Servo-controlled tank neck shrinking and flanging system and control method therefor

Abstract

A servo-controlled tank neck shrinking and flanging system and a control method therefor. The system comprises multiple functional modules, and a rotating shaft of a rotating component in each functional module is controlled by a motor with servo control functionality. A control center is further comprised for controlling the synchronous operation of each motor. Before the system starts working, the control center confirms a reference shaft, which may be a virtual shaft of the system or a real shaft of any motor, and the real shafts of the remaining motors follow the movement of the reference shaft. The control method comprises: confirming a reference shaft; setting a deviation threshold for working parameters of each motor; during operation, performing real-time detection of the actual working parameters of each motor, comparing the actual working parameters with set working parameters to obtain a deviation between the actual and set working parameters; and by comparing the deviation with the deviation threshold, determining whether the system is operating normally and executing corresponding operations. The present invention can achieve online automatic switching of the reference shaft, ensuring operational accuracy and continuity.

Description

A servo-controlled tank neck tipping system and its control method Technical Field

[0001] This invention relates to the field of neck processing for hollow metal bodies (such as hollow cans), and specifically to a servo-controlled can neck retraction and tilting system and its control method. Background Technology

[0002] Traditional tank neck tipping systems typically consist of multiple functional modules. Each module (functional station) includes a turret assembly and a transfer turret assembly. The turret assembly includes a main turret star wheel and a main turret shaft, while the transfer turret assembly includes a transfer star wheel and a transfer turret shaft. The main turret shaft and the transfer turret shaft are parallel, and the sides of the main turret star wheel and the transfer star wheel are aligned and fitted together. During rotation, they align through their respective circumferential positioning grooves to form a junction, through which the tank body is transferred between the star wheels. In other words, the main turret star wheel and the transfer star wheel are aligned and connected.

[0003] Each functional module has a gear at one end of both the main turret shaft and the rotating turret shaft, enabling meshing transmission between them; the gear at one end of the rotating turret shaft of one module meshes with the gear at one end of the main turret shaft of the adjacent module, enabling meshing transmission between modules.

[0004] The entire tank neck tipping system operates by a distributed motor and reducer 2 (as shown in Figure 1) driving a series of gear chains 1. The current gear chain drive system has the following problems:

[0005] 1. A common mechanical problem with gear chain drives is that there is backlash in gear meshing. The presence of backlash can lead to synchronization deviations. These deviations can affect the repositioning of the product during the transfer and forming process, which is detrimental to the stability of transfer and the stability of forming quality.

[0006] In addition, since gears are machined parts, there are bound to be some deviations in machining. If the tooth direction and tooth profile deviations are serious, the gear meshing backlash will be severely uneven, affecting the stability of the gear chain drive and the life of the gears will also be affected. At the same time, the gear chain drive will also generate noise and vibration, which is detrimental to the stability of the equipment and the stability of product molding.

[0007] The above-mentioned unfavorable factors directly affect the quality stability of the equipment in product processing and have a negative impact on speed-up processing.

[0008] 2. Due to the presence of the gear chain, specific modules in the equipment cannot be operated independently. As shown in Figure 2, the device 3 of the equipment needs to be operated manually ("Daba" means rod motion, which means obtaining the peristalsis of the equipment through manual drive).

[0009] 3. For the system appears to transport the tank (due to abnormal star wheel load, tank can not be smoothly transported to the next function station, tank jam problem), cam abnormal wear (due to the failure of automatic lubrication point at the cam, the cam working surface can not be fully lubricated, which will cause abnormal impact and load change), the gear meshing is not correct (due to the machining error or installation error of the gear, which will cause large vibration and noise at the gear meshing), mold jam (tank can not be smoothly into the mold or demolding, tank is jammed in the mold, which will cause tank jam) and other detection capabilities are limited, which cannot predict the occurrence of abnormality and lock the specific position, which reduces the production efficiency and increases the abnormal processing time;

[0010] 4. For the abnormal situation of the system, it is possible to cause long periodic fluctuations in the motion of a rotating component (such as the main turret assembly, the transport turret assembly), so that the time sequence before and after the component is offset (such as the transfer station of the tank body), which will cause the final position deviation to accumulate to an uneliminable degree, resulting in tank jam and other problems, which can only be handled by stopping the machine.

[0011] 5. Due to the demand of multiple tank types in the current market, the intermediate tank feeding function module emerges as the times require. The current way is to disconnect the gear and disconnect the power before and after the intermediate tank feeding to save energy. However, this way needs to disconnect the power before and after, which involves downtime and manual operation, reducing the production efficiency of the equipment and consuming manpower.

[0012] Therefore, how to solve the problems existing in the prior art has become the research and solution of the present application.

[0013] SUMMARY

[0014] The purpose of the present application is to provide a servo-controlled tank neck shrinking and turning system and a control method thereof.

[0015] To achieve the above purpose, the technical scheme adopted by the present application is:

[0016] A servo-controlled tank neck shrinking and turning system, comprising a plurality of function modules, the rotating shafts of the rotating components in each function module are respectively controlled by a motor with servo control function to control their motion;

[0017] It also includes a control center for controlling the synchronous operation of each motor. Before the system starts to work, a reference shaft is confirmed through the control center. The reference shaft is a virtual shaft of the system or a real shaft of any motor. The real shafts of the remaining motors are directly or indirectly followed by the motion of the reference shaft.

[0018] In the above scheme, the reference shaft is the motion reference shaft.

[0019] In the above scheme, the movement of the reference shaft includes rotation speed, start and stop, and the entire system is started and stopped, jogged, variable speed and synchronized by making the slave shaft follow the reference shaft.

[0020] In a further technical solution, the rotating assembly in each functional module includes a main turret assembly and a transfer turret assembly, wherein the main turret assembly includes a main turret star wheel and a main turret shaft, and the transfer turret assembly includes a transfer star wheel and a transfer turret shaft; the main turret shaft is driven by a first motor, and the transfer turret shaft is driven by a second motor; the first motor and the second motor each have a servo control function; and the control center is configured to control the first motors and the second motors to work synchronously.

[0021] In a further technical solution, the reference shaft is switchable; when switching, if the current reference shaft is a virtual shaft, the reference shaft is switched to the real shaft of any motor; if the current reference shaft is the real shaft of a certain motor, the reference shaft is switched to the real shaft of any other motor or switched to a virtual shaft.

[0022] In a further technical solution, the motor is a servo motor, the servo motor is integrated with an absolute value encoder, and each servo motor is provided with a default reference position in advance, the default reference position corresponds to the reference shaft of the system, and the reference shaft is the most initial reference shaft that has not been switched.

[0023] In a further technical solution, the motor is a servo motor, the servo motor uses an incremental encoder and an external zero point detection sensor to find the reference position. The finding method is as follows: the zero point detection sensor corresponds to the reference position of the shaft, and the reference position is determined relative to the reference shaft; after each power-on or restart, the corresponding servo motor first moves back to the zero point detection sensor, and then can be synchronized with the reference shaft.

[0024] In addition, the motor can also be a stepper motor or an induction motor provided with an external encoder to realize servo control function.

[0025] In a further technical solution, a tree-shaped control architecture is set by the control center, the control layers of the tree-shaped control architecture are n, and n≥3; the reference shaft includes a main reference shaft and a secondary reference shaft; the first layer is the main reference shaft, the second layer to the n-1 layer are the secondary reference shafts, and the n layer is the real shaft of each motor; the main reference shaft is one; the secondary reference shafts of the adjacent lower layer are at least one and follow the movement of the reference shaft of the upper layer; the real shafts of the n layer are at least one and follow the movement of the secondary reference shaft of the upper layer.

[0026] In the above scheme, in the "the secondary reference shafts of the adjacent lower layer are at least one and follow the movement of the reference shaft of the upper layer", the reference shaft of the upper layer is the main reference shaft of the upper layer or the secondary reference shaft of the upper layer.

[0027] In the above scheme, the at least one real axis of the nth layer includes the control of the partial module point operation of the tank neck shrinkage and turnover system multifunctional module, such as the point operation in the system debugging process.

[0028] In the above scheme, in order to facilitate the debugging and meet the needs of running a single function module, the servo motor of one or more components can be used as a slave axis to follow a previous layer of reference axis synchronously. The reference axis of the previous layer can be a virtual axis or a real axis, and the reference axis of the previous layer can continue to be used as a slave axis to follow a higher layer of reference axis synchronously. The reference axis of the higher layer can also be a virtual axis or a real axis. The number of master and slave axis synchronization layers of the tree-shaped control architecture is not limited.

[0029] The tree-shaped control architecture of the present application refers to a multi-layer control architecture, that is, an architecture in which one upper layer controls multiple lower layers, or an architecture in which one upper layer controls one lower layer. The latter has the meaning that if a certain servo motor needs to be operated, in addition to the traditional method of directly controlling the servo motor, the servo motor can be synchronized to a certain upper layer reference axis, and then the reference axis can be controlled to operate. For example, instead of the traditional manual punch operation, the servo motor that needs to be debugged and operated can be used as a slave axis to follow a certain reference axis for synchronous operation, the reference axis can be selected as a certain real axis or virtual axis, and then the reference axis can be operated.

[0030] Further technical solutions, the master reference axis can be switched to any secondary reference axis or real axis of any motor; the secondary reference axis can be switched to the real axis of any motor, or can be switched to other secondary reference axes of the same layer or different layers.

[0031] Further technical solutions, further comprising a middle tank feeding module, the function module comprises a neck shrinkage module, the number of neck shrinkage modules is x, x≥2;

[0032] The middle tank feeding module divides all the neck shrinkage modules into two sections, and each section includes at least one neck shrinkage module;

[0033] The control layer number of the tree-shaped control architecture is 3; the first layer is the master reference axis, the second layer is two secondary reference axes, and the third layer is the real axis of each motor;

[0034] Among them, the first secondary reference axis controls the real axis of m motors, the second secondary reference axis controls the real axis of k motors, m≥2, k≥2, and m+k=2x; m is the number of motors in the neck shrinkage module of the front section, and k is the number of motors in the neck shrinkage module of the rear section.

[0035] The neck shrinking and turning system is divided into two sections by the middle tank entering module, the front section before the middle tank entering module, and the rear section after the middle tank entering module. The secondary reference shafts of the front section and the rear section are controlled respectively, and the two secondary reference shafts are synchronous with the main reference shaft. Under normal circumstances, the secondary reference shafts of the front section and the rear section are synchronous with the main reference shaft. When the middle tank entering module function is used, the secondary reference shaft of the front section is not synchronous with the main reference shaft, and only the rear section is in a synchronous state for production control. By taking the front section offline, the number of online neck shrinking modules is reduced, thereby meeting the production requirements of multiple tank types.

[0036] Further technical solutions, the middle tank entering module includes a first tank entering assembly, a second tank entering assembly, a third tank entering assembly, and the transfer turret assembly;

[0037] The first tank entering assembly includes a first tank entering transfer star wheel and a first rotating shaft, the second tank entering assembly includes a second tank entering transfer star wheel and a second rotating shaft, and the third tank entering assembly includes a third tank entering transfer star wheel and a third rotating shaft;

[0038] The first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel to the transfer turret shaft;

[0039] The first tank entering transfer star wheel is in position with the second tank entering transfer star wheel, the second tank entering transfer star wheel is in position with the third tank entering transfer star wheel, the third tank entering transfer star wheel is in position with the transfer star wheel of the upstream module, and the third tank entering transfer star wheel is in position with the transfer star wheel in the module (the structure is the same as that of the transfer star wheel in other modules). The transfer star wheel in the module is in position with the main turret star wheel of the downstream module;

[0040] The first rotating shaft is driven to work by a third motor, the second rotating shaft is driven to work by a fourth motor, and the third rotating shaft is driven to work by a second motor. The third motor and the fourth motor both have a servo control function.

[0041] Further technical solutions, the functional module includes a flanging module.

[0042] Further technical solutions, the functional module includes a shaping module.

[0043] The application can also include a light detection module, a figure detection module, etc. Since the functional module part of the tank neck shrinking and turning system can be prior art, this case will not be described in detail.

[0044] Further technical solutions, the end tank entering module includes a first tank entering assembly and a second tank entering assembly.

[0045] The first tank inlet assembly comprises a first tank inlet transfer star wheel and a first rotating shaft, and the second tank inlet assembly comprises a second tank inlet transfer star wheel and a second rotating shaft;

[0046] The first rotating shaft is parallel to the second rotating shaft and to the main turret shaft;

[0047] The first tank inlet transfer star wheel is in alignment with the second tank inlet transfer star wheel, which is in alignment with the main turret star wheel;

[0048] The first rotating shaft is driven by a third motor, and the second rotating shaft is driven by a fourth motor; the third motor and the fourth motor both have a servo control function.

[0049] The application further discloses a control method of the servo-controlled tank neck shrinking and turning system, which comprises the following steps:

[0050] Before the system starts to work, a reference shaft is confirmed in the control center, which is a virtual shaft or a real shaft of any motor, and the reference shaft is switchable;

[0051] Meanwhile, a corresponding deviation threshold G is set for the working parameters of each motor;

[0052] When the system starts to work, the actual working parameter A of each motor is detected in real time, the actual working parameter A is compared with a set working parameter B, and the deviation value D of the actual working parameter A and the set working parameter B is obtained;

[0053] If the deviation value D is lower than the lower limit value of the set deviation threshold G, it is determined that the system is running normally;

[0054] If the deviation value D is between the lower limit value and the upper limit value of the set deviation threshold G, it is determined that a component in the system is in an acceptable running condition, and the real shaft of the motor corresponding to the deviation value is switched to the reference shaft;

[0055] If the deviation value D is higher than the upper limit value of the set deviation threshold G, it is determined that the system is running abnormally and needs to be stopped.

[0056] In the above scheme, the deviation value D is calculated as follows:

[0057] Actual working parameter A-set working parameter B=actual deviation threshold C, and the absolute value of C is the deviation value D.

[0058] The set deviation threshold G is a positive value, E is defined as the lower limit value of the set deviation threshold G, and F is defined as the upper limit value of the set deviation threshold G.

[0059] If D < E, it is determined that the system is running normally (hereinafter referred to as "normal"); if E ≤ D ≤ F, it is determined that a certain component in the system is in an acceptable operating condition (an acceptable fluctuating load condition), and the real axis of the motor corresponding to the deviation value is switched to the reference axis (hereinafter referred to as "acceptable"); if D > F, it is determined that the system is running abnormally and needs to be shut down (hereinafter referred to as "abnormal").

[0060] Alternatively, if D ≤ E, it is determined to be "normal"; if E < D < F, it is determined to be "acceptable"; and if D ≥ F, it is determined to be "abnormal".

[0061] In the above scheme, the working parameters include the working current, position, output torque, and rotor of the motor. The "position" refers to the angle corresponding to one revolution of the motor shaft, and different positions correspond to different angles.

[0062] The control center of the present application is not limited to PLC or motion controller for implementing detection or data analysis algorithm, but can also be other microprocessors or microcontrollers, etc.

[0063] In a further technical solution, when setting the deviation threshold, the actual working parameters of the motor under normal working conditions are collected multiple times in advance, and then compared with the set working parameters to finally confirm the upper and lower limit values of the deviation threshold.

[0064] In a further technical solution, when it is determined that the reference axis needs to be switched, the system automatically switches the reference axis.

[0065] In a further technical solution, when it is determined that the reference axis needs to be switched, the system sends a prompt, and the operator manually switches the reference axis according to the prompt.

[0066] In a further technical solution, when it is determined that the system is running abnormally, the system automatically shuts down.

[0067] In a further technical solution, when it is determined that the system is running abnormally, the system sends a prompt, and the operator manually performs shutdown operation according to the prompt.

[0068] In a further technical solution, if the deviation value starts to be higher than the lower limit value of the deviation threshold, the system sends a prompt. When the parameter curve starts to be abnormal, the operator can make an early judgment of the possible fault and take countermeasures in advance according to the prompt and the type of the parameter.

[0069] In a further technical solution, the automatic switching is based on the working abnormality of the turret assembly or the rotating turret assembly, and the working abnormality includes mold clamping, part (such as cam) wear, improper gear engagement during flanging or shaping, and rotating blockage.

[0070] The working principle and advantages of the present application are as follows:

[0071] The present application is a servo-controlled neck shrinkage and turning system of a tank, which comprises a plurality of functional modules, and the rotation shafts of the rotating components in each functional module are controlled by a motor with servo control function. The control center for controlling the synchronous operation of each motor is also included. Before the system starts to work, a reference shaft is confirmed by the control center. The reference shaft is a virtual shaft of the system or a real shaft of any motor, and the real shafts of the remaining motors are directly or indirectly followed by the movement of the reference shaft.

[0072] The present application can realize the switching of the reference shaft. When the system has an abnormal work, the influence caused by the abnormal work can be eliminated by switching the reference shaft. Furthermore, the present application can realize online switching without stopping to ensure the continuity and stability of the system operation.

[0073] By setting one servo motor for each component, the present application can configure the servo and control parameters according to the actual inertia, so that each real shaft is followed by the synchronous operation of the reference shaft, avoiding the problem of different synchronization between components caused by the gear meshing backlash in the traditional tank neck shrinkage and turning system, and improving the control and synchronization accuracy of the system.

[0074] For the long-periodic fluctuation of a certain rotating component, the motor real shaft of the component can be used as the reference shaft of the system, so that other components follow it to perform the same phase synchronous fluctuation, thereby eliminating the positional deviation caused by the timing misalignment and ensuring the continuity and stability of the system operation.

[0075] The control center of the present application can accurately and automatically capture which component or components have the mold blocking problem inside, which stations have the transfer blocking, and further accurately and real-time monitor the equipment installation condition by using historical data, such as the abnormal installation of the gear on the side of the flanging module. The state of the key parts can also be real-time monitored, such as the local wear of the cam of a certain functional station.

[0076] After the control center of the present application detects the internal abnormality of the component servo or the abnormality between the component servos, the user can set the most effective treatment method according to the specific situation, such as adjusting the shutdown time. Specifically, when the emergency stop alarm occurs, the system is stopped as soon as possible, and when the ordinary alarm occurs, the system is stopped at the normal set time. After the abnormal shutdown, the user can take targeted measures for the abnormal module, including disabling the enable, individually performing manual operation to eliminate the abnormality, and repositioning. After the abnormality is handled, the original timing is quickly restored to continue production, thereby improving the efficiency of the equipment and the production efficiency.

[0077] The present application can freely select one or several servo motors to drive the device to the desired position, thereby saving the heavy manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0078] Fig. 1 is a schematic diagram of the back structure of a conventional neck-in and turn-down system for a can;

[0079] Fig. 2 is a schematic diagram of the front structure of a conventional neck-in and turn-down system for a can;

[0080] Fig. 3 is a schematic diagram of a neck-in function module according to an embodiment of the present application;

[0081] Fig. 4 is a schematic diagram of a neck-in function module according to another embodiment of the present application;

[0082] Fig. 5 is a schematic diagram of the rack assembly and tailstock support assembly in Fig. 3 and Fig. 4;

[0083] Fig. 6 is a schematic diagram of the main shaft turret assembly in Fig. 3 and Fig. 4;

[0084] Fig. 7 is a schematic diagram of the push plate end turret assembly according to an embodiment of the present application;

[0085] Fig. 8 is a schematic diagram of the mold end turret assembly according to an embodiment of the present application;

[0086] Fig. 9 is a schematic diagram of the mold end sleeve assembly in Fig. 8;

[0087] Fig. 10 is a schematic diagram of the transfer turret assembly in Fig. 3 and Fig. 4;

[0088] Fig. 11 is a schematic diagram of the motor distribution of a neck-in and turn-down system for a can according to an embodiment of the present application, which integrates the intermediate can feeding function module and servo control;

[0089] Fig. 12 is a schematic diagram of the front structure of a neck-in and turn-down system for a can according to an embodiment of the present application;

[0090] Fig. 13 is a schematic diagram of the partial structure of a neck-in and turn-down system for a can according to an embodiment of the present application, which integrates the intermediate can feeding function module;

[0091] Fig. 14 is a general control model of a neck-in and turn-down system for a can according to an embodiment of the present application;

[0092] Fig. 15 is a synchronous control model with a virtual axis as the reference axis according to an embodiment of the present application;

[0093] Fig. 16 is a synchronous control model with a real axis of a certain motor as the reference axis according to an embodiment of the present application;

[0094] Fig. 17 is a model of a tree control architecture according to an embodiment of the present application;

[0095] Fig. 18 is a control process diagram according to an embodiment of the present application;

[0096] Figure 19 is a flow chart of the error reporting process of the present application;

[0097] Figure 20 is a cross-sectional view of the highest point of the preform of the present application;

[0098] Figure 21 is a graph of the abnormal load curve of the assembly caused by the mold clamping of the present application;

[0099] Figure 22 is the cam in Figures 3 and 4;

[0100] Figure 23 is a graph of the abnormal load curve of the assembly caused by the wear of the cam of the present application;

[0101] Figure 24 is a top view of the servo-controlled flanging module of the present application;

[0102] Figure 25 is a rear view of the servo-controlled flanging module of the present application;

[0103] Figure 26 is a structural diagram of the flanging main turret assembly in Figures 24 and 25;

[0104] Figure 27 is a structural diagram of the flanging mold turret assembly in Figure 26;

[0105] Figure 28 is a graph of the abnormal load curve of the assembly caused by the meshing of the gear ring and the pinion on the sleeve mandrel of the flanging mold of the present application;

[0106] Figure 29 is a structural diagram of the transfer turret star wheel and the main turret star wheel when transferring the product of the present application;

[0107] Figure 30 is a graph of the abnormal load curve of the transfer clamping of the present application;

[0108] Figure 31 is a control model diagram corresponding to the intermediate clamping function of the present application.

[0109] In the above drawings: 1. Gear chain; 2. Distributed motor speed increaser / decreaser; 3. Punching device; 4. Main turret assembly; 5. Frame assembly; 6. Tailstock assembly; 7. Transfer turret assembly; 8. Push plate assembly; 9. Die end sleeve assembly; 10. Main turret shaft; 11. Transfer turret shaft; 12. First motor; 13. Second motor; 14. Follow-up bearing; 15. Necking outer die; 16. Cam; 17. Main turret star wheel; 18. Die end turret assembly; 19. Push plate end turret assembly; 20. Left side guide plate assembly; 21. Right side guide plate assembly; 22. Transfer star wheel; 22A. Transfer star wheel of intermediate loading module; 23. Extension star wheel; 24. First working cam surface; 25. Second working cam surface; 26. Flanging main turret assembly; 27. Tailstock support assembly of flanging module; 28. Flanging die sleeve assembly; 29. Flanging push plate assembly; 30. Die sleeve assembly; 31. Pinion; 32. Gear ring; 33. Flanging die head assembly; 34. First rotating shaft; 35. Third motor; 36. Second rotating shaft; 37. Fourth motor; 38. Third rotating shaft; 39. Preformed product; 40. Necking inner die; 41. Mandrel; 42. First loading transfer star wheel; 43. Second loading transfer star wheel; 44. Third loading transfer star wheel.

[0110] DETAILED DESCRIPTION

[0111] The present application will be further described by the following drawings and examples:

[0112] Example: The present application will be further described by the following drawings and examples:

[0113] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0114] As used herein, the term "first", "second", etc. does not necessarily mean a specific order or sequence, nor does it limit the present application. They are used to distinguish one component from another.

[0115] As used herein, the terms "connected" or "positioned" are used to mean either a direct connection or an indirect connection through one or more intermediaries.

[0116] As used herein, the terms "comprises", "comprising", "includes", "including", "has", "having" or the like are used to mean including and / or comprising, but not limited to.

[0117] As used herein, the terms have their ordinary meaning in the field of use, unless otherwise specifically defined herein, in the context of the specification, or in the context of a particular aspect. Certain terms are discussed below or elsewhere in the specification to provide additional guidance to the skilled worker in understanding the descriptions of the aspects.

[0118] Referring to Fig. 12, a servo-controlled neck-in and ejection system includes a plurality of functional modules, each of which has a rotating component whose rotation axis is controlled by a servo motor (or other servo-controllable motor).

[0119] The system also includes a control center for controlling the synchronous operation of the motors. Before the system starts to work, the control center confirms a reference axis (i.e., a motion reference axis). The reference axis is a virtual axis of the system or a real axis of any motor. The real axes of the remaining motors are all slave axes that follow the motion of the reference axis, including the speed, start and stop. By making the slave axes follow the reference axis, the start and stop, jog, speed change and synchronous operation of the entire system are achieved.

[0120] Fig. 14 is a general control model of the neck-in and ejection system, which includes a control center and a neck-in and ejection system. The neck-in and ejection system includes an in-tank assembly and its servo motor, a plurality of main turret assemblies and their servo motors, a plurality of transfer turret assemblies and their servo motors, etc. The servo motors and the control center interact with each other and are controlled by the control center.

[0121] Fig. 15 is a synchronous control model of a reference axis (virtual axis), which is a commonly used synchronous control model. The real axes of the servo motors of each assembly correspond to a slave axis, and all the slave axes follow the synchronous operation of a reference axis.

[0122] Fig. 16 is a synchronous control model of a reference axis (virtual axis) in which a real axis of a servo motor is a reference axis. For acceptable fluctuating load conditions, when a real axis has such conditions, it is taken as a "reference axis", and the real axes of the servo motors of the remaining assemblies are "slave axes". All the "slave axes" follow the synchronous operation of the "reference axis" to eliminate the fluctuation problem and ensure that the system can continue to work stably.

[0123] As shown in Figs. 3 and 4, the rotating component in the neck-in functional module (the same for other functional modules) includes a main turret assembly 4 and a transfer turret assembly 7. The main turret assembly 4 includes a main turret star wheel 17 and a main turret shaft 10, and the transfer turret assembly 7 includes a transfer star wheel 22 and a transfer turret shaft 11. The main turret shaft 10 is driven by a first motor 12, and the transfer turret shaft 11 is driven by a second motor 13. Both the first motor 12 and the second motor 13 have a servo control function.

[0124] The control center is used to control the synchronous operation of each first motor 12 and each second motor 13.

[0125] Preferably, the reference axis is switchable. When switching, if the current reference axis is a virtual axis, it is switched to the real axis of any motor; if the current reference axis is the real axis of a certain motor, it is switched to the real axis of any other motor or switched to a virtual axis.

[0126] Preferably, the motor is a servo motor integrated with an absolute value encoder, and each servo motor is provided with a default reference position corresponding to the reference axis of the system.

[0127] Alternatively, the motor is a servo motor using an incremental encoder and an external zero point detection sensor to find the reference position. The finding method is as follows: the zero point detection sensor corresponds to the reference position of the axis, and is determined relative to the reference axis. After each power-on or restart, the corresponding servo motor first moves back to the zero point detection sensor, and then can perform synchronous motion with the reference axis.

[0128] In addition, the motor can also be a stepper motor or an induction motor equipped with an external encoder to realize servo control function.

[0129] Preferably, as shown in FIG. 17, a tree control architecture is set through the control center, the control layer number of the tree control architecture is n, n≥3; the reference axis includes a main reference axis and a secondary reference axis; wherein the first layer is the main reference axis, the second layer to the n-1 layer are the secondary reference axes, and the n layer is the real axis of each motor.

[0130] The main reference axis is one. The secondary reference axes of the adjacent lower layer are at least one, and all follow the motion of the reference axis of the upper layer.

[0131] The real axes of the n layer are at least one, and all follow the motion of the secondary reference axes of the upper layer. That is, in order to facilitate debugging and meet the demand of running a single function module, the servo motor of one or more components can be used as a slave axis to follow a “reference axis” of the upper layer synchronously. The “reference axis” of the upper layer can be a “virtual axis” or a “real axis”, and these “reference axes” of the upper layer can continue to be used as slave axes to follow a “reference axis” of the upper layer synchronously. The pairing relationship between the slave axis and the reference axis is freely combined according to the demand, and the figure is only an example of one combination.

[0132] When replacing the traditional manual punch operation, the servo motor that needs to be debugged and run can be used as a slave axis to follow a certain reference axis for synchronous operation, the reference axis is selected as a certain real axis or virtual axis, and then the reference axis is operated to run.

[0133] The primary reference shaft can be switched to any secondary reference shaft or real shaft of any motor; the secondary reference shaft can be switched to the real shaft of any motor, or can be switched to other secondary reference shafts in the same layer or different layers.

[0134] Figure 18 is a control process diagram of the system, the control center intelligently controls the servo motors, the overall control model of the system is shown in Figure 17, the real shaft of each servo motor corresponds to an axis in the control center, which can be a reference shaft or a slave shaft. The synchronization relationship between the reference shaft and the slave shaft is shown in Figures 15, 16 and 17, the reference shaft is controlled by the system control center in terms of speed and start-stop, and the slave shaft follows the reference shaft, thereby realizing the start-stop, inching, speed change and synchronization operation of the entire system.

[0135] Preferably, as shown in Figure 11, it further comprises a middle tank inlet module, the functional module comprises a necking module, the number of the necking module is x, x≥2.

[0136] The middle tank inlet module separates all the necking modules into two sections, and each section includes at least one necking module.

[0137] The control layer number of the tree control architecture is 3 layers; the first layer is the primary reference shaft, the second layer is two secondary reference shafts, and the third layer is the real shaft of each motor.

[0138] The first secondary reference shaft controls the real shaft of m motors, and the second secondary reference shaft controls the real shaft of k motors, m≥2, k≥2, and m+k=2x; m is the number of motors in the necking modules in the front section, and k is the number of motors in the necking modules in the rear section.

[0139] That is, for the demand of the middle tank inlet module, the tank necking system is divided into two sections by the middle tank inlet module, the front of the middle tank inlet module is the front section, and the rear of the middle tank inlet module is the rear section: the front section and the rear section are controlled by one "secondary reference shaft" respectively, and the two "secondary reference shafts" are synchronized with the "primary reference shaft". Under normal circumstances, the "secondary reference shafts" of the front section and the rear section follow the "primary reference shaft". When the middle tank inlet module function is used, the "secondary reference shaft" of the front section cancels the synchronization with the "primary reference shaft", only the rear section module is in a synchronized state for production control, and by taking the front section module offline, the number of online necking modules is reduced, thereby compatible with the production demand of multiple tank types.

[0140] For example: If the layout of the neck shrinking system of product A is: feeding module + 14 neck shrinking modules + 1 flanging module + 1 shaping module + 1 light detection module + 1 figure detection module + 1 out-of-tank assembly, but product B only needs 5 neck shrinking modules (the specific number is determined by the height of the product), then part of the system layout of product A can be borrowed to form: feeding module + 9 neck shrinking modules + 1 intermediate feeding module + 5 neck shrinking modules + 1 flanging module + 1 shaping module + 1 light detection module + 1 figure detection module + 1 out-of-tank assembly.

[0141] As shown in FIG. 31, when the intermediate feeding function is enabled, the virtual axis (secondary reference axis) corresponding to the servo motor of the front section assembly is cancelled from synchronization with the main reference axis, and only the real axis of the servo motor of the rear section assembly follows the main reference axis for synchronization.

[0142] As shown in FIG. 5, the neck shrinking function module further includes a rack assembly 5 and a tail seat assembly 6 as the tail support of the main shaft turret assembly.

[0143] FIG. 6 is the main shaft turret assembly 4 of FIGS. 3 and 4, which includes a mold end turret assembly 18, a push plate end turret assembly 19, a main turret shaft 10, and a main turret star wheel 17. The main turret star wheel 17 has a plurality of circular arc groove features (working positions) for carrying and positioning the preformed product to facilitate smooth forming, which are usually marked as 1# working position, 2# working position, 3# working position, etc.

[0144] FIG. 7 is the push plate end turret assembly 19, which includes a push plate assembly 8 driven by a cam 16 (see FIGS. 3 and 4) to push the preformed product axially into the corresponding mold for forming.

[0145] FIG. 8 is the mold end turret assembly 18, which includes a mold end sleeve assembly 9 for loading the mold needed for forming.

[0146] FIG. 9 is the mold end sleeve assembly 9 in FIG. 8, which includes a neck shrinking outer mold 15 for the mold of the tank neck, and a follow-up bearing 14 running along the two working surfaces of the cam 16.

[0147] FIG. 10 is the transfer turret assembly 7 in FIGS. 3 and 4, which includes a transfer turret shaft 11 and a transfer star wheel 22. The transfer star wheel 22 has a plurality of circular arc groove features (working positions) corresponding to the main turret star wheel 17, which are usually marked as 1# working position, 2# working position, 3# working position, etc. It also includes a transfer star wheel extension star wheel 23 responsible for loading the transfer product. The left guide plate assembly 20 assists in transferring the product formed by this function module to the transfer star wheel. The right guide plate assembly 21 assists in transferring the product on the transfer star wheel to the main turret star wheel 17 of the next function module.

[0148] As shown in Fig. 13, the intermediate tank inlet module comprises a first tank inlet assembly, a second tank inlet assembly, a third tank inlet assembly and the transfer turret assembly 7.

[0149] The first tank inlet assembly comprises a first tank inlet transfer star wheel 42 and a first rotating shaft 34, the second tank inlet assembly comprises a second tank inlet transfer star wheel 43 and a second rotating shaft 36, and the third tank inlet assembly comprises a third tank inlet transfer star wheel 44 and a third rotating shaft 38.

[0150] The first rotating shaft 34, the second rotating shaft 36 and the third rotating shaft 38 are parallel to the transfer turret shaft 11.

[0151] The first tank inlet transfer star wheel 42 is in alignment with the second tank inlet transfer star wheel 43, the second tank inlet transfer star wheel 43 is in alignment with the third tank inlet transfer star wheel 44, the third tank inlet transfer star wheel 44 is in alignment with the transfer star wheel 22 of the upstream module and the transfer star wheel 22A in the present module (the same as the transfer star wheel 22 in other modules), and the transfer star wheel 22A in the present module is in alignment with the main turret star wheel 17 of the downstream module.

[0152] The first rotating shaft 34 is driven by a third motor 35, the second rotating shaft 36 is driven by a fourth motor 37, and the third rotating shaft 38 is driven by a second motor 13; the third motor 35 and the fourth motor 37 both have a servo control function.

[0153] The functional modules include a flanging module and a shaping module, and can also include an optical inspection module and a graphic inspection module. The tank inlet module is responsible for transferring the preformed product from the conveying line to the first necking forming functional station for necking forming, and completing the final necking process through several necking functional modules; then the flanging process of the necking mouth is completed through the flanging module, followed by the shaping process, and thus the preformed product becomes a finished product, which is detected in the tank and the neck and the flanged part through the optical inspection and graphic inspection modules, and is output to the next process by the tank outlet assembly of the necking and flanging system.

[0154] Fig. 24 and Fig. 25 are a complete servo-controlled flanging module, which comprises a flanging main turret assembly 26, a rack assembly 5, a tailstock support assembly 27 of the flanging module, a flanging die sleeve assembly 28 uniformly distributed on the flanging main turret assembly 26, a flanging push plate assembly 29 for pushing the pre-flanged product into the flanging die and uniformly distributed on the flanging main turret assembly 26, and a transfer turret assembly 7 responsible for transferring the product after the flanging forming to the next functional module; the first motor 12 and the second motor 13 are the same as the necking module.

[0155] Figure 26 is a flanging main turret assembly 26, including the main turret shaft 10 and the main turret star wheel 17 as the same as the necking module, and further including the flanging die sleeve assembly 28, the flanging push plate turret assembly 29, and the gear ring 32 engaged with the pinion 31 on the upper die sleeve assembly of the flanging die turret assembly, which does not rotate with the main turret shaft 10 and is fixed on the frame.

[0156] Figure 27 is a flanging die sleeve assembly 28, including the die sleeve assembly 30, each of which carries a flanging die head for flanging forming. It also includes the pinion 31 fixed on one end of the flanging die sleeve assembly mandrel 41, which is engaged with the gear ring 32 to achieve the rotation of each flanging die head assembly 33 around the main turret shaft 10 while also rotating around its own mandrel 41.

[0157] Since the functional module part of the present case can be prior art, the present case will not be described.

[0158] As shown in Figure 12, it also includes an end tank inlet module, which includes a first tank inlet assembly and a second tank inlet assembly.

[0159] The first tank inlet assembly includes a first tank inlet transfer star wheel 42 and a first rotating shaft 34, and the second tank inlet assembly includes a second tank inlet transfer star wheel 43 and a second rotating shaft 36.

[0160] The first rotating shaft 34 is parallel to the second rotating shaft 36 and parallel to the main turret shaft 10.

[0161] The first tank inlet transfer star wheel 42 is in alignment with the second tank inlet transfer star wheel 43, which is in alignment with the main turret star wheel 17.

[0162] Among them, the first rotating shaft 34 is driven by a third motor 35, and the second rotating shaft 36 is driven by a fourth motor 37; the third motor 35 and the fourth motor 37 both have a servo control function.

[0163] The control method of the servo-controlled tank necking and flanging system includes the following steps:

[0164] Before the system starts working, a reference axis is confirmed in the control center, which is a virtual axis or a real axis of any motor, and the reference axis can be switched;

[0165] At the same time, a corresponding deviation threshold is set for the working parameters of each motor, and the working parameters directly correspond to the position information of the motor real axis (i.e. the rotation angle of the motor real axis) and its fluctuation law, while the rotor speed, current and torque are indirect parameters of interest, which can be converted into the position information through known conversion methods.

[0166] When the system starts to work, the actual working parameter of each motor is detected in real time, the actual working parameter is compared with a set working parameter, and a deviation value of the actual working parameter and the set working parameter is obtained;

[0167] If the deviation value is lower than the lower limit value of the deviation threshold value, it is determined that the system is running normally. Specifically, when the curve corresponding to the actual working parameter meets the characteristics of the a curve in FIG. 21, the c curve in FIG. 23, the g curve in FIG. 28 or the e curve in FIG. 30, it represents that the system is running normally. The synchronous model of the reference axis and the slave axis is shown in FIG. 15, at this time, various data acquisition, statistics, analysis and prediction can be performed.

[0168] If the deviation value is between the lower limit value and the upper limit value of the deviation threshold value, it is determined that a certain component in the system is in an acceptable running condition, and the real axis of the motor corresponding to the deviation value is switched to the reference axis. After continuing production for a proper yield, maintenance is performed, frequent shutdown is avoided, dynamic adjustment of the servo working of the system is ensured, and sustainable and stable processing is ensured. Specifically, when the curve (FIG. 21, FIG. 23 and FIG. 28) corresponding to the actual working parameter meets the characteristics that the deviation value is between the lower limit value and the upper limit value of the set deviation threshold value, it represents that a certain component in the system is in an acceptable running condition, at this time, the synchronous model of the reference axis and the slave axis can be switched to that shown in FIG. 16.

[0169] If the deviation value is higher than the upper limit value of the deviation threshold value, it is determined that the system is running abnormally and needs to be stopped. Specifically, when the curve corresponding to the actual working parameter meets the characteristics of the b curve in FIG. 20, the d curve in FIG. 23, the g curve in FIG. 28 or the f curve in FIG. 30, the control center continues to sample a settable number of data to confirm the condition, that is, when the deviation value is above the upper limit value of the set deviation threshold value, it represents that the system is in an abnormal condition, the control center needs to control the servo motor to stop to interrupt the production, and different countermeasures are taken according to the specific abnormal type to solve the problem.

[0170] Preferably, when the deviation threshold value is set, the actual working parameter of the motor when the motor is normally working is collected multiple times, and then compared with the set working parameter, and finally the upper limit value and the lower limit value of the deviation threshold value are confirmed.

[0171] Preferably, when it is determined that the reference axis needs to be switched, the system automatically switches the reference axis. Alternatively, when it is determined that the reference axis needs to be switched, the system sends a prompt, and the operator manually switches the reference axis according to the prompt.

[0172] Preferably, the system automatically stops when the system is determined to be abnormal. Alternatively, the system sends a prompt when the system is determined to be abnormal, and the operator manually stops the system according to the prompt.

[0173] Preferably, the system sends a prompt when the deviation value starts to be higher than the lower limit of the deviation threshold. For example, when the parameter curve starts to be abnormal, the system sends a prompt, so that the operator can pay attention to it, and can make a preliminary judgment of the possible failure according to the parameter type, and can take measures in advance.

[0174] FIG. 19 is a process diagram for error processing. The control center classifies and characterizes the collected abnormal condition data, locates the fault cause and position, and takes measures such as disabling the servo motor of the corresponding component, manual operation, and jog operation to clear the abnormality. After the abnormality is cleared, the servo is re-enabled and repositioned, so that the timing of the entire device returns to normal to continue the original production.

[0175] FIG. 20 is a cross-sectional view of the highest point of the preformed product. The figure includes the mold sleeve assembly 9 of the neck-in outer mold 15 and the neck-in inner mold 40, the preformed product 39, and the push plate assembly 8 that pushes the product into the mold under the drive of the cam 16. If the preformed product 39 is stuck between the neck-in outer mold 15 and the neck-in inner mold 40 due to an abnormality, and cannot be advanced or retreated, it is called mold jamming.

[0176] FIG. 21 is a graph of abnormal internal load curve caused by mold jamming. Curve a represents the load curve when the mold is normally formed, and curve b represents the load curve when the preformed product is stuck in the mold during the process of entering the mold. The starting point of the horizontal coordinate represents the transfer of the preformed product from the star wheel of the transfer turret of the previous neck-in module to the main star wheel of the adjacent neck-in module. When a certain point of curve b starts to deviate from curve a, and the deviation does not exceed the deviation threshold set by the control system, the control system can realize self-adjustment by switching the "reference axis" to avoid position deviation caused by load deviation, which can cause serious transfer jamming. When a certain point of curve b starts to deviate from curve a, and the deviation exceeds the deviation threshold set by the control system, the control system can identify the abnormality of the corresponding station at the starting point of the deviation, and can make a preliminary judgment and take corresponding processing measures (usually stop) in advance. However, it takes a certain time from high-speed operation to stop, so if the processing can be performed in advance, the transfer jamming can be avoided, at least the number of jamming can be reduced, the loss, energy consumption and damage to the equipment can be reduced. The horizontal direction of all load curves in the present application is the angular position (degrees), and the vertical direction is the load torque (n.m).

[0177] FIG. 22 is a cam 16, which includes a first working surface 24 and a second working surface 25. When the working surface is locally worn, it is difficult for the operator to find it. After the servo replaces the gear chain, the detection function of the servo control system can achieve the purpose of online monitoring.

[0178] Figure 23 is a graph of abnormal internal load curve of the assembly caused by cam wear, curve c represents the normal cam working load curve, curve d represents the load curve after the cam working surface has local wear problems. When the deviation of d from c exceeds the set value, the control system performs a shutdown inspection to avoid affecting product quality and causing greater losses. While the traditional gear chain tank diameter reduction system has the cam under the protection device, it is difficult for the equipment operator to find that the cam has worn out until the wear has been serious enough to affect product quality. However, at this time, the operator needs to do a lot of troubleshooting work, repeatedly troubleshoot, and find abnormal points that affect product quality. The control method of the present application can achieve: when the d curve deviates from the c curve to a certain extent, but has not exceeded the threshold set by the control system, the system will alarm and stop, reminding the equipment operator that there is abnormal wear, so as to quickly lock the specific module and the key position, thereby greatly reducing the troubleshooting workload. According to the alarm display of the control system, the equipment operator can quickly lock the cam abnormality during shutdown inspection, which is due to the periodic characteristic of the cam load curve change being 360 degrees per week. Other key wear points of the equipment do not have this feature, so once the local wear of the cam occurs, according to the database of the control system, it can be quickly determined whether the wear is caused by the cam, and then the cause of the abnormality is determined whether it is due to insufficient automatic lubrication or other abnormalities, so as to achieve timely loss prevention. The cam not only has the problem of procurement cost, but more importantly, replacing the cam is also very time-consuming and labor-intensive, and the workload is large. If the troubleshooting shows that the wear of the cam is normal, and the deviation of the d curve from the c curve is still within the set deviation threshold, the control system can restore normal production by switching the "reference axis", and the operator can start preparing new parts for replacement.

[0179] Figure 28 is a graph of abnormal internal load curve of the assembly caused by the meshing of the gear ring 32 and the pinion 31 on the flanging die sleeve mandrel. It shows the curve of the internal load abnormality of a certain flanging or sizing assembly caused by improper meshing of the gear. Curve g represents the normal meshing load curve of the gear, and curve h represents the load curve of the gear due to abnormal meshing of the gear. When the gear is normally meshed, the load change is relatively small, and under the current change ratio, it is almost a nearly horizontal straight line with the ordinate being 0 and the abscissa being a horizontal line. The control method of the present application can check whether the gear machining and assembly are normal in combination with the existing database, supervise the wear of the gear during actual production, find problems in time, and reduce the shutdown frequency and maintenance cost through targeted inspection, maintenance or switching of the "reference axis", and stabilize the product quality.

[0180] The timing control of the transfer turret star wheel 22 and the main turret star wheel 17 realizes the carrier characteristics of the transferred product 32. When the timing deviates and reaches a certain degree, the product will be damaged by extrusion, causing abnormality such as jammed cans.

[0181] FIG. 30 is a transfer jam abnormal load curve diagram, which shows the curve diagram of the abnormal load inside the adjacent two components due to the transfer jam. e represents the load curve when the product is transferred normally, and f represents the load curve when the product transfer appears jam abnormality. The transfer jam probability is caused by the timing misalignment of the main turret star wheel 17 and the transfer turret star wheel 22. Through the control method of the present application, combined with the existing database, the system first judges the degree of timing misalignment. If the misalignment degree is within the controllable range, the system can adjust the “reference axis” followed by each servo motor online or offline, timely adjust the misalignment, correct the timing error, ensure the continuous production, and avoid developing to the degree of transfer jam execution abnormal stop.

[0182] In the embodiment, the automatic switching is based on the working abnormality of the turret assembly or the transfer turret assembly, and the working abnormality includes: mold jam, part (such as cam) wear, improper gear engagement during flanging or shaping, transfer jam, but is not limited to the above examples.

[0183] In summary, the present application can realize intelligent online automatic switching of the reference axis, and ensure the machining precision and the continuity of the system operation.

[0184] The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

[0185] The present application sets one servo motor for each component, which can freely select a certain servo motor or several servo motors to drive the equipment to the desired position, thereby saving the heavy manual punch operation.

Claims

1. A servo-controlled neck-flap system for a can, comprising a plurality of functional modules, characterized in that: The rotation shafts of the rotating components in each functional module are respectively controlled by a motor with a servo control function; The control center is used for confirming a reference shaft before the system starts to work, the reference shaft being a virtual shaft of the system or a real shaft of any motor, and the real shafts of the remaining motors following the movement of the reference shaft.

2. A servo controlled jar neck-in turn down system as claimed in claim 1 characterized in that: The rotating components in each functional module include a main turret component and a transfer turret component, wherein the main turret component includes a main turret star wheel and a main turret shaft, and the transfer turret component includes a transfer star wheel and a transfer turret shaft; The main turret shaft is driven by a first motor, and the transfer turret shaft is driven by a second motor; the first motor and the second motor both have a servo control function; The control center is used for controlling the synchronous work of the first motors and the second motors.

3. A servo controlled neck-in system according to claim 1, wherein: The reference shaft is switchable; When switching, if the current reference shaft is a virtual shaft, the real shaft of any motor is switched to; if the current reference shaft is the real shaft of a certain motor, the real shaft of any other motor or the virtual shaft is switched to.

4. A servo controlled neck-in system according to claim 1, wherein: The motor is a servo motor, and the servo motor is integrated with an absolute value encoder; each servo motor is provided with a default reference position in advance, and the default reference position corresponds to the reference shaft of the system.

5. A servo controlled neck-in system according to claim 1 wherein: The motor is a servo motor, and the servo motor uses an incremental encoder and an external zero point detection sensor to find the reference position.

6. A servo controlled jar neck-in turn down system as claimed in claim 1 wherein: A tree-shaped control architecture is set through the control center, the control layers of the tree-shaped control architecture being n, and n≥3; the reference shafts include a main reference shaft and secondary reference shafts; the first layer is the main reference shaft, the second layer to the n-1th layer are the secondary reference shafts, and the n layer is the real shafts of the motors; There is one main reference shaft; There are at least one secondary reference shaft in each adjacent lower layer, and all follow the movement of the reference shaft in the upper layer; There are at least one real shaft in the n layer, and all follow the movement of the secondary reference shaft in the upper layer.

7. The servo-controlled neck-in system according to claim 6, characterized in that: The main reference shaft is switchable to any secondary reference shaft or the real shaft of any motor; The secondary reference shaft is switchable to the real shaft of any motor, or switchable to other secondary reference shafts in the same layer or different layers.

8. A servo controlled jar neck-in turn down system as claimed in claim 6 wherein: The system further includes a middle tank feeding module, the functional modules include neck-in modules, and the number of the neck-in modules is x, x≥2; The middle tank feeding module divides all the neck-in modules into two sections, and each section includes at least one neck-in module; The number of control layers of the tree-shaped control architecture is three, the first layer is the main reference shaft, the second layer is two secondary reference shafts, and the third layer is the real shafts of the motors; The first secondary reference shaft controls the real shafts of m motors, the second secondary reference shaft controls the real shafts of k motors, m≥2, k≥2, and m+k=2x; m is the number of motors in the neck-in modules in the front section, and k is the number of motors in the neck-in modules in the rear section.

9. A servo controlled jar neck-in turn down system as claimed in claim 8 wherein: The middle tank feeding module includes a first tank feeding assembly, a second tank feeding assembly, a third tank feeding assembly, and the transfer turret component; The first tank inlet assembly comprises a first tank inlet transfer star wheel and a first rotating shaft, the second tank inlet assembly comprises a second tank inlet transfer star wheel and a second rotating shaft, and the third tank inlet assembly comprises a third tank inlet transfer star wheel and a third rotating shaft; The first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to the transfer turret shaft; The first tank inlet transfer star wheel is in position with the second tank inlet transfer star wheel, the second tank inlet transfer star wheel is in position with the third tank inlet transfer star wheel, the third tank inlet transfer star wheel is in position with the transfer star wheel of the upstream module and the transfer star wheel in the present module, and the transfer star wheel in the present module is in position with the main transfer turret star wheel of the downstream module; The first rotating shaft is driven by a third motor, the second rotating shaft is driven by a fourth motor, and the third rotating shaft is driven by a second motor; the third motor and the fourth motor both have a servo control function.

10. A servo controlled neck-in system according to claim 1 or 2, wherein: The functional module comprises a flanging module.

11. A servo controlled neck-in system according to claim 1 or 2, wherein: The functional module comprises a shaping module.

12. A servo controlled jar neck-in turn down system as claimed in claim 1 characterized in that: The end tank inlet module comprises a first tank inlet assembly and a second tank inlet assembly; The first tank inlet assembly comprises a first tank inlet transfer star wheel and a first rotating shaft, and the second tank inlet assembly comprises a second tank inlet transfer star wheel and a second rotating shaft; The first rotating shaft is parallel to the second rotating shaft and parallel to the main transfer turret shaft; The first tank inlet transfer star wheel is in position with the second tank inlet transfer star wheel, and the second tank inlet transfer star wheel is in position with the main transfer turret star wheel; The first rotating shaft is driven by a third motor, and the second rotating shaft is driven by a fourth motor; the third motor and the fourth motor both have a servo control function.

13. A method of controlling a servo-controlled neck-flap system of a can, characterized by: The control method comprises the following steps: Before the system starts working, a reference shaft is confirmed, which is a virtual shaft or a real shaft of any motor, and the reference shaft can be switched; At the same time, a corresponding deviation threshold value is set for the working parameters of each motor; When the system starts working, the actual working parameters of each motor are detected in real time, the actual working parameters are compared with a set working parameter, and the deviation value of the actual working parameters and the set working parameter is obtained; If the deviation value is lower than the lower limit value of the deviation threshold value, it is determined that the system is running normally; If the deviation value is between the lower limit value and the upper limit value of the deviation threshold value, it is determined that a component in the system is in an acceptable operating condition, and the real shaft of the motor corresponding to the deviation value is switched to the reference shaft; If the deviation value is higher than the upper limit value of the deviation threshold value, it is determined that the system is running abnormally and needs to be stopped.

14. The control method according to claim 13, characterized by: When setting the deviation threshold value, the actual working parameters of the motor when working normally are collected multiple times, and then compared with the set working parameter, and finally the upper limit value and the lower limit value of the deviation threshold value are confirmed.

15. The control method according to claim 13, characterized by: When it is determined that the reference shaft needs to be switched, the system automatically switches the reference shaft.

16. The control method according to claim 13, characterized by: When it is determined that the reference shaft needs to be switched, the system sends a prompt, and the operator manually switches the reference shaft according to the prompt.

17. The control method according to claim 13, characterized by: When the system is determined to be operating abnormally, the system automatically shuts down.

18. The control method according to claim 13, characterized by: When the system is determined to be operating abnormally, the system issues a prompt, and an operator manually performs a shutdown operation according to the prompt.

19. The control method according to claim 13, characterized by: The system issues a prompt when the deviation value begins to be higher than a lower limit value of the deviation threshold value.

20. The control method according to claim 15, characterized in that The automatic switching is based on a working abnormality of the turret assembly or the transferred turret assembly, and the working abnormality includes: mold clamping, component wear, improper gear engagement during flanging or shaping, and transferred blockage.

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