CN113788303A

CN113788303A - Bottle storage table channel changing method and device, electronic equipment and storage medium

Info

Publication number: CN113788303A
Application number: CN202111048993.6A
Authority: CN
Inventors: 杭俊辉; 张少捷
Original assignee: Siemens Ltd China
Current assignee: Siemens Ltd China
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-12-14
Anticipated expiration: 2041-09-08
Also published as: CN113788303B

Abstract

The application provides a storage bottle table channel changing method, a storage bottle table channel changing device, electronic equipment and a storage medium, wherein the storage bottle table channel changing method comprises the following steps: determining the current position of an inlet clamping and translating mechanism in the bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move; determining the speed of the stacking plate according to the relative position of the current position and the target conveying channel; determining the clamping translation speed according to the relative position of the current position and the target conveying channel and the speed of the superposed plate; controlling a stacking plate motor for driving a bottle feeding stacking plate in the bottle storage table to move in a translation manner, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate; and controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move towards the target conveying channel at a clamping translation speed. The scheme can ensure that the beverage packaging production line has higher production efficiency.

Description

Bottle storage table channel changing method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of mechanical engineering and computers, in particular to a storage bottle table channel changing method, a storage bottle table channel changing device, electronic equipment and a storage medium.

Background

The storage bottle platform is the equipment that is used for storing the filling bottle on the beverage packaging production line, and the storage bottle platform includes a plurality of transfer passage and centre gripping translation mechanism, and a plurality of filling bottles can be stored to every transfer passage, and centre gripping translation mechanism is used for carrying the filling bottle transfer passage. In-process through storage bottle platform storage filling bottle, storage bottle platform need trade the way, stores full filling bottle back at a transfer passage promptly, and centre gripping translation mechanism moves to empty transfer passage to carry the filling bottle to empty transfer passage, thereby store the filling bottle in to empty transfer passage.

At present, when the storage bottle platform traded the way, in order to avoid between the filling bottle extrusion collision and lead to the filling bottle damaged, need stop carrying the filling bottle to centre gripping translation mechanism, then centre gripping translation mechanism removes to empty transfer passage from the transfer passage who stores full filling bottle, then begins to carry the filling bottle to centre gripping translation mechanism, makes centre gripping translation mechanism carry the filling bottle to empty transfer passage.

Aiming at the existing channel changing method of the bottle storage table, in the moving process of the clamping translation mechanism, the filling bottles need to be stopped being conveyed to the clamping translation mechanism, so that the filling bottles cannot be conveyed to the bottle storage table in the channel changing process of the bottle storage table, the production beat of a beverage packaging production line is influenced, and the production efficiency of the beverage packaging production line is low.

Disclosure of Invention

In order to solve the technical problem, the embodiment of the application provides a storage bottle table lane changing method, a storage bottle table lane changing device, electronic equipment and a storage medium, and the beverage packaging production line can be guaranteed to have higher production efficiency.

According to a first aspect of embodiments of the present application, there is provided a bottle magazine changing method, including:

determining the current position of an inlet clamping and translating mechanism in a bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move;

determining the speed of the stacking plate according to the relative position of the current position and the target conveying channel;

determining the clamping translation speed according to the relative position of the current position and the target conveying channel and the speed of the superposed plates;

controlling a stacking plate motor for driving a bottle feeding stacking plate in the bottle storage table to move in a translation manner, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate;

and controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move towards the target conveying channel at the clamping translation speed.

In a first possible implementation manner, with reference to the first aspect, the determining a speed of a stacking plate according to a relative position between the current position and the target conveying path includes:

taking the moving direction of the filling bottles on the bottle storage platform to the inlet clamping translation mechanism as a reference direction,

if the target conveying channel is located in front of the current position, determining that the speed of the stacking plate is a preset first speed, wherein the direction of the first speed is the same as the reference direction;

and if the target conveying channel is positioned behind the current position, determining that the speed of the stacking plate is a preset second speed, wherein the direction of the second speed is opposite to the reference direction.

In a second possible implementation manner, with reference to the first aspect, the determining a clamping translation speed according to the relative position between the current position and the target conveying channel and the speed of the stacking plate includes:

if the target conveying channel is located in front of the current position, calculating the sum of a preset reference translation speed and the speed of the superposed plate to obtain the clamping translation speed, wherein the reference translation speed and the speed of the superposed plate are positive values;

and if the target conveying channel is positioned behind the current position, calculating the difference between the reference translation speed and the speed of the superposed plate to obtain the clamping translation speed, wherein the reference translation speed is greater than the speed of the superposed plate.

In a third possible implementation manner, with reference to the first aspect, the bottle magazine changing method further includes:

after the inlet clamping translation mechanism moves to the target conveying channel, determining the position of the bottle feeding and stacking plate;

determining the return speed of the stacking plate according to the distance between the position of the bottle feeding stacking plate and the default position of the bottle feeding stacking plate;

and controlling the stacking plate motor to drive the bottle feeding stacking plate to move to the default position at the stacking plate return speed.

In a fourth possible implementation manner, with reference to the first aspect, the bottle magazine changing method further includes:

determining the bottle feeding conveying speed of a bottle feeding conveying mechanism in the bottle storage table when conveying filling bottles;

inputting the bottle feeding conveying speed into a slope function generator to obtain the clamping conveying speed of the inlet clamping translation mechanism;

controlling a clamping and conveying motor for driving rollers in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey filling bottles at the clamping and conveying speed;

and controlling an outlet conveying motor which is used for driving an outlet clamping translation mechanism included in the bottle storage table to rotate by rollers, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey the filling bottles at the clamping conveying speed.

In a fifth possible implementation manner, with reference to the first aspect or any one of the possible implementation manners of the first aspect, the bottle magazine changing method further includes:

determining a bottle feeding conveying speed, a clamping translation speed and a bottle discharging conveying speed according to the virtual axis speed of the bottle storage table;

respectively correcting the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed according to a predetermined correction coefficient, and eliminating the synchronous deviation of the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed;

controlling a bottle feeding conveying motor for driving a bottle feeding conveying mechanism in the bottle storage table, so that the bottle feeding conveying motor drives the bottle feeding conveying mechanism to convey filling bottles at the corrected bottle feeding conveying speed;

controlling a clamping and conveying motor for driving a roller in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey filling bottles at the corrected clamping and conveying speed;

controlling a clamping translation motor for driving the inlet clamping translation mechanism to do translation motion, so that the clamping translation motor drives the inlet clamping translation mechanism to do translation motion at the corrected clamping translation speed;

and controlling an outlet conveying motor for driving rollers in an outlet clamping translation mechanism in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey filling bottles at the corrected bottle outlet conveying speed.

According to a second aspect of embodiments of the present application, there is provided a bottle magazine changing apparatus comprising:

the first detection module is used for determining the current position of an inlet clamping and translating mechanism in the bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move;

the first calculation module is used for determining the speed of the stacking plate according to the relative position of the current position and the target conveying channel determined by the first detection module;

the second calculation module is used for determining the clamping translation speed according to the relative position of the current position and the target conveying channel determined by the first detection module and the speed of the stacking plate determined by the first calculation module;

the first control module is used for controlling a stacking plate motor which drives a bottle feeding stacking plate in the bottle storage table to move in a translation mode, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate determined by the first calculation module;

and the second control module is used for controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move towards the target conveying channel at the clamping translation speed determined by the second calculation module.

In a first possible implementation manner, with reference to the second aspect, the first calculating module is configured to use a direction in which the filling bottles on the bottle storage platform move towards the inlet clamping and translating mechanism as a reference direction, determine that the speed of the stacking plate is a preset first speed if the target conveying channel is located in front of the current position, and determine that the speed of the stacking plate is a preset second speed if the target conveying channel is located behind the current position, where a direction of the first speed is the same as the reference direction, and a direction of the second speed is opposite to the reference direction.

In a second possible implementation manner, with reference to the second aspect, the second calculating module is configured to use a direction in which the filling bottles on the bottle storage platform move toward the inlet clamping and translating mechanism as a reference direction, calculate a sum of a preset reference translation speed and the speed of the overlay plate to obtain the clamping and translating speed if the target conveying channel is located in front of the current position, and calculate a difference between the reference translation speed and the speed of the overlay plate to obtain the clamping and translating speed if the target conveying channel is located behind the current position, where both the reference translation speed and the speed of the overlay plate are positive values, and the reference translation speed is greater than the speed of the overlay plate.

In a third possible implementation manner, in combination with the second aspect, the bottle magazine changing device further includes:

the second detection module is used for determining the position of the bottle feeding and stacking plate after the inlet clamping and translation mechanism moves to the target conveying channel;

the third calculation module is used for determining the return speed of the stacking plate according to the distance between the position of the bottle feeding stacking plate determined by the second detection module and the default position of the bottle feeding stacking plate;

and the third control module is used for controlling the stacking plate motor to enable the stacking plate motor to drive the bottle feeding stacking plate to move to the default position at the stacking plate return speed determined by the third calculation module.

In a fourth possible implementation manner, with reference to the second aspect, the bottle magazine changing device further includes:

the acquisition module is used for determining the bottle feeding conveying speed of the bottle feeding conveying mechanism in the bottle storage table when conveying the filling bottles;

the fourth calculation module is used for inputting the bottle feeding conveying speed determined by the acquisition module into a slope function generator to obtain the clamping conveying speed of the inlet clamping translation mechanism;

the fourth control module is used for controlling a clamping and conveying motor for driving a roller in the inlet clamping and translation mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translation mechanism to convey filling bottles at the clamping and conveying speed determined by the fourth calculation module;

and the fifth control module is used for controlling and driving an outlet conveying motor for rotating the idler wheel in the outlet clamping translation mechanism included by the bottle storage table, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey the filling bottles at the clamping conveying speed determined by the fourth calculation module.

In a fifth possible implementation manner, with reference to the second aspect or any one of the possible implementation manners of the second aspect, the bottle magazine changing device further includes:

the fifth calculation module is used for determining the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed according to the virtual axis speed of the bottle storage table;

the correction module is used for respectively correcting the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed which are acquired by the fifth calculation module according to a predetermined correction coefficient, so as to eliminate the synchronous deviation of the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed;

a sixth control module configured to perform the following operations:

controlling a bottle feeding conveying motor for driving a bottle feeding conveying mechanism in the bottle storage table, so that the bottle feeding conveying motor drives the bottle feeding conveying mechanism to convey filling bottles at the bottle feeding conveying speed corrected by the correction module;

controlling a clamping and conveying motor for driving a roller in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey filling bottles at the clamping and conveying speed corrected by the correction module;

controlling a clamping translation motor for driving the inlet clamping translation mechanism to do translation motion, so that the clamping translation motor drives the inlet clamping translation mechanism to do translation motion at the clamping translation speed corrected by the correction module;

and controlling an outlet conveying motor for driving rollers in an outlet clamping translation mechanism in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey filling bottles at the bottle outlet conveying speed corrected by the correction module.

According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform the bottle station lane changing method of the first aspect or any of the possible implementations of the first aspect.

According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, cause the processor to perform the bottle station lane changing method of the first aspect or any of the possible implementations of the first aspect.

According to the technical scheme, in the channel changing process of the bottle storage table, the current position of the inlet clamping translation mechanism and the target conveying channel to which the inlet clamping translation mechanism needs to move are determined, the speed of the superposed plate is further determined according to the current position and the relative position of the target conveying channel, the clamping translation speed is determined according to the current position, the relative position of the target conveying channel and the speed of the superposed plate, the bottle feeding superposed plate moves at the speed of the superposed plate by controlling the superposed plate motor, and the clamping translation motor is controlled to enable the counting clamping translation mechanism to move to the target conveying channel at the clamping translation speed. Because the motion speed of the bottle feeding superposed plate can influence the motion speed of filling bottles on the bottle feeding conveying mechanism to the inlet clamping and translating mechanism, the bottle feeding conveying mechanism can uninterruptedly receive the conveyed filling bottles on the premise of ensuring that the filling bottles conveyed by the bottle feeding conveying mechanism and the filling bottles clamped by the inlet clamping and translating mechanism do not generate extrusion collision by controlling the motion speed of the bottle feeding superposed plate and the inlet clamping and translating mechanism in the channel changing process of the bottle storage platform, so that the filling bottles can be conveyed into the bottle storage platform in the channel changing process of the bottle storage platform, the influence on the production rhythm of a beverage packaging production line is reduced, and the production efficiency of the beverage packaging production line can be improved.

Drawings

FIG. 1 is a schematic view of a bottle storage station provided in an embodiment of the present application;

FIG. 2 is a flow chart of a lane changing method for a bottle magazine in accordance with an embodiment of the present disclosure;

fig. 3 is a schematic view of a lane changing device for a bottle storage platform according to the second embodiment of the present application;

FIG. 4 is a schematic view of another lane changing device for a bottle magazine provided in the second embodiment of the present application;

FIG. 5 is a schematic view of another bottle changing table device provided in the second embodiment of the present application;

FIG. 6 is a schematic view of another lane changing device for a bottle magazine provided in the second embodiment of the present application;

fig. 7 is a schematic view of an electronic device according to a third embodiment of the present application.

List of reference numerals:

201: determining the current position of the inlet clamping translation mechanism and the target conveying channel to be moved to

202: determining the speed of the superimposed plate according to the relative position of the current position and the target conveying channel

203: determining the clamping translation speed according to the relative position of the current position and the target conveying channel and the speed of the superposed plates

204: controlling the stacking plate motor to drive the bottle feeding stacking plate to move at the speed of the stacking plate

205: controlling the clamping translation motor to drive the inlet clamping translation mechanism to move towards the target conveying channel at the clamping translation speed

10: bottle storage table 200: the storage bottle table lane changing method 300: channel changing device for bottle storage table

11: bottle feeding and conveying mechanism 12: bottle feeding and stacking plate 13: inlet clamping translation mechanism

14: exit clamping translation mechanism 15: the bottle discharging and conveying mechanism 16: bottle discharging and stacking plate

17: conveyance path 301: the first detection module 302: first computing module

303: the second calculation module 304: the first control module 305: second control module

306: the second detection module 307: the third calculation module 308: third control module

309: the obtaining module 310: the fourth calculation module 311: fourth control module

312: the fifth control module 313: the fifth calculation module 314: correction module

315: the sixth control module 702: the processor 704: communication interface

706: the memory 708: communication bus 710: procedure for measuring the movement of a moving object

700: electronic device

Detailed Description

To make the purpose, technical solutions and advantages of the embodiments of the present application clearer and more clear, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the protection scope of the present application.

Fig. 1 is a schematic view of a bottle storage table 10 provided in an embodiment of the present application, and as shown in fig. 1, the bottle storage table 10 includes a bottle feeding conveying mechanism 11, a bottle feeding stacking plate 12, an inlet clamping translation mechanism 13, an outlet clamping translation mechanism 14, a bottle discharging conveying mechanism 15, a bottle discharging stacking plate 16, and a plurality of conveying channels 17. In fig. 1, the dashed lines with arrows represent the lines of conveyance of the filling bottles by the bottle magazine 10.

The transfer chain on the beverage packaging production line carries the filling bottle that the filling was accomplished or was empty to into bottle conveying mechanism 11 after, advances bottle conveying mechanism 11 and carries the filling bottle, makes the filling bottle reach entry centre gripping translation mechanism 13 after advancing bottle stack board 12, and entry centre gripping translation mechanism 13 carries conveying channel 17 with the filling bottle and stores. Conveying channel 17 carries the filling bottle of storing out mouthful centre gripping translation mechanism 14, and export centre gripping translation mechanism 14 carries the filling bottle to going out bottle conveying mechanism 15, goes out bottle conveying mechanism 15 and carries the filling bottle, makes the filling bottle export storage platform 10 behind going out bottle stack board 16.

The bottle storage station 10 comprises a plurality of conveying channels 17, and after the inlet clamping and translation mechanism 13 conveys the filling bottles into one conveying channel 17 until the conveying channel 17 stores full filling bottles, the inlet clamping and translation mechanism 13 translates to a position corresponding to another empty conveying channel 17 so as to convey the filling bottles from the bottle feeding conveying mechanism 11 to the empty conveying channel 17, so that the filling bottles can be stored into different conveying channels 17. After outlet clamping translation mechanism 14 carries out a bottle conveying mechanism 15 with whole filling bottles of storing in the transfer passage 17, outlet clamping translation mechanism 14 translates to the corresponding position of another transfer passage 17 that has the filling bottle of storing to carry out a bottle conveying mechanism 15 with the filling bottle of storing in this transfer passage 17, thereby can carry the filling bottle of storing in different transfer passages 17 to the storage bottle platform 10 outside.

The bottle feeding stacking plate 12 can slide on the bottle feeding conveying mechanism 11, when the bottle feeding stacking plate 12 slides to a position close to the inlet clamping and translation mechanism 13, a small number of filling bottles can be stored on the bottle feeding conveying mechanism 11, and when the bottle feeding stacking plate 12 slides to a position far from the inlet clamping and translation mechanism 13, a large number of filling bottles can be stored on the bottle feeding conveying mechanism 11.

The bottle discharging superposition plate 16 can slide on the bottle discharging conveying mechanism 15, when the bottle discharging superposition plate 16 slides to a position close to the outlet clamping translation mechanism 14, a small number of filling bottles can be stored on the bottle discharging conveying mechanism 15, and when the bottle discharging superposition plate 16 slides to a position far away from the outlet clamping translation mechanism 14, a large number of filling bottles can be stored on the bottle discharging conveying mechanism 15.

At present, when the storage bottle station 10 changes lanes, that is, the inlet clamping and translating mechanism 13 translates from a position corresponding to one conveying channel 17 to a position corresponding to another conveying channel 17, the inlet clamping and translating mechanism 13 clamps one or more filling bottles to translate, if the moving speed of the inlet clamping and translating mechanism 13 and the speed of the bottle feeding conveying mechanism 11 conveying the filling bottles are not equipped, the filling bottles clamped by the inlet clamping and translating mechanism 13 may collide with the filling bottles conveyed by the bottle feeding conveying mechanism 11 in a squeezing manner, so that the filling bottles are damaged. In order to avoid changing the way in-process filling bottle damaged because of the extrusion collision, it stops carrying the filling bottle to advance bottle conveying mechanism 11 before entry centre gripping translation mechanism 13 translation, entry centre gripping translation mechanism 13 accomplishes and advances bottle conveying mechanism 11 after the translation and resume carrying the filling bottle, the filling bottle that has avoided entry centre gripping translation mechanism 13 to centre gripping takes place the extrusion collision with the filling bottle that advances bottle conveying mechanism 11 and carry, but the in-process that changes the way at storage bottle platform 10 can't be to advancing bottle conveying mechanism 11 and carrying the filling bottle, thereby can influence the production beat of beverage packaging production line, lead to the production efficiency of beverage packaging production line lower.

In the embodiment of the application, in the channel changing process of the bottle storage table, the current position of the inlet clamping translation mechanism and the target conveying channel to which the inlet clamping translation mechanism needs to move are determined, then the speed of the stacking plate and the clamping translation speed are determined according to the relative position of the determined current position and the target conveying channel, then the bottle feeding stacking plate in the bottle storage table is controlled to move at the speed of the stacking plate, and the inlet clamping translation mechanism is controlled to move at the clamping translation speed. Through the control trade the in-process and advance the motion speed of bottle stack board and entry centre gripping translation mechanism, under the prerequisite of guaranteeing that the filling bottle does not take place the extrusion collision, can make into bottle conveyor and continuously carry the filling bottle to trade the in-process still can be to storage bottle bench interior transport filling bottle, reduced the influence to the production beat of beverage packaging production line, thereby can improve beverage packaging production line's production efficiency.

In the method and apparatus for changing the lane of the bottle storage table provided in each of the embodiments described below, the bottle feeding and conveying mechanism may be the bottle feeding and conveying mechanism 11, the bottle feeding and stacking plate may be the bottle feeding and stacking plate 12, the inlet clamping and translating mechanism may be the inlet clamping and translating mechanism 13, the outlet clamping and translating mechanism may be the outlet clamping and translating mechanism 14, the bottle discharging and conveying mechanism may be the bottle discharging and conveying mechanism 15, the bottle discharging and stacking plate may be the bottle discharging and stacking plate 16, and the conveying channel may be the conveying channel 17.

The following describes in detail a method, an apparatus, and an electronic device for changing lanes of a bottle magazine according to embodiments of the present application with reference to the accompanying drawings.

Example one

Fig. 2 is a flowchart of a bottle magazine lane changing method 200 according to an embodiment of the present application, and as shown in fig. 2, the bottle magazine lane changing method 200 includes the following steps:

step 201, determining the current position of the inlet clamping and translating mechanism in the bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move.

When the bottle storage table is changed, the inlet clamping and translating mechanism translates relative to each conveying channel so as to translate from one conveying channel to another conveying channel, and therefore filling bottles are conveyed to different conveying channels. In the channel changing process of the bottle storage table, the position held by the inlet clamping and translating mechanism is continuously detected, and then the current position of the inlet clamping and translating mechanism at the current time is determined.

The inlet clamping and translating mechanism is used for conveying the filling bottles from the bottle feeding conveying mechanism to the conveying channels, and because the number of the filling bottles which can be stored in each conveying channel is limited, after the full filling bottles are stored in one conveying channel, the inlet clamping and translating mechanism needs to translate to another empty conveying channel so as to convey the filling bottles to the empty conveying channel. Before the bottle storage table is changed, empty conveying channels are determined from the conveying channels, and one conveying channel is selected from the empty conveying channels to serve as a target conveying channel, namely the inlet clamping translation mechanism is determined to move to the target conveying channel.

When determining the target transport lane from the empty transport lanes, according to the lane numbers of the transport lanes, the next transport lane of the transport lane where the entrance clamping and translation mechanism is currently located may be determined as the target transport lane according to the ascending or descending order of the lane numbers, or, according to the principle of proximity, an empty transport lane closest to the transport lane where the entrance clamping and translation mechanism is currently located may be determined as the target transport lane.

Step 202, determining the speed of the stacking plate according to the relative position of the current position and the target conveying channel.

The stacking plate speed refers to the speed of the bottle feeding stacking plate sliding on the bottle feeding conveying mechanism. In-process that entry centre gripping translation mechanism removed to target transfer passage, entry centre gripping translation mechanism can't carry transfer passage with the filling bottle, in order to avoid the filling bottle of entry centre gripping translation mechanism centre gripping to take place the extrusion collision with the filling bottle that advances on the bottle conveying mechanism, it need slide on advancing bottle conveying mechanism to advance the bottle stack board, the quantity that the filling bottle can be stored to bottle conveying mechanism is advanced in the adjustment, thereby can be on the basis of not stopping to advancing bottle conveying mechanism and carrying the filling bottle, avoid the filling bottle to take place the extrusion collision.

In the process that the inlet clamping translation mechanism moves towards the target conveying channel, along with the change of the relative position between the current position of the inlet clamping translation mechanism and the target conveying channel, the movement speed of the inlet clamping translation mechanism can be correspondingly changed, for example, the inlet clamping translation mechanism moves at a higher speed when the current position is far away from the target conveying channel, and moves at a lower speed when the current position is close to the target conveying channel, so that the movement speed of the bottle feeding stacking plate is matched with the inlet clamping translation mechanism, and the speed of the stacking plate can be determined according to the relative position between the current position and the target conveying channel.

And step 203, determining the clamping translation speed according to the relative position of the current position and the target conveying channel and the speed of the superposed plates.

The grip translation speed refers to the speed of the entrance grip translation mechanism as it moves toward the target delivery lane. Because the inlet clamping and translating mechanism conveys filling bottles to the empty conveying channels in sequence according to the occupation states of the conveying channels, and the empty conveying channels may be positioned in front of or behind the current position, the inlet clamping and translating mechanism may move forwards or backwards, and the inlet clamping and translating mechanism and the bottle feeding superposed plate may move in the same direction or in the same direction. In order to avoid the extrusion collision between the filling bottles clamped by the inlet clamping and translation mechanism and the filling bottles on the bottle feeding and conveying mechanism, the inlet clamping and translation mechanism has different movement speeds when moving forwards and backwards or moving backwards, so that the clamping and translation speeds are determined according to the relative positions of the current position and the target conveying channel.

Because the inlet clamping translation mechanism and the inlet bottle superposition plate move in opposite directions or in the same direction, the relative speed of the inlet bottle superposition plate and the inlet clamping translation mechanism can influence the relative distance between the filling bottles clamped by the inlet clamping translation mechanism and the filling bottles clamped by the inlet clamping translation mechanism on the bottle feeding conveying mechanism, and therefore, in order to avoid the extrusion collision between the filling bottles clamped by the inlet clamping translation mechanism and the filling bottles on the inlet bottle conveying mechanism, the clamping translation speed needs to be determined according to the superposition plate speed.

Therefore, the clamping translation speed needs to be determined according to the relative position of the current position and the target conveying channel and the speed of the superposed plates.

And 204, controlling a stacking plate motor for driving the bottle feeding stacking plate in the bottle storage table to move in a translation mode, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate.

The bottle feeding superposed plate comprises a superposed plate motor which is used for driving the bottle feeding superposed plate to move in a translation way on the bottle feeding conveying mechanism. After the speed of the stacking plate is obtained, the motor of the stacking plate is controlled to rotate based on the speed of the stacking plate, so that the motor of the stacking plate drives the bottle feeding stacking plate to move horizontally at the speed of the stacking plate.

The speed of the stacking plate is used for indicating the linear speed of the horizontal movement of the bottle feeding stacking plate, the speed of the stacking plate can be converted into the rotating speed of a stacking plate motor, and then the stacking plate motor is controlled to rotate according to the rotating speed of the stacking plate motor, so that the bottle feeding stacking plate moves at the speed of the stacking plate.

And 205, controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move towards the target conveying channel at a clamping translation speed.

The inlet clamping translation mechanism comprises a clamping translation motor, and the clamping translation motor is used for driving the inlet clamping translation mechanism to move in a translation mode. And after the clamping translation speed is obtained, controlling a clamping translation motor based on the clamping translation speed, so that the clamping translation motor drives the inlet clamping translation mechanism to move to the target conveying channel at the clamping translation speed.

The clamping translation speed is used for indicating the linear speed of the translation motion of the inlet clamping translation mechanism, the clamping translation speed can be converted into the rotating speed of the clamping translation motor, and then the rotation of the clamping translation motor is controlled according to the rotating speed of the clamping translation motor, so that the inlet clamping translation mechanism moves to the target conveying channel at the clamping translation speed.

According to the scheme provided by the embodiment of the application, in the channel changing process of the bottle storage table, the current position where the inlet clamping translation mechanism is located and the target conveying channel to which the inlet clamping translation mechanism needs to move are determined, the speed of the superposed plate is further determined according to the current position and the relative position of the target conveying channel, the clamping translation speed is determined according to the current position, the relative position of the target conveying channel and the speed of the superposed plate, the bottle feeding superposed plate moves at the speed of the superposed plate by controlling the superposed plate motor, and the clamping translation motor is controlled to enable the counting clamping translation mechanism to move to the target conveying channel at the clamping translation speed. Because the motion speed of the bottle feeding superposed plate can influence the motion speed of filling bottles on the bottle feeding conveying mechanism to the inlet clamping and translating mechanism, the bottle feeding conveying mechanism can uninterruptedly receive the conveyed filling bottles on the premise of ensuring that the filling bottles conveyed by the bottle feeding conveying mechanism and the filling bottles clamped by the inlet clamping and translating mechanism do not generate extrusion collision by controlling the motion speed of the bottle feeding superposed plate and the inlet clamping and translating mechanism in the channel changing process of the bottle storage platform, so that the filling bottles can be conveyed into the bottle storage platform in the channel changing process of the bottle storage platform, the influence on the production rhythm of a beverage packaging production line is reduced, and the production efficiency of the beverage packaging production line can be improved.

In one possible implementation manner, when determining the speed of the stacking plate according to the current position and the relative position of the target conveying channel, the direction in which the filling bottles on the bottle storage table move towards the inlet clamping and translating mechanism is taken as a reference direction, if the target conveying channel is located in front of the current position, the speed of the stacking plate is determined to be a preset first speed, and if the target conveying channel is located behind the current position, the speed of the stacking plate is determined to be a preset second speed, wherein the direction of the first speed is the same as the reference direction, and the direction of the second speed is opposite to the reference direction.

In the present embodiment, the reference direction refers to the direction of movement of the filling bottles fed into the bottle stacking plate towards the inlet gripping translation mechanism. Referring to the reference direction, if the target transport way is located in front of the current position, the inlet clamping translation mechanism needs to move forward, and the speed of the stacking plate is determined to be the first speed with the same direction as the reference direction, namely, the inlet clamping translation mechanism and the bottle feeding stacking plate both move forward. Referring to the reference direction, if the target conveying channel is located behind the current position, the inlet clamping and translating mechanism needs to move in the backward direction, the speed of the stacking plate is determined to be a second speed with the direction opposite to the reference direction, namely, the inlet clamping and translating mechanism and the bottle feeding stacking plate move backward, and extrusion collision between filling bottles on the bottle feeding conveying mechanism and filling bottles clamped by the inlet clamping and translating mechanism is avoided.

The filling bottle passing through the bottle feeding superposed plate moves towards the inlet clamping and translating mechanism in the reference direction, if the target conveying channel is positioned in front of the current position, the speed of the superposed plate is determined to be the first speed with the direction the same as the reference direction, so that the bottle feeding superposed plate and the inlet clamping and translating mechanism both move forwards, the gap between the bottle feeding superposed plate and the inlet clamping and translating mechanism, which is not occupied by the filling bottles, is reduced, the filling bottles can be conveyed into the target conveying channel in time after the channel change is finished, the production efficiency of the beverage packaging production line is further improved, if the target conveying channel is positioned behind the current position, the speed of the superposed plate is determined to be the second speed with the direction opposite to the reference direction, so that the bottle feeding superposed plate and the inlet clamping and translating mechanism both move backwards, and a section of gap, which is not occupied by the filling bottles, can be formed between the bottle feeding superposed plate and the inlet clamping and translating mechanism, thereby entry centre gripping translation mechanism can pass through this section space to the motion of target transfer passage, and can not make the filling bottle that advances on the bottle conveying mechanism and the filling bottle that entry centre gripping translation mechanism was held take place the extrusion collision, has realized that no pressure send the bottle, improves beverage packaging production line's yields.

It should be noted that, although the first speed and the second speed are opposite in direction, the first speed and the second speed may be the same or different in magnitude. In addition, the first speed and the second speed may be dynamically variable at different times during the lane changing of the bottle bank, such as the first speed and the second speed being smaller during a start movement phase and an end movement phase of the inlet clamp translation mechanism and being greater between the start movement phase and the end movement phase.

It should be further noted that, in the channel changing process of the bottle storage table, the filling bottles on the bottle feeding conveying mechanism and the filling bottles clamped by the inlet clamping and translating mechanism can be kept relatively static by controlling the first speed and the second speed, that is, the filling bottles in the bottle feeding conveying mechanism and the inlet clamping and translating mechanism can be relatively static by superposing the movements of the bottle feeding superposed plate, the bottle feeding conveying mechanism and the inlet clamping and translating mechanism, and the inlet clamping and translating mechanism can immediately and continuously convey the filling bottles to the target conveying channel after the channel changing of the bottle storage table is completed, so that the speed of conveying the filling bottles to the bottle storage table cannot be reduced in the channel changing process of the bottle storage table, and the production efficiency of the beverage packaging production line can be further improved.

In a possible implementation manner, when the clamping translation speed is determined according to the relative position of the current position and the target conveying channel and the speed of the superimposed plate, the direction of the movement of the filling bottles on the bottle storage table to the inlet clamping translation mechanism is used as a reference reverse direction, if the target conveying channel is positioned in front of the current position, the sum of the preset reference translation speed and the speed of the superimposed plate is calculated as the clamping translation speed, and if the target conveying channel is positioned behind the current position, the difference between the reference translation speed and the speed of the superimposed plate is calculated as the clamping translation speed, wherein the reference translation speed and the speed of the superimposed plate are positive values, and the reference translation speed is greater than the speed of the superimposed plate.

In the present embodiment, the reference direction refers to the direction of movement of the filling bottles fed into the bottle stacking plate towards the inlet gripping translation mechanism. Referring to the reference direction, if the target transport lane is located in front of the current position, the sum of the reference translation speed and the speed of the overlay plate is calculated as the clamping translation speed, i.e., the clamping translation speed is greater than the speed of the overlay plate. With reference to the reference direction, if the target transport lane is located behind the current position, the difference between the reference translation speed and the velocity of the superimposed sheet is calculated as the clamping translation speed, i.e., the clamping translation speed is smaller than the reference translation speed.

The filling bottle conveying mechanism comprises a bottle feeding stacking plate, an inlet clamping translation mechanism, a target conveying channel, a reference direction and an inlet clamping translation mechanism, wherein the direction of the movement of the filling bottle to the inlet clamping translation mechanism through the bottle feeding stacking plate is used as the reference direction, if the target conveying channel is located in front of the current position, the sum of the reference translation speed and the speed of the stacking plate is calculated to serve as the clamping translation speed, the inlet clamping translation mechanism moves forwards at a higher speed, the speed of the filling bottle on the bottle feeding conveying mechanism is smaller than the speed of the inlet clamping translation mechanism, the filling bottle on the bottle feeding conveying mechanism is guaranteed not to be extruded and collided with the filling bottle clamped by the inlet clamping translation mechanism, and the channel changing stability of a bottle storage table is further guaranteed. If target transfer passage is located the rear of current position, then calculate the difference between benchmark translation speed and the stack board speed and regard as centre gripping translation speed, make entry centre gripping translation mechanism with less speed backward movement, make the filling bottle that advances on the bottle conveying mechanism can not contact with entry centre gripping translation structure, thereby avoid entry centre gripping translation mechanism centre gripping filling bottle and the filling bottle that advances on the bottle conveying mechanism to take place the extrusion collision, realize the bottle that send of no pressure, and improve the stationarity when trading the way, need not to reduce the speed of trading, improve the production efficiency of beverage packaging production line.

It should be noted that the bottle feeding conveying speed when the bottle feeding conveying mechanism conveys the filling bottles may be equal to the sum of the reference translation speed and the speed of the stacking plate. When target conveying passageway is located the place ahead of current position, centre gripping translation speed equals the sum of benchmark translation speed and superimposed sheet speed, centre gripping translation speed equals with advancing bottle conveying speed promptly, the filling bottle that advances on the bottle conveying mechanism moves with entry centre gripping translation mechanism with the equidirectional motion of same speed, the filling bottle that has avoided advancing on the bottle conveying mechanism takes place the extrusion collision with the filling bottle that entry centre gripping translation mechanism held, and can make into not having the space that is not occupied by the filling bottle between bottle superimposed sheet and the entry centre gripping translation mechanism, thereby can in time carry the filling bottle in the target conveying passageway after the lane change finishes, further improve the production efficiency of beverage packaging production line.

In a possible implementation manner, after the inlet clamping translation mechanism moves to the target conveying channel, the position of the bottle feeding superposed plate is determined, the return speed of the superposed plate is determined according to the distance between the position of the bottle feeding superposed plate and the default position of the bottle feeding superposed plate, and the superposed plate motor is controlled to drive the bottle feeding superposed plate to move to the default position at the superposed plate return speed.

In the embodiment of the application, in order to avoid extrusion collision between filling bottles in the channel changing process of the bottle storage table, the bottle feeding superposed plate slides on the bottle feeding conveying mechanism, after the channel changing process of the bottle storage table is completed, the return speed of the superposed plate is determined according to the distance between the position of the bottle feeding superposed plate and the default position of the bottle feeding superposed plate, the bottle feeding superposed plate is controlled to move to the default position at the superposed plate return speed, and on the basis that the inlet clamping translation mechanism can normally convey the filling bottles to the conveying channel, the bottle feeding superposed plate is returned to the default position, so that more filling bottles can be stored on the bottle feeding conveying mechanism, the beverage packaging production line can timely store the filling bottles on the bottle storage table, and the production stability of the beverage packaging production line is ensured.

The default position is a position of the vial feeding stacking plate on the vial feeding conveying mechanism, which is determined by manual calibration. The default position is a position far away from each conveying channel on the bottle feeding conveying mechanism, and after the channel of the bottle storage table is changed, the bottle feeding stacking plate returns to the default position at a high speed, so that the available bottle storage space on the bottle feeding conveying mechanism is increased, and more filling bottles can be stored on the bottle feeding conveying mechanism.

In a possible implementation manner, on the basis of the method for changing the track of the bottle storage table shown in fig. 2, the bottle feeding conveying speed of the bottle feeding conveying mechanism in the bottle storage table for conveying filled bottles is determined, the bottle feeding conveying speed is input into a Ramp Function Generator (RFG) to obtain the clamping conveying speed of the inlet clamping translation mechanism, then a clamping conveying motor for driving rollers in the inlet clamping translation mechanism to rotate is controlled, so that the clamping conveying motor drives the inlet clamping translation mechanism to convey filled bottles at the clamping conveying speed, and an outlet conveying motor for driving rollers in the outlet clamping translation mechanism included in the bottle storage table to rotate is controlled, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey filled bottles at the clamping conveying speed.

In the embodiment of the application, after the bottle feeding conveying speed is determined, the bottle feeding conveying speed is input into a slope function generator to obtain the clamping conveying speed of the inlet clamping translation mechanism, then the inlet clamping translation mechanism is controlled to convey the filling bottles into the conveying channel at a clamping conveying speed, and the outlet clamping translation mechanism is controlled to convey the filling bottles in the conveying channels to the bottle discharging conveying mechanism at a clamping conveying speed so as to convey the filling bottles into each conveying channel at the speed, the speed of the conveying mechanism is equal to the speed of conveying the filling bottles stored in the conveying channels to the bottle discharging conveying mechanism, so that the bottle feeding and discharging of the bottle storage platform are kept synchronous, can accurately stop when parking, can guarantee moreover that each transfer passage can not be by all full storage filling bottle, guarantee that beverage packaging production line can store the filling bottle to the storage bottle platform at any time to improve beverage packaging production line's production stability.

In this application embodiment, the speed input slope function generator that gets into the storage bottle platform with the filling bottle, calculate the centre gripping of entry centre gripping translation mechanism through slope function generator and carry the deceleration curve, and then carry the deceleration curve according to the centre gripping and confirm the centre gripping conveying speed that corresponds at the present moment, thereby when based on centre gripping conveying speed control centre gripping conveying motor and export conveying motor, can make the start-up and the stop of centre gripping conveying motor and export conveying motor more steady, avoid the converter to report and overflow, faults such as excessive pressure, guarantee that entry centre gripping translation mechanism and export centre gripping translation mechanism can be reliable, steady operation.

In a possible implementation manner, on the basis of the lane change of the bottle storage table shown in fig. 2, in the operation process of the bottle storage table, the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed can be determined according to the virtual axis speed of the bottle storage table, and then the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed are respectively corrected according to a predetermined correction coefficient to eliminate the synchronous deviation of the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed, so that the movement of the bottle storage table is controlled according to the corrected bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed. According to the bottle conveying speed, centre gripping translation speed and the play bottle conveying speed control storage bottle platform motion after the correction, specifically do:

controlling a bottle feeding conveying motor for driving a bottle feeding conveying mechanism in the bottle storage table, so that the bottle feeding conveying motor drives the bottle feeding conveying mechanism to convey the filling bottles at the corrected bottle feeding conveying speed;

controlling a clamping and conveying motor for driving rollers in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey the filling bottles at the corrected clamping and conveying speed;

and controlling an outlet conveying motor for driving rollers in the outlet clamping and translation mechanism in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping and translation mechanism to convey the filling bottles at the corrected bottle outlet conveying speed.

In this application embodiment, because mechanical reason can lead to into bottle conveying mechanism, entry centre gripping translation mechanism and export centre gripping translation mechanism and have synchronous deviation, confirm according to the virtual axis speed and advance bottle conveying speed, centre gripping translation speed and go out bottle conveying speed after, according to the correction coefficient that the user set for advance bottle conveying speed, centre gripping translation speed and go out bottle conveying speed and revise respectively, can eliminate advance bottle conveying speed centre gripping translation speed with go out the synchronous deviation of bottle conveying speed, guarantee that the linear velocity that advances bottle conveying mechanism, entry centre gripping translation mechanism and export centre gripping translation mechanism and carry the filling bottle is the same to avoid leading to the filling bottle to take place the extrusion collision because synchronous deviation, improved the yields of beverage packaging production line.

It should be noted that the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed have respective corresponding correction coefficients, and the correction coefficients corresponding to the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed may be the same or different. The correction system can be set by the user through a fine tuning Interface (HMI) open on the Human Machine Interface (HMI).

Example two

Fig. 3 is a schematic view of a bottle magazine changing device 300 according to a second embodiment of the present application, and as shown in fig. 3, the bottle magazine changing device 300 includes:

the first detection module 301 is configured to determine a current position of an inlet clamping and translating mechanism in the bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move;

the first calculating module 302 is configured to determine the speed of the stacking plate according to the relative position between the current position determined by the first detecting module 301 and the target conveying channel;

the second calculation module 303 is configured to determine a clamping translation speed according to the relative position between the current position determined by the first detection module 301 and the target conveying channel and the speed of the stacking plate determined by the first calculation module 302;

the first control module 304 is used for controlling a stacking plate motor which drives a bottle feeding stacking plate in the bottle storage table to move in a translation manner, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate determined by the first calculation module 302;

a second control module 305, configured to control the clamping translation motor for driving the entrance clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the entrance clamping translation mechanism to move towards the target conveying channel at the clamping translation speed determined by the second calculation module 303.

In this embodiment, the first detecting module 301 may be configured to perform the step 201 in the first embodiment, the first calculating module 302 may be configured to perform the step 202 in the first embodiment, the second calculating module 303 may be configured to perform the step 203 in the first embodiment, the first controlling module 304 may be configured to perform the step 204 in the first embodiment, and the second controlling module 305 may be configured to perform the step 205 in the first embodiment.

In one possible implementation manner, on the basis of the bottle-storage-table lane-changing device 300 shown in fig. 3, the first calculating module 302 is configured to use a direction of movement of the filling bottles on the bottle-storage table toward the inlet-clamping translation mechanism as a reference direction, determine the speed of the stacking plate as a preset first speed if the target conveying channel is located in front of the current position, and determine the speed of the stacking plate as a preset second speed if the target conveying channel is located behind the current position, where the first speed is in the same direction as the reference direction, and the second speed is in the opposite direction to the reference direction.

In a possible implementation manner, the second calculating module 303 is configured to use a direction in which the filling bottles on the bottle storage table move toward the inlet clamping and translating mechanism as a reference direction, calculate a sum of a preset reference translation speed and a speed of the stacking plate to obtain a clamping translation speed if the target conveying channel is located in front of the current position, and calculate a difference between the reference translation speed and the speed of the stacking plate to obtain a clamping translation speed if the target conveying channel is located behind the current position, where the reference translation speed and the speed of the stacking plate are positive values, and the reference translation speed is greater than the speed of the stacking plate.

Fig. 4 is a schematic view of another bottle magazine changing device 300 according to the second embodiment of the present application, and as shown in fig. 4, the bottle magazine changing device 300 further includes, in addition to the bottle magazine changing device 300 shown in fig. 3:

the second detection module 306 is used for determining the position of the bottle feeding stacking plate after the inlet clamping translation mechanism moves to the target conveying channel;

the third calculating module 307 is configured to determine a return speed of the stacking plate according to the distance between the position of the bottle feeding stacking plate determined by the second detecting module 306 and the default position of the bottle feeding stacking plate;

and a third control module 308, configured to control the stacking plate motor, so that the stacking plate motor drives the bottle feeding stacking plate to move to the default position at the stacking plate return speed determined by the third calculation module 307.

Fig. 5 is a schematic view of another bottle magazine changing device 300 according to the second embodiment of the present application, and as shown in fig. 5, the bottle magazine changing device 300 further includes, in addition to the bottle magazine changing device 300 shown in fig. 3:

an acquisition module 309 for determining the speed at which filling bottles enter the bottle storage station;

a fourth calculating module 310, configured to input the speed, determined by the obtaining module 309, at which the filling bottle enters the bottle storage table, into a slope function generator, so as to obtain a clamping conveying speed of the inlet clamping translation mechanism;

a fourth control module 311, configured to control the clamping and conveying motor that drives the roller in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey the filled bottles at the clamping and conveying speed determined by the fourth calculating module 310;

a fifth control module 312, configured to control an exit conveying motor that drives rollers in an exit clamping and translating mechanism included in the bottle storage table, so that the exit conveying motor drives the exit clamping and translating mechanism to convey the filling bottles at the clamping and conveying speed determined by the fourth calculating module 310.

Fig. 6 is a schematic view of another bottle magazine changing device 300 according to the second embodiment of the present application, and as shown in fig. 6, the bottle magazine changing device 300 further includes, in addition to the bottle magazine changing device 300 shown in fig. 3:

the fifth calculation module 313 is used for determining the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed according to the virtual axis speed of the bottle storage table;

the correction module 314 is configured to correct the bottle feeding conveying speed, the clamping translation speed, and the bottle discharging conveying speed obtained by the fifth calculation module 313 according to a predetermined correction coefficient, so as to eliminate a synchronization deviation between the bottle feeding conveying speed, the clamping translation speed, and the bottle discharging conveying speed;

a sixth control module 315 configured to:

controlling a bottle feeding conveying motor for driving a bottle feeding conveying mechanism in the bottle storage table, so that the bottle feeding conveying motor drives the bottle feeding conveying mechanism to convey filling bottles at the bottle feeding conveying speed corrected by the correction module 314;

controlling a clamping and conveying motor for driving rollers in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey the filling bottles at the clamping and conveying speed corrected by the correction module 314;

controlling a clamping translation motor for driving the inlet clamping translation mechanism to perform translation motion, so that the clamping translation motor drives the inlet clamping translation mechanism to perform translation motion at the clamping translation speed corrected by the correction module 314;

and controlling an outlet conveying motor for driving rollers in the outlet clamping and translation mechanism in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping and translation mechanism to convey the filling bottles at the bottle outlet conveying speed corrected by the correction module 314.

It should be noted that, since the contents of information interaction, execution process, and the like between the modules in the bottle magazine lane changing device 300 are based on the same concept as the method embodiments, specific contents may refer to the description in the method embodiments, and are not described herein again.

EXAMPLE III

Fig. 7 is a schematic view of an electronic device provided in a third embodiment of the present application, and the specific embodiment of the present application does not limit specific implementations of the electronic device. Referring to fig. 7, an electronic device 700 provided in an embodiment of the present application includes: a processor (processor)702, a Communications Interface 704, a memory 706, and a communication bus 708. Wherein:

the processor 702, communication interface 704, and memory 706 communicate with each other via a communication bus 708.

A communication interface 704 for communicating with other electronic devices or servers.

The processor 702 is configured to execute the program 710, which may specifically execute the relevant steps in the above-mentioned bottle changing method embodiment.

In particular, the program 710 may include program code that includes computer operating instructions.

The processor 702 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

The memory 706 stores a program 710. The memory 706 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 710 may be specifically configured to cause the processor 702 to perform the bottle station changing method of any of the embodiments described above.

For specific implementation of each step in the procedure 710, reference may be made to corresponding steps and corresponding descriptions in units in the above-mentioned bottle-changing-table method embodiment, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.

Through the electronic equipment of the embodiment, in the channel changing process of the bottle storage table, the current position of the inlet clamping translation mechanism and the target conveying channel to which the inlet clamping translation mechanism needs to move are determined, the speed of the superposed plate is further determined according to the current position and the relative position of the target conveying channel, the clamping translation speed is determined according to the current position, the relative position of the target conveying channel and the speed of the superposed plate, the bottle feeding superposed plate moves at the speed of the superposed plate by controlling the superposed plate motor, and the clamping translation motor is controlled to enable the counter clamping translation mechanism to move to the target conveying channel at the clamping translation speed. Because the motion speed of the bottle feeding superposed plate can influence the motion speed of filling bottles on the bottle feeding conveying mechanism to the inlet clamping and translating mechanism, the bottle feeding conveying mechanism can uninterruptedly receive the conveyed filling bottles on the premise of ensuring that the filling bottles conveyed by the bottle feeding conveying mechanism and the filling bottles clamped by the inlet clamping and translating mechanism do not generate extrusion collision by controlling the motion speed of the bottle feeding superposed plate and the inlet clamping and translating mechanism in the channel changing process of the bottle storage platform, so that the filling bottles can be conveyed into the bottle storage platform in the channel changing process of the bottle storage platform, the influence on the production rhythm of a beverage packaging production line is reduced, and the production efficiency of the beverage packaging production line can be improved.

The present application also provides a computer readable medium storing instructions for causing a computer to perform a method of changing lanes of a bottle bank as described herein. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.

In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present application.

Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.

Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.

Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.

It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may 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 a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.

In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.

While the present application has been illustrated and described in detail in the drawings and in the description of preferred embodiments, the present application is not limited to the embodiments disclosed, and it will be apparent to those skilled in the art that many more embodiments of the present application can be obtained by combining the code auditing means in the different embodiments described above, and such embodiments are also within the scope of the present application.

Claims

1. A method (200) of changing lanes of a bottle magazine, comprising:

2. The method of claim 1, wherein said determining a speed of the overlay plate based on the relative position of the current location and the target transport path comprises:

3. The method of claim 1, wherein determining a clamping translation speed as a function of the relative position of the current position and the target transport lane and the overlay velocity comprises:

4. The method of claim 1, further comprising:

5. The method of claim 1, further comprising:

6. The method according to any one of claims 1 to 5, further comprising:

7. A bottle magazine lane-changing apparatus (300), comprising:

the first detection module (301) is used for determining the current position of an inlet clamping and translating mechanism in the bottle storage table and a target conveying channel to which the inlet clamping and translating mechanism needs to move;

the first calculation module (302) is used for determining the speed of the stacking plate according to the relative position of the current position and the target conveying channel determined by the first detection module (301);

the second calculation module (303) is used for determining the clamping translation speed according to the relative position of the current position and the target conveying channel determined by the first detection module (301) and the speed of the superposed plate determined by the first calculation module (302);

the first control module (304) is used for controlling a stacking plate motor which drives a bottle feeding stacking plate in the bottle storage table to move in a translation mode, so that the stacking plate motor drives the bottle feeding stacking plate to move at the speed of the stacking plate determined by the first calculation module (302);

and the second control module (305) is used for controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move towards the target conveying channel at the clamping translation speed determined by the second calculation module (303).

8. The apparatus of claim 7,

the first calculation module (302) is configured to use a direction of movement of the filling bottles on the bottle storage table to the inlet clamping and translating mechanism as a reference direction, determine that the speed of the stacking plate is a preset first speed if the target conveying channel is located in front of the current position, and determine that the speed of the stacking plate is a preset second speed if the target conveying channel is located behind the current position, where the direction of the first speed is the same as the reference direction, and the direction of the second speed is opposite to the reference direction.

9. The apparatus of claim 7,

the second calculation module (303) is configured to use a direction in which the filling bottles on the bottle storage table move towards the inlet clamping translation mechanism as a reference direction, calculate a sum of a preset reference translation speed and the speed of the stacking plate to obtain the clamping translation speed if the target conveying channel is located in front of the current position, and calculate a difference between the reference translation speed and the speed of the stacking plate to obtain the clamping translation speed if the target conveying channel is located behind the current position, where the reference translation speed and the speed of the stacking plate are positive values, and the reference translation speed is greater than the speed of the stacking plate.

10. The apparatus of claim 7, further comprising:

the second detection module (306) is used for determining the position of the bottle feeding and stacking plate after the inlet clamping and translation mechanism moves to the target conveying channel;

a third calculating module (307) for determining the return speed of the stacking plate according to the distance between the position of the bottle feeding stacking plate determined by the second detecting module (306) and the default position of the bottle feeding stacking plate;

and the third control module (308) is used for controlling the stacking plate motor to enable the stacking plate motor to drive the bottle feeding stacking plate to move to the default position at the stacking plate return speed determined by the third calculation module (307).

11. The apparatus of claim 7, further comprising:

an acquisition module (309) for determining a bottle feeding conveying speed of a bottle feeding conveying mechanism in the bottle storage table when conveying filling bottles;

the fourth calculation module (310) is used for inputting the bottle feeding conveying speed determined by the acquisition module (309) into a slope function generator to obtain the clamping conveying speed of the inlet clamping translation mechanism;

a fourth control module (311) for controlling a clamping and conveying motor for driving the rollers in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey the filling bottles at the clamping and conveying speed determined by the fourth calculation module (310);

and the fifth control module (312) is used for controlling an outlet conveying motor which drives rollers in an outlet clamping translation mechanism included in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey filling bottles at the clamping conveying speed determined by the fourth calculation module (310).

12. The apparatus of any of claims 7 to 11, further comprising:

the fifth calculation module (313) is used for determining the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed according to the virtual axis speed of the bottle storage table;

a correction module (314) for correcting the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed obtained by the fifth calculation module (313) respectively according to a predetermined correction coefficient, and eliminating a synchronous deviation of the bottle feeding conveying speed, the clamping translation speed and the bottle discharging conveying speed;

a sixth control module (315) configured to:

controlling a bottle feeding conveying motor for driving a bottle feeding conveying mechanism in the bottle storage table, so that the bottle feeding conveying motor drives the bottle feeding conveying mechanism to convey filling bottles at the bottle feeding conveying speed corrected by the correcting module (314);

controlling a clamping and conveying motor for driving rollers in the inlet clamping and translating mechanism to rotate, so that the clamping and conveying motor drives the inlet clamping and translating mechanism to convey filling bottles at the clamping and conveying speed corrected by the correcting module (314);

controlling a clamping translation motor for driving the inlet clamping translation mechanism to move in a translation manner, so that the clamping translation motor drives the inlet clamping translation mechanism to move in a translation manner at the clamping translation speed corrected by the correction module (314);

and controlling an outlet conveying motor for driving rollers in an outlet clamping translation mechanism in the bottle storage table to rotate, so that the outlet conveying motor drives the outlet clamping translation mechanism to convey filling bottles at the bottle outlet conveying speed corrected by the correction module (314).

13. An electronic device (700), comprising: a processor (702), a communication interface (704), a memory (706), and a communication bus (708), wherein the processor (702), the memory (706), and the communication interface (704) communicate with each other via the communication bus (708);

the memory (706) is configured to store at least one executable instruction that causes the processor (702) to perform the bottle station lane changing method according to any of claims 1-6.

14. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the bottle station lane changing method of any of claims 1-6.