the top cover rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal of the top cover and the normal of the container opening.

[0047] Understandably, a mathematical function, i.e., the objective function, is constructed using the motion parameters of the rotation axis above the cover, such as the sequence of angular velocity and angular acceleration, as the decision variables. The purpose of constructing this function is explicitly defined as: driving the system to simultaneously achieve optimization of two specific indicators at the pre-contact time point, specifically: Minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening.

[0048] Minimize the orientation angle deviation between the normal vector of the top cover and the normal vector of the container opening.

[0049] Through this step, the control system no longer relies on fixed motion paths or simple sequential logic, but instead dynamically seeks the optimal sequence of motion commands that can simultaneously satisfy the two precise alignment requirements by solving the objective function online.

[0050] Specifically, in this embodiment, the objective function can be:

[0051] in: The spatial coordinate vector of the center point of the cover at the pre-contact time point; The spatial coordinate vector of the center point of the container opening at the pre-contact time point; The unit normal vector of the cover at the pre-contact time point; The unit normal vector at the container opening at the pre-contact time point; ||·|| denotes the Euclidean norm of a vector; • Represents the dot product operation of vectors; and These are the preset weighting coefficients.

[0052] Understandable. and These correspond to the spatial coordinate vectors of the center point of the top cover and the center point of the container opening at the pre-contact time point, respectively. The norm square of the difference between the two terms... This is a quantitative measure of spatial Euclidean distance deviation. Square of the arccosine of the dot product This is a quantitative measure of the deviation in orientation angle. and The weighting coefficients are preset, and the weight ratios of the two items in the target are adaptively adjusted according to the different emphases on positional accuracy and angular accuracy in the actual process.

[0053] S1035: Solve the objective function based on the first constraint condition, and determine the optimal rotation trajectory based on the solution results.

[0054] Understandably, the first constraint is treated as a necessary boundary condition, forming a complete constrained optimization problem together with the objective function. Understandably, the solution is a specific set of discrete-time sequence motion parameters (such as angular position and angular velocity) of the top cover's rotation axis. This sequence of motion parameters is directly defined as the optimal rotation trajectory that minimizes the objective function value while satisfying the constraints.

[0055] As one implementation method, the basic data of the target container is used as the initial condition. The optimization problem consisting of the objective function and the first constraint condition is solved in a rolling manner in the finite time domain. Based on the angular velocity and angular acceleration sequence obtained by solving the objective function, the control quantity output and the control command are determined.

[0056] Understandably, to always be based on the latest system state, the starting point for each solution, i.e., the initial conditions, is not a fixed value, but rather the latest basic data of the target container at the current moment, i.e., its real-time position, velocity, and orientation angle. The solution process is also not completed in one go, but repeated within a finite time domain, i.e., a finite time window in the future. Understandably, in each control cycle, the algorithm re-solves the optimization problem with the latest initial conditions and only implements the control commands for the current cycle from the solution results. In the next cycle, this process is repeated starting from the new state, forming a rolling forward optimization pattern.

[0057] After solving the optimization problem, the direct mathematical result is a series of angular velocities and angular accelerations of the upper cover's rotation axis over a future period, i.e., a sequence. Based on a preset control cycle, the angular velocity and angular acceleration values ​​corresponding to the moment of immediate execution are extracted from this sequence; these two values ​​are determined as the control quantities to be output in the current cycle. Following a specific communication protocol and format, this control quantity is converted into control commands that can be recognized and executed by the servo motor or other actuators.

[0058] Optionally, in some implementations, in order to take into account the conditions of the bottle cap gripping and tightening machine itself, the kinematic parameters of the bottle cap gripping and tightening machine can be obtained, and the constraint relationship of its angular displacement, angular velocity and angular acceleration can be established based on the kinematic parameters, and these can be used as the second constraint condition. Finally, the objective function is solved based on the first constraint condition and the second constraint condition, and the optimal rotation trajectory is determined according to the solution result.

[0059] Understandably, the controller reads kinematic parameters of the bottle cap gripping and tightening machine, such as the rotational speed of the servo motor, from the system database or configuration file. These parameters include at least the performance boundaries such as the maximum output angular velocity and maximum angular acceleration.

[0060] Based on these parameters, the controller mathematically establishes a set of inequality constraints regarding the angular displacement, angular velocity, and angular acceleration of the upper cover's rotation axis. For example, it requires that the absolute value of the planned angular velocity must not exceed the motor's rated maximum speed. This set of relationships is defined as the second constraint condition, which characterizes the physical feasible region of the actuator hardware.

[0061] Ultimately, in the optimization process, the controller does not only use the first constraint, but also incorporates the second constraint as a necessary prerequisite to solve the objective function. The resulting optimal rotation trajectory not only achieves precise alignment in theory, but also ensures that the generated trajectory can be physically and safely followed by the actuator.

[0062] S104: Generate control commands based on the optimal rotation trajectory, and control the bottle cap gripping and tightening machine to perform the capping action on the target container based on the control commands.

[0063] Specifically, the controller takes the optimal rotation trajectory as input and, through a specific control algorithm (such as position loop or speed loop control, the specific algorithms of which are disclosed in relevant technical documents and are not limited here), converts the trajectory sequence into specific command signals that can directly drive the servo motor or other actuators in the bottle cap gripping and tightening machine. Subsequently, the controller sends this series of command signals to the drive unit of the bottle cap gripping and tightening machine through its output port, thereby precisely controlling the capping mechanism to move according to the optimal rotation trajectory, ultimately completing the capping action such as fastening or tightening the target container.

[0064] This application proposes a bottle cap gripping and tightening control method. It includes: identifying a target container from the containers to be packaged on a conveying device; acquiring basic data such as the real-time position, running speed, and container opening orientation angle of the target container; determining the optimal rotation trajectory for the cap based on this dynamic data; and generating control commands according to the trajectory to drive the bottle cap gripping and tightening integrated machine to complete the fastening action. This bottle cap gripping and tightening control method overcomes the shortcomings of traditional fixed trajectory methods that cannot adapt to dynamic changes in container posture by sensing the container state in real time and dynamically planning the cap's motion trajectory, significantly improving the adaptability and alignment accuracy of the cap's action.

[0065] Based on the same inventive concept, this application also proposes a bottle cap gripping and tightening control system, including a conveying device, a bottle cap gripping and tightening integrated machine, and a controller. The bottle cap gripping and tightening control system is configured as follows: Identify the target container from one or more containers to be packaged located on the conveyor; Acquire basic data for the target container, including the real-time location, running speed, and container opening orientation angle of the target container. Determine the optimal rotation trajectory based on the basic data; Control commands are generated based on the optimal rotation trajectory, and the bottle cap gripping and tightening machine is controlled to perform the capping action on the target container based on the control commands.

[0066] Optionally, the packaging equipment includes a first vision sensor and a second vision sensor, which determine the optimal rotation trajectory based on basic data, including: Real-time location is determined based on the first visual sensor; The orientation angle of the container opening and the center point of the container opening are obtained based on the second vision sensor; The optimal rotation trajectory is generated by determining the center point of the top cover and minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point.

[0067] Optionally, the center point of the top cover is determined, and the optimal rotation trajectory is generated with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, including: The real-time motion trajectory of the container opening center point is determined as a time-varying reference path; The first constraint condition is determined based on the time-varying reference path. The first constraint condition is that the center point of the upper cover must coincide with the time-varying reference path at a predetermined pre-contact time. The normal to the top cover is determined based on the center point of the top cover, and the normal to the container opening is determined based on the center point of the container opening. Establish an objective function for the motion parameters of the top cover rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal of the top cover and the normal of the container opening. The objective function is solved based on the first constraint, and the optimal rotation trajectory is determined based on the solution results.

[0068] Optionally, the objective function is solved based on the first constraint condition, and the optimal rotation trajectory is determined based on the solution result, including: Using the basic data of the target container as initial conditions, the optimization problem consisting of the objective function and the first constraint condition is solved in a rolling manner within a finite time domain; Based on the angular velocity and angular acceleration sequences obtained by solving the objective function, the control output and control commands are determined.

[0069] Optionally, an objective function is established regarding the motion parameters of the top cover's rotation axis. This objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, as well as the orientation angle deviation between the normal to the top cover and the normal to the container opening. The objective function is:

[0070] in: The spatial coordinate vector of the center point of the cover at the pre-contact time point; The spatial coordinate vector of the center point of the container opening at the pre-contact time point; The unit normal vector of the cover at the pre-contact time point; The unit normal vector at the container opening at the pre-contact time point; ||·|| denotes the Euclidean norm of a vector; • Represents the dot product operation of vectors; and These are the preset weighting coefficients.

[0071] In conjunction with the second aspect, optionally, determining the center point of the top cover, with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, and generating the optimal rotation trajectory, further includes: Obtain the kinematic parameters of the bottle cap gripping and tightening integrated machine; Based on the kinematic parameters, establish the constraint relationship between its angular displacement, angular velocity and angular acceleration, and use it as the second constraint condition; The objective function is solved based on the first constraint condition. Based on the solution results, the optimal rotation trajectory is determined, including: The objective function is solved based on the first and second constraints, and the optimal rotation trajectory is determined based on the solution results.

[0072] This application proposes a bottle cap gripping and tightening control system. The system is configured to: identify a target container from the containers to be packaged on a conveying device; acquire basic data such as the real-time position, running speed, and container opening orientation angle of the target container; determine the optimal rotation trajectory for the cap based on this dynamic data; and generate control commands according to the trajectory to drive the bottle cap gripping and tightening integrated machine to complete the fastening action. This bottle cap gripping and tightening control system overcomes the shortcomings of traditional fixed trajectory methods that cannot adapt to dynamic changes in container posture by sensing the container state in real time and dynamically planning the cap's movement trajectory, significantly improving the adaptability and alignment accuracy of the cap's movement.

[0073] Based on the same inventive concept, embodiments of this application also propose an electronic device, which includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the automatic overheat protection method based on the universal testing machine according to the embodiments of this application.

[0074] In addition, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the automatic overheat protection method based on a universal testing machine according to embodiments of this application.

[0075] The following is a detailed introduction to the various components of the electronic device: In this context, the processor is the control center of the electronic device. It can be a single processor or a collective term for multiple processing elements. For example, a processor can be one or more central processing units (CPUs), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0076] Alternatively, the processor can perform various functions of the electronic device by running or executing software programs stored in memory and by calling data stored in memory.

[0077] The memory is used to store the software program that executes the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can be referred to the above method embodiment, which will not be repeated here.

[0078] Optionally, the memory can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory can be integrated with the processor or exist independently and coupled to the processor through the interface circuit of the electronic device; the embodiments of the present invention do not specifically limit this.

[0079] A transceiver is used to communicate with network devices or with terminal devices.

[0080] Optionally, the transceiver may include a receiver and a transmitter. The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0081] Optionally, the transceiver can be integrated with the processor or exist independently and coupled to the processor through the router's interface circuit. This embodiment of the invention does not specifically limit this.

[0082] Furthermore, the technical effects of the electronic device can be referred to the technical effects of the data transmission method in the above method embodiments, and will not be repeated here.

[0083] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0084] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0085] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0086] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0087] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0088] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0089] Those skilled in the art will recognize that the units 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 design 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 implementations should not be considered beyond the scope of this invention.

Claims

1. A method for controlling the gripping and tightening of bottle caps, characterized in that, The method is applicable to a packaging system, the packaging system including a conveying device, a bottle cap gripping and tightening integrated machine, and a controller, the method being executed by the controller, including: Identify the target container from one or more containers to be packaged located on the conveying device; Acquire the basic data corresponding to the target container, including the real-time position, running speed and container opening orientation angle of the target container; Based on the aforementioned basic data, the optimal rotation trajectory is determined; Based on the optimal rotation trajectory, control commands are generated, and based on the control commands, the bottle cap gripping and tightening machine is controlled to perform a capping action on the target container.

2. The bottle cap gripping and tightening control method according to claim 1, characterized in that, The packaging equipment includes a first vision sensor and a second vision sensor. Based on the basic data, it determines the optimal rotation trajectory, including: The real-time position is determined based on the first visual sensor; The orientation angle of the container opening and the center point of the container opening are obtained based on the second visual sensor; The optimal rotation trajectory is generated by determining the center point of the top cover and minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point.

3. The bottle cap gripping and tightening control method according to claim 2, characterized in that, Determine the center point of the top cover, and generate the optimal rotation trajectory with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, including: The real-time motion trajectory of the center point of the container opening is determined as a time-varying reference path; A first constraint condition is determined based on the time-varying reference path, wherein the center point of the upper cover must coincide with the time-varying reference path at a predetermined pre-contact time. The normal to the top cover is determined based on the center point of the top cover, and the normal to the container opening is determined based on the center point of the container opening. Establish an objective function for the motion parameters of the upper cover rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the upper cover and the center point of the container opening at the pre-contact time point, and the orientation angle deviation between the normal of the upper cover and the normal of the container opening; The objective function is solved based on the first constraint, and the optimal rotation trajectory is determined based on the solution result.

4. The bottle cap gripping and tightening control method according to claim 3, characterized in that, Solving the objective function based on the first constraint, and determining the optimal rotation trajectory based on the solution result, includes: Using the basic data of the target container as initial conditions, the optimization problem consisting of the objective function and the first constraint condition is solved in a rolling manner within a finite time domain; Based on the angular velocity and angular acceleration sequence obtained by solving the objective function, the control output is determined, and the control command is determined.

5. The bottle cap gripping and tightening control method according to claim 3, characterized in that, Establish an objective function for the motion parameters of the top cover's rotation axis, wherein the objective function aims to simultaneously minimize the spatial Euclidean distance deviation between the center point of the top cover and the center point of the container opening at the pre-contact time point, and the orientation angle deviation between the normal of the top cover and the normal of the container opening, wherein the objective function is: in: The spatial coordinate vector of the center point of the upper cover at the pre-contact time point; The spatial coordinate vector of the center point of the container opening at the pre-contact time point; The unit normal vector of the upper cover at the pre-contact time point; The unit normal vector of the container opening at the pre-contact time point; Describes the Euclidean norm of a vector; Represents the dot product operation of vectors; and These are the preset weighting coefficients.

6. The bottle cap gripping and tightening control method according to claim 2, characterized in that, Determining the center point of the top cover, with the optimization objective of minimizing the spatial distance deviation and orientation angle deviation between the center point of the top cover and the center point of the container opening at the pre-contact point, and generating the optimal rotation trajectory, further includes: Obtain the kinematic parameters of the bottle cap gripping and tightening integrated machine; Based on the aforementioned kinematic parameters, a constraint relationship is established for its angular displacement, angular velocity, and angular acceleration, and this relationship is used as the second constraint condition. Solving the objective function based on the first constraint, and determining the optimal rotation trajectory based on the solution result, includes: The objective function is solved based on the first and second constraints, and the optimal rotation trajectory is determined based on the solution results.

7. A bottle cap gripping and tightening control system, characterized in that, The system includes a conveying device, a bottle cap gripping and tightening integrated machine, and a controller. The main control system is used to execute the bottle cap gripping and tightening control method as described in claim 1. The system is configured to: Identify the target container from one or more containers to be packaged located on the conveying device; Acquire the basic data corresponding to the target container, including the real-time position, running speed and container opening orientation angle of the target container; Based on the aforementioned basic data, the optimal rotation trajectory is determined; Based on the optimal rotation trajectory, control commands are generated, and based on the control commands, the bottle cap gripping and tightening machine is controlled to perform a capping action on the target container.

8. A bottle cap gripping and tightening integrated machine, characterized in that, The bottle cap gripping and tightening control system as described in claim 7 includes: Upper seat plate, the top surface of which is provided with a drive assembly; A ball screw spline assembly is provided between the lower seat plate and the upper seat plate, and a gripper mechanism is provided at the end of the ball screw spline assembly away from the upper seat plate; The drive assembly is connected to the ball screw spline assembly for transmission. The drive assembly is used to drive the ball screw spline assembly to move, so that the ball screw spline assembly drives the gripper mechanism to move.

9. A bottle cap gripping and tightening integrated machine according to claim 8, characterized in that, The gripper mechanism includes a cover gripping arm, a column, a pneumatic finger connecting plate, pneumatic fingers, and grippers; the cover gripping arm is connected to the upper cover mechanism via a spline connection sleeve; the column is mounted on the cover gripping arm; the pneumatic finger connecting plate is sleeved on the column via a compression spring; the lower end of the pneumatic finger connecting plate is connected to the pneumatic fingers; the grippers are symmetrically mounted on the left and right ends of the bottom of the pneumatic fingers.

10. An electronic device, characterized in that, include: At least one processor; And, a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable at least one of the processors to perform a bottle cap gripping and tightening control method as described in claim 1.

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