Cam curve generation and synchronous control method and device, electronic equipment and medium

Abstract

Embodiments of the present disclosure provide a cam curve generation and synchronous control method and device, electronic equipment and a medium. The method comprises: determining a target linear displacement of an end reference point of a folding mechanism in a box conveying direction when the end reference point reaches a specified key point; determining a target rotation angle of a control shaft of the folding mechanism when the end reference point of the folding mechanism reaches the specified key point according to a target rotation angle model and the target linear displacement; and generating a cam curve according to the target linear displacement and the corresponding target rotation angle by using a preset curve generation algorithm, wherein the cam curve represents a motion state mapping relationship between a linear displacement of the box conveying mechanism and a rotation angle of the control shaft of the folding mechanism. Embodiments of the present disclosure can automatically generate a cam curve, thereby significantly reducing the changeover debugging cost of a bottle packaging production line.

Description

Technical Field

[0001] This disclosure relates to the field of box packaging technology, and in particular to a cam curve generation and synchronization control method, device, electronic equipment and medium. Background Technology

[0002] In the field of automated packaging, especially on production lines that use cartons to package bottles (e.g., packing 12 bottles of beer into a carton in a 3x4 arrangement), a folding mechanism combined with a forming mechanism is typically used to fold the front and rear flaps of the carton before subsequent glue spraying and forming processes. However, traditional control schemes heavily rely on repeated manual teaching. If the packaging specifications or the mechanical dimensions of the folding mechanism change, the machine must be stopped and readjusted, a complex and time-consuming process. Therefore, the industry currently lacks an effective folding mechanism control method that can adapt to changes in size. Summary of the Invention

[0003] In view of this, the present disclosure provides a cam curve generation and synchronization control method, apparatus, electronic device and medium to at least partially solve the above-mentioned technical problems.

[0004] The first aspect of this disclosure provides a method for generating a cam curve for a folding mechanism of a bottle packaging box, comprising: determining a target linear displacement of the end reference point of the folding mechanism in the box conveying direction when the end reference point of the folding mechanism reaches a designated key point; determining a target rotation angle of the control axis of the folding mechanism when the end reference point of the folding mechanism reaches the designated key point based on a target rotation angle model and the target linear displacement, wherein the target rotation angle model is used to characterize the mapping relationship between the rotation angle of the control axis and the linear displacement of the end reference point in the box conveying direction; and generating a cam curve using a preset curve generation algorithm based on the target linear displacement and the corresponding target rotation angle; wherein the cam curve characterizes the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control axis of the folding mechanism.

[0005] In one possible implementation, the designated key points include an initial waiting point, a contact folding point, a folding completion point, and a disengagement point; wherein, the initial waiting point represents a spatial position when the box has not yet reached the folding area; the contact folding point represents the spatial position of the end reference point of the folding mechanism at the instant it contacts the folding part of the box; the folding completion point represents the spatial position when the folding mechanism completes the folding action; and the disengagement point represents the spatial position when the end reference point of the folding mechanism just disengages from the box after the folding action is completed.

[0006] In one possible implementation, determining the target linear displacement of the end reference point of the folding mechanism in the box conveying direction when it reaches the designated key point includes: determining the target linear displacement based on the mechanical dimensions of the folding mechanism, the installation position of the folding mechanism relative to the box conveyor belt, the position of the forming claw on the forming mechanism relative to the folding mechanism when it is erected, the box dimensions, and the box spacing; wherein the folding mechanism is used to fold the box in the width direction, and the forming claw on the forming mechanism is used to fold the box in the height direction.

[0007] In one possible implementation, the mechanical dimensions of the folding mechanism include the radius of rotation R from the rotation center of the folding mechanism to the end reference point.

[0008] In one possible implementation, the folding mechanism is an X-type folding mechanism, used for continuously folding adjacent front and rear boxes; the end reference points include: a first end reference point and a second end reference point for folding the front and rear folds of the front box in the width direction, and a third end reference point and a fourth end reference point for folding the front and rear folds of the rear box in the width direction; the mechanical dimensions of the folding mechanism also include: the lateral distance w between the second end reference point and the third end reference point, and the longitudinal distance l between the first end reference point and the second end reference point.

[0009] In one possible implementation, the target rotation angle model is determined by superimposing an absolute base angle and a structural phase compensation angle; wherein the absolute base angle is determined based on the geometric relationship between the rotation radius of the folding mechanism and the linear displacement; and the structural phase compensation angle is determined based on the geometric offset of the end reference point relative to the rotation center.

[0010] In one possible implementation, the target rotation angle model is: θ = arccos((R–x) / R) + K × arctan(w / l), where θ is the target rotation angle; R is the rotation radius of the folding mechanism; x is the linear displacement of the end reference point in the box conveying direction; w is the lateral distance; l is the longitudinal distance; K is the direction coefficient, which is 1 when used to fold the front end of the next box in the width direction; and -1 when used to fold the rear end of the previous box in the width direction. When the end reference point of the folding mechanism is at the same horizontal height as the rotation center, the position of the end reference point at this time is taken as the origin of the coordinate axis along the box conveying direction.

[0011] A second aspect of this disclosure provides a synchronous control method for a folding mechanism of a bottle packaging box, comprising: determining a target linear displacement of the end reference point of the folding mechanism in the box conveying direction when the end reference point of the folding mechanism reaches a designated key point; determining a target rotation angle of the control axis of the folding mechanism when the end reference point of the folding mechanism reaches the designated key point based on a target rotation angle model and the target linear displacement; the target rotation angle model being used to characterize the mapping relationship between the rotation angle of the control axis and the linear displacement of the end reference point in the box conveying direction;

[0012] Based on the target linear displacement and the corresponding target rotation angle, a cam curve is generated using a preset curve generation algorithm; wherein, the cam curve represents the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control shaft of the folding mechanism; based on the generated cam curve, the control shaft of the folding mechanism is controlled to rotate, so that the folding mechanism moves synchronously with the box being conveyed and performs folding.

[0013] A third aspect of this disclosure provides a folding device for bottle packaging boxes, comprising: a box conveying mechanism for conveying boxes along a conveying direction; a folding mechanism disposed on the side of the conveyor belt of the box conveying mechanism and having a control shaft for performing a folding action; and a controller communicatively connected to the box conveying mechanism and the folding mechanism, the controller being configured to perform the method described in any one of the first aspects.

[0014] A fourth aspect of this disclosure provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of the preceding first aspects.

[0015] A fifth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor, the program implements the method as described in any one of the preceding first aspects.

[0016] In the embodiments of this disclosure, by inputting parameters such as the mechanical dimensions of the folding mechanism, the dimensions of the box, and the distance between the boxes, the system can automatically calculate the target rotation angle of the control axis corresponding to the key points and automatically generate the cam curve, significantly reducing the changeover and debugging costs of the bottle packaging production line. Furthermore, in the embodiments of this disclosure, by analyzing the geometric configuration of the folding mechanism, a target rotation angle model is derived, solving the speed matching problem between rotational and linear motion. This effectively eliminates the reliance on traditional manual repeated teaching for obtaining the key points of the cam, realizing automatic cam curve planning based on mathematical derivation. When packaging specifications change, the user only needs to modify the corresponding size parameters in the human-machine interface or the host computer. In the embodiments of this disclosure, a completely new cam curve can be generated adaptively in real time. This general algorithm architecture can effectively meet the flexible production needs of the modern packaging industry for multiple varieties and small batches. Based on accurate spatial geometric calculation and the target rotation angle model, combined with a preset curve generation algorithm, the cam curve generated in the embodiments of this disclosure can ensure the synchronization of the folding mechanism when contacting, pressing, and disengaging from the box. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a method for generating a cam curve for a box-type hinge mechanism according to an embodiment of the present disclosure is shown.

[0018] Figure 2 A schematic diagram of the kinematic geometry model of the folding mechanism is shown; where (a) and (b) show the coordinate system mapping relationship of the folding mechanism under different rotational postures.

[0019] Figure 3 A flowchart illustrating a synchronous control method for a box-type hinge mechanism according to an embodiment of the present disclosure is shown.

[0020] Figure 4 The illustration shows an example location of the folding mechanism of an embodiment of the present disclosure during the folding process and a schematic diagram of the continuous folding process.

[0021] Figure 5 A structural diagram of a box hinge device according to an embodiment of the present disclosure is shown.

[0022] Figure 6 A structural diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0023] List of reference numerals in the attached drawings: Front housing 401; Rear housing 402; X-shaped folding mechanism 403; Conveyor belt 404; First end reference point P; Second end reference point M; Third end reference point N; Fourth end reference point Q; Housing folding device 500; Housing conveying mechanism 502; Folding mechanism 504; Controller 506; Electronic device 600; Processor 602; Communication interface 604; Memory 606; Bus 608; Program 610. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the embodiments of this disclosure are within the scope of protection of this disclosure. In this disclosure, "endpoint reference point" refers to a geometric feature point (e.g., the geometric center of a roller or the effective contact pole of a lever) artificially set on the end-effector to characterize its spatial position in kinematic modeling, in order to eliminate computational uncertainties caused by physical deformation and contact surface migration. "X-type folding mechanism" refers to a mechanical configuration with four sets of folding actuator arms distributed centrally symmetrically or crosswise, with a fixed phase difference and structural offset between adjacent actuator arms. "Folding area" refers to the spatial range on the conveying path of the box conveying mechanism where the endpoint reference point of the folding mechanism can make effective physical contact with the part of the box to be folded during movement and perform a pressing and folding action.

[0025] Figure 1 A flowchart illustrating a method for generating the cam curve of a folding mechanism for a box (e.g., a bottle packaging box) according to an embodiment of this disclosure is shown. Figure 1 As shown, the method specifically includes the following steps:

[0026] S102: Determine the target linear displacement of the end reference point of the folding mechanism in the box conveying direction when the end reference point reaches the designated key point.

[0027] In practice, the box is conveyed forward at a constant speed V0 or a variable speed by a box conveyor mechanism. The controller can receive the mechanical dimensions of the folding mechanism, the installation position of the folding mechanism relative to the box conveyor belt, the position of the forming claw on the forming mechanism (e.g., chain type) relative to the folding mechanism when it is erected, the box dimensions, and the box spacing from the human-machine interface (HMI) or the host computer, in order to determine the target linear displacement. Based on the above mechanical dimensions and box parameters, the system performs kinematic calculations through spatial geometry to obtain the coordinate position (i.e., the target linear displacement) of the end reference point of the folding mechanism in the conveyor belt coordinate system when performing actions such as contacting, pressing, and disengaging from the box.

[0028] The designated key points include at least an initial waiting point, a contact folding point, a folding completion point, and a disengagement point. Specifically: the initial waiting point represents the spatial position of the folding mechanism before the box reaches the folding area, and is set as a safe avoidance posture to prevent interference based on the box size and the distance between boxes; the contact folding point represents the spatial position of the end reference point of the folding mechanism at the instant it contacts the box to be folded, and is determined based on the geometric spatial intersection relationship between the mechanical dimensions and installation position of the folding mechanism and the box size; the folding completion point represents the spatial position of the folding mechanism at the instant it presses down and completes the folding action; the disengagement point represents the spatial position of the end reference point just after the folding action is completed and it has just disengaged from the box. There is a preset displacement interval between the folding completion point and the disengagement point to form a following interval that keeps the folding mechanism and the box in synchronous pressing.

[0029] In this embodiment, the forming mechanism and the box conveying mechanism operate synchronously. Specifically, the first forming claw on the forming mechanism is located at the front end of each box fixing position on the conveying mechanism, and is used to stand upright after the front end of the box in the width direction is folded to fold the front end of the box in the height direction; the second forming claw on the forming mechanism is located at the rear end of each box fixing position on the conveying mechanism, and is used to stand upright after the rear end of the box in the width direction is folded to fold the rear end of the box in the height direction. In terms of control logic, the corresponding folding completion point and disengagement point can be determined based on the standing position of the first or second forming claw. For example, the standing position of the first forming claw can be set to correspond to the folding completion point of the front end of the box in the width direction, or to the disengagement point of the front end of the box in the width direction, or to any designated point between the above two points; similarly, the standing position of the second forming claw can also be set similarly with reference to the corresponding point of the rear end of the box in the width direction.

[0030] In practical applications, the configuration of the specified key sites can be flexibly adapted to the specific folding scenario: for example... Figure 3 In the scenario of continuously folding adjacent front and rear boxes, the designated key points include, for example, the initial waiting point, contact point, fold completion point, and disengagement point of the rear end flap of the front box in the width direction, and the contact point, fold completion point, disengagement point, and end waiting point of the front end flap of the rear box in the width direction, wherein the initial waiting point and the end waiting point are the same.

[0031] S104: Based on the target rotation angle model and the target linear displacement, determine the target rotation angle of the control axis of the folding mechanism when the end reference point of the folding mechanism reaches the designated key point.

[0032] The target rotation angle model is used to characterize the mapping relationship between the rotation angle of the control axis and the linear displacement of the end reference point in the box conveying direction. In S104, the target linear displacement obtained in S102 is inversely mapped to the rotation angle of the control axis using the pre-established target rotation angle model. This mapping effectively overcomes the speed mismatch problem between rotational motion and linear motion.

[0033] The following is combined Figure 2 This section describes the process of establishing the target rotation angle model. The folding mechanism is specifically defined as an X-type folding mechanism. As mentioned earlier, in the scenario of continuously folding adjacent front and rear boxes, the end reference points include: a first end reference point P and a second end reference point M for folding the front and rear ends of the front box, and a third end reference point N and a fourth end reference point Q for folding the front and rear ends of the rear box. The mechanical dimensions of this mechanism include: the rotation radius R from the axis O of the control shaft to the end reference point (e.g., the second end reference point M); the lateral distance w between the second end reference point M and the third end reference point N; and the longitudinal distance l between the first end reference point P and the second end reference point M. Figure 2 (a) The position of the second end reference point M in the state shown is taken as the origin of the coordinate axis along the conveying direction of the box (i.e., x=0 is set in this state):

[0034] First, we analyze the absolute rotation angle b of the end reference point of the folding mechanism under ideal, unbiased conditions. When the projected displacement of the end reference point M on the X-axis (transmission direction) is x, we know from the right triangle relationship that cos(b) = (R – x) / R. Therefore, we derive the absolute rotation angle b = arccos((R – x) / R).

[0035] Secondly, the structural offset of the X-type mechanism is analyzed. The geometric features formed by the lateral distance w and the longitudinal distance l determine that the end reference point has a fixed structural offset angle α relative to the control axis center, which is geometrically equal to half of ∠MON. Figure 2 From the geometric projection, we know that a = arctan(w / l).

[0036] Finally, the absolute rotation angle and the structural offset angle are phase-superimposed. When used for folding the rear hinge of the previous box in the width direction, the target rotation angle model is: θ 后 =ba=arccos((R–x) / R)–arctan(w / l). When used for the front fold of the box in the width direction, the folding mechanism faces the box in front, and the target rotation angle model is: θ 前=b+a=arccos((R–x) / R)+arctan(w / l).

[0037] Those skilled in the art should understand that the above combination Figure 2 The specific relationship derived from the X-type folding mechanism is merely an example implementation of this application. The core logic of the cam curve generation method provided by this invention is based on the mathematical derivation of kinematic geometric coordinates, and therefore does not depend on or is limited to the specific physical connection shape of the folding mechanism. In terms of mechanical structure, the folding mechanism can be summarized as a rotating body with one or more radially extending ends, such as a single-arm configuration, Y-type, cross-type (+ type), S-type, H-type, star-type, or a disk-shaped structure with protruding contacts; its effective contact points for folding (i.e., radially extending ends) can be symmetrically distributed or asymmetrically distributed.

[0038] In a broader implementation scenario, regardless of the mechanical configuration of the folding mechanism, as long as its effective contact points can provide the geometric parameters (e.g., rotation radius R, lateral distance w, and longitudinal distance l) required to construct the displacement-angle mapping model, its underlying kinematic mapping can be abstracted into a unified general architecture. Specifically, in the target rotation angle model, the target rotation angle can be determined by superimposing the absolute base angle and the structural phase compensation angle. This means that when faced with folding execution ends of different mechanical configurations, those skilled in the art only need to recalibrate the structural phase compensation angle according to the geometric offset of its actual physical contact points to directly reuse the core kinematic model of this application. Such equivalent mathematical evolution, algorithm replacement, and equivalent replacement of mechanical configurations based on the idea of ​​"superimposing the base angle and phase compensation" do not depart from the core concept of this invention and should all fall within the protection scope of this application.

[0039] S106: Based on the target linear displacement and the corresponding target rotation angle, a cam curve is generated using a preset curve generation algorithm; wherein, the cam curve represents the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control shaft of the folding mechanism.

[0040] During the generation of the cam curve, the target linear displacement in the spatial coordinate system is converted into the main axis phase in the control system (i.e., the linear displacement of the box conveying mechanism). Since the box is carried and moves synchronously by the box conveying mechanism, there is a definite conversion relationship between the target linear displacement of the end reference point in space and the linear displacement of the conveying mechanism. Based on this conversion relationship (e.g., through the origin calibration method conventional in the art), the controller converts the target linear displacement at each specified key point into the linear displacement that the box conveying mechanism should reach at the corresponding time, thereby obtaining a cam curve that can characterize the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control axis of the folding mechanism.

[0041] After obtaining multiple discrete (x, θ) mapping pairs, a continuous electronic cam curve is generated using a preset curve generation algorithm (such as interpolation algorithm, analytical function generation algorithm, or S-shaped velocity planning algorithm). As an example, the S-shaped velocity planning algorithm can significantly reduce the mechanical shock of the control shaft during acceleration and deceleration, resulting in smoother motor torque output and effectively reducing mechanical vibration at high speeds. Alternatively, 5th or 7th order polynomial curve algorithms can be used to ensure the global continuity of position, velocity, acceleration, and even jerk.

[0042] Transfer to Figure 3 The diagram illustrates a flowchart of a synchronous control method for a box-type hinge mechanism according to an embodiment of this disclosure. Figure 3 As shown, this method, based on steps S102 to S106 of the cam curve generation method in the aforementioned embodiment, further includes step S108: controlling the control shaft of the folding mechanism to rotate based on the generated cam curve, so that the folding mechanism moves synchronously with the conveyed box and performs folding. The generated cam curve is used as the execution basis of the underlying servo driver, causing the control shaft of the folding mechanism to follow the phase of the main shaft (box conveying mechanism), thereby achieving reliable feedback and folding action in physical space.

[0043] To better understand the synchronization control method in this embodiment, the following will use... Figure 4Taking this example, the specific implementation process of synchronous control in this embodiment is demonstrated, namely the continuous folding process of the X-type folding mechanism 403 within a complete working cycle. In this scenario, the boxes 401 and 402 move at a constant speed from right to left on the conveyor belt 404, while the X-type folding mechanism 403 rotates counterclockwise, sequentially completing the folding actions of the rear end fold of the preceding box 401 in the width direction and the front end fold of the following box 402 in the width direction. The entire folding cycle begins at the initial waiting position in state (A), at which time the folding mechanism 403 is in a horizontal posture (i.e., the line connecting the rotation center and the end reference point is parallel to the conveyor belt 404), the box has not yet reached the folding area, and the system is in a preparation stage of waiting for triggering or smooth acceleration.

[0044] As the mechanism rotates counterclockwise, it enters the first stage of folding the rear end flap of the preceding box 401 in the width direction. At the rear end flap contact point in state (B), the second end reference point M of the mechanism just contacts the drooping rear end flap of the preceding box 401. At this point, the end linear velocity of the mechanism begins to synchronize with the forward speed of the box in the horizontal direction. Immediately afterwards, it reaches the rear end flap limit pressing point in state (C). The second end reference point M presses the rear end flap upwards and presses it tightly against the box. Within this interval, the folding mechanism 403 maintains speed synchronization with the box to prevent relative sliding and tearing of the box. Subsequently, the mechanism moves to the rear end flap safe disengagement point in state (D). The second end reference point M slides upwards and just disengages from the folded rear end flap. The mechanism then enters the attitude transition period for folding the front end flap of the following box 402 in the width direction.

[0045] After a brief phase transition, the mechanism enters the second stage of folding the front end of the folded housing 402 in the width direction. At the front end contact point in state (E), the third end reference point N of the mechanism just contacts the drooping front end of housing 402, initiating the folding action. Subsequently, it reaches the front end limit pressing point in state (F), where the third end reference point N fully flattens the front end backward and upward. The mechanism again maintains speed synchronization with housing 402 to ensure the front end is folded in place. After pressing, the mechanism rotates to the front end safe disengagement point in state (G). The third end reference point N slides downward and just disengages from the folded front end, clearing a safe path for the housing to continue moving forward and avoiding motion interference. Finally, the mechanism continues to rotate and reaches state (H), returning to the initial waiting point, where it resets to a horizontal position. At this point, the continuous folding action between adjacent housings 401 and 402 is complete, the electronic cam curve completes a full cycle loop, and the mechanism prepares to receive the next set of housings.

[0046] Figure 5A structural diagram of a case folding device 500 according to an embodiment of the present disclosure is shown. The device 500 includes a case conveying mechanism 502, a folding mechanism 504, and a controller 506. The case conveying mechanism 502 is used to convey cases along a conveying direction. The controller 506, in coordination with the case conveying mechanism 502 and the folding mechanism 504, is configured to perform cam curve generation or synchronous control method as described in the preceding embodiments.

[0047] Folding mechanism 504 is disposed on the side of the box conveying mechanism. The number of folding mechanisms 504 varies depending on the distribution of the box's folds. For example, if the box has one fold in the width direction, one folding mechanism can be arranged on one side of the conveying mechanism. Similarly, if the box has two symmetrical folds in the width direction, two folding mechanisms can be symmetrically arranged on both sides of the conveying mechanism; and so on. If the box has 2A symmetrical folds in the width direction, 2A folding mechanisms can be symmetrically arranged on both sides of the conveying mechanism, where A is a natural number.

[0048] In addition, the box folding device 500 also includes a forming mechanism, which operates synchronously with the box conveying mechanism 502 in the carton conveying direction. The forming mechanism includes a first forming claw at the front end and a second forming claw at the rear end of the box fixing position respectively provided on the conveying mechanism.

[0049] Figure 6 This is a schematic diagram of an electronic device according to an embodiment of this disclosure. The specific embodiments of this disclosure do not limit the specific implementation of the electronic device. See also... Figure 6The electronic device 600 provided in this embodiment includes: a processor 602, a communication interface 604, a memory 606, and a bus 608. The processor 602, communication interface 604, and memory 606 communicate with each other via the bus 608. The communication interface 604 is used to communicate with other electronic devices or servers. The processor 602 is used to execute program 610, specifically performing the relevant steps in the above method embodiments. Specifically, program 610 may include program code, which includes computer operation instructions. The processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs. The memory 606 is used to store program 610. The memory 606 may include high-speed RAM and may also include non-volatile memory, such as at least one disk storage device. Specifically, program 610 can be used to cause processor 602 to execute the method in any of the foregoing embodiments. The specific implementation of each step in program 610 can be found in the corresponding descriptions of the steps and units in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0050] This disclosure also provides a computer-readable storage medium storing instructions for causing a machine to perform the methods described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0051] In this scenario, the program code read from the storage medium can itself implement the functionality of any of the embodiments described above; therefore, the program code and the storage medium storing the program code constitute a part of this disclosure. Embodiments of storage media used to provide the program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0052] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this disclosure can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this disclosure.

[0053] The methods described above according to embodiments of this disclosure can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for performing the methods shown herein.

[0054] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0055] In this patent application, nouns and pronouns relating to persons are not limited to specific genders. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent, dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated, permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0057] The present disclosure has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present disclosure is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present disclosure can be obtained by combining the code technical features of the different embodiments. These embodiments are also within the protection scope of the present disclosure.

Claims

1. A method for generating a cam curve for a folding mechanism of bottle packaging boxes, characterized in that, include: Determine the target linear displacement of the end reference point of the folding mechanism in the box conveying direction when the end reference point reaches the designated key point; Based on the target rotation angle model and the target linear displacement, the target rotation angle of the control axis of the folding mechanism is determined when the end reference point of the folding mechanism reaches the designated key point. The target rotation angle model is used to characterize the mapping relationship between the rotation angle of the control axis and the linear displacement of the end reference point in the box conveying direction. Based on the target linear displacement and the corresponding target rotation angle, a cam curve is generated using a preset curve generation algorithm; wherein, the cam curve represents the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control shaft of the folding mechanism.

2. The method according to claim 1, characterized in that, The designated key sites include the initial waiting site, the contact folding site, the folding completion site, and the disengagement site; Wherein, the initial waiting position represents a spatial position when the box body has not yet reached the folding area; the contact folding position represents the spatial position of the end reference point of the folding mechanism at the instant it contacts the part of the box body to be folded; the folding completion position represents the spatial position when the folding mechanism completes the folding action; and the disengagement position represents the spatial position when the end reference point of the folding mechanism just disengages from the box body after the folding mechanism has completed the folding action.

3. The method according to claim 1, characterized in that, The determination of the target linear displacement of the end reference point of the folding mechanism in the box conveying direction when it reaches the designated key point includes: The target linear displacement is determined based on the mechanical dimensions of the folding mechanism, the installation position of the folding mechanism relative to the box conveyor belt, the position of the forming claw on the forming mechanism relative to the folding mechanism when it is erected, the box size, and the box spacing; wherein, the folding mechanism is used to fold the box in the width direction, and the forming claw on the forming mechanism is used to fold the box in the height direction.

4. The method according to claim 3, characterized in that, The mechanical dimensions of the folding mechanism include the radius of rotation R from the rotation center of the folding mechanism to the end reference point.

5. The method according to claim 4, characterized in that, The folding mechanism is an X-type folding mechanism, which is used to continuously fold adjacent front and rear boxes; The end reference points include: a first end reference point and a second end reference point for folding the front and rear flaps of the preceding box in the width direction, and a third end reference point and a fourth end reference point for folding the front and rear flaps of the following box in the width direction. The mechanical dimensions of the folding mechanism also include: the lateral distance w between the second end reference point and the third end reference point, and the longitudinal distance l between the first end reference point and the second end reference point.

6. The method according to claim 4 or 5, characterized in that, In the target rotation angle model, the target rotation angle is determined by the superposition of the absolute base angle and the structural phase compensation angle; The absolute base angle is determined based on the geometric relationship between the rotation radius of the folding mechanism and the linear displacement; the structural phase compensation angle is determined based on the geometric offset of the end reference point relative to the rotation center.

7. The method according to claim 5, characterized in that, The target rotation angle model is as follows: θ = arccos((R–x) / R) + K × arctan(w / l), where θ is the target rotation angle; R is the rotation radius of the folding mechanism; x is the linear displacement of the end reference point in the box conveying direction; w is the lateral distance; l is the longitudinal distance; K is the direction coefficient, which is 1 when used to fold the front end of the next box in the width direction; and -1 when used to fold the rear end of the previous box in the width direction. When the end reference point of the folding mechanism is at the same horizontal height as the rotation center, the position of the end reference point at this time is taken as the origin of the coordinate axis along the conveying direction of the box.

8. A synchronous control method for a folding mechanism of a bottle packaging box, characterized in that, include: The target linear displacement of the end reference point of the folding mechanism in the box conveying direction is determined when the end reference point reaches the designated key point. Based on the target rotation angle model and the target linear displacement, the target rotation angle of the control axis of the folding mechanism is determined when the end reference point of the folding mechanism reaches the designated key point; the target rotation angle model is used to characterize the mapping relationship between the rotation angle of the control axis and the linear displacement of the end reference point in the box conveying direction; Based on the target linear displacement and the corresponding target rotation angle, a cam curve is generated using a preset curve generation algorithm; wherein, the cam curve represents the motion state mapping relationship between the linear displacement of the box conveying mechanism and the rotation angle of the control shaft of the folding mechanism; Based on the generated cam curve, the control shaft of the folding mechanism is controlled to rotate so that the folding mechanism moves synchronously with the conveyed box and performs folding.

9. A hinge folding device for bottle packaging boxes, characterized in that, include: A box conveying mechanism (502) is used to convey boxes along the conveying direction; A folding mechanism (504) is disposed on the side of the conveyor belt of the box conveying mechanism (502), and has a control shaft for performing the folding action; and, A controller (506) is communicatively connected to the housing conveying mechanism (502) and the folding mechanism (504), respectively, and the controller (506) is configured to perform the method as described in any one of claims 1 to 8.

10. An electronic device comprising a memory (606) and a processor (602), wherein the memory (606) stores a computer program, characterized in that, When the processor (602) executes the computer program, it implements the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 8.

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