CN115258273A

CN115258273A - Packaging equipment, control method, device and equipment of packaging equipment and storage medium

Info

Publication number: CN115258273A
Application number: CN202210958437.0A
Authority: CN
Inventors: 王海夫; 吕祥; 芦春; 耿军红; 向丽丽
Original assignee: Suzhou JQS Info Tech Co Ltd
Current assignee: Suzhou JQS Info Tech Co Ltd
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-11-01

Abstract

The application discloses equipment for packing, a control method, a control device, control equipment and a storage medium of the equipment for packing, wherein the equipment for packing comprises the following components: the packaging device comprises a first moving device, a second moving device and a packaging device; the first moving device is used for driving the workpiece to be processed to move from a first position to a second position; the first moving device is used for driving the workpiece to be processed to rotate to a preset angle in the process of moving the workpiece to be processed from the first position to the second position; the workpiece to be processed rotates to a preset angle, which represents that the orientation of a first end face on the workpiece to be processed is the same as that of a second end face of a workpiece groove arranged on a packaging device, and the second end face is an end face, matched with the first end face, on the workpiece groove; the second moving device is used for moving the workpiece to be processed which rotates to the preset angle to the packaging device; the packaging device is used for packaging the workpiece to be processed; the material taking and placing device can automatically take and place materials, can accurately and quickly fix the angle of the workpiece to be processed, and is high in accuracy and efficiency.

Description

Packaging equipment, control method, device and equipment of packaging equipment and storage medium

Technical Field

The present application relates to the field of packaging equipment technologies, and in particular, to a packaging equipment, a control method and device for the packaging equipment, a device for controlling the packaging equipment, and a storage medium.

Background

At present, the packaging equipment is various, but the equipment for packaging the workpieces with smaller sizes is relatively less; when the small-size packaging and feeding are carried out, namely when the workpieces are placed into the woven belt of the packaging equipment, the angles of the placed workpieces need to be adjusted according to the row shapes of the workpieces and the workpiece grooves formed in the woven belt, but at present, manual material placing is generally adopted when the packaging and feeding are carried out, for example, the workpieces are manually clamped and placed into the woven belt of the packaging equipment by using tweezers, and the mode is not only inconvenient to operate and high in error rate, but also low in efficiency and easy to clamp and damage the workpieces.

Disclosure of Invention

In order to solve the technical problem, the application discloses a packaging equipment carries out the adjustment of angle through the first mobile device that sets up to the work piece of treating to after the angle modulation with the work piece of treating to predetermine the angle, pack on putting into packaging equipment, this kind of mode not only can get the blowing automatically, and can be accurate quick realization treat the angle of treating the work piece fixed, the degree of accuracy is high, and is efficient, and can avoid the damage of work piece.

In order to achieve the above object, the present application provides a packaging apparatus, comprising a first moving device, a second moving device and a packaging device;

the first moving device is used for driving the workpiece to be processed to move from a first position to a second position;

the first moving device is used for driving the workpiece to be processed to rotate to a preset angle in the process of moving the workpiece to be processed from the first position to the second position; the workpiece to be processed rotates to the preset angle, and the orientation of a first end face on the workpiece to be processed is represented to be the same as that of a second end face of a workpiece groove arranged on the packaging device, and the second end face is an end face, matched with the first end face, on the workpiece groove;

the second moving device is used for moving the workpiece to be processed which rotates to the preset angle to the packaging device;

the packaging device is used for packaging the workpiece to be processed.

In some embodiments, further comprising a first angle acquisition device, a first positioning assembly, and a second positioning assembly, the first angle acquisition device being located between the first positioning assembly and the second positioning assembly;

the first position is located on the first positioning component, and the second position is located on the second positioning component;

the first moving device is used for driving the workpiece to be processed to move from the first positioning assembly to the second positioning assembly through a preset position;

the first angle acquisition device is used for acquiring the angle information of the workpiece to be processed at the preset position;

the first moving device is used for driving the workpiece to be processed to rotate to a preset angle according to the angle information in the process of moving the workpiece to be processed from the first positioning assembly to the second positioning assembly.

The application also provides a control method of the packaging equipment, the packaging equipment is the packaging equipment, and the method comprises the following steps:

acquiring first angle information of a workpiece to be processed; the first angle information is angle information when the workpiece to be processed moves to a preset position through a first moving device;

controlling the first mobile device to rotate according to the first angle information until the workpiece to be processed on the first mobile device rotates to a preset angle;

controlling the second moving device to drive the workpiece to be processed to move into a workpiece groove on the packaging device;

and packaging the workpiece to be processed.

In some embodiments, the obtaining the first angle information of the workpiece to be processed includes:

controlling the first moving device to drive the workpiece to be processed to move to the preset position;

controlling the first angle acquisition device to acquire first angle information of the workpiece to be processed at the preset position;

and receiving the first angle information sent by the first angle acquisition device.

In some embodiments, the controlling the first moving device to rotate according to the first angle information until the workpiece to be processed on the first moving device rotates to a preset angle includes:

determining a target rotation angle of the workpiece to be processed on a first mobile device based on the first angle information and a preset angle;

and controlling the first moving device to drive the workpiece to be processed to rotate by the target rotation angle until the workpiece to be processed rotates to the preset angle.

In some embodiments, the packaging the workpiece to be processed includes:

acquiring the positive and negative state information of the workpiece to be processed and the relative position information of the workpiece to be processed and the workpiece groove;

and carrying out hot-pressing packaging on the workpiece to be processed under the condition that the relative position information meets a preset superposition condition and the positive and negative state information meets a preset workpiece state.

In some embodiments, the method further comprises:

and under the condition that the relative position information does not meet the preset coincidence condition or the positive and negative state information does not meet the preset workpiece state, stopping hot-pressing packaging and sending out warning information.

The application also provides a control device of the packaging equipment, the packaging equipment is the above packaging equipment, the device include:

the acquisition module is used for acquiring first angle information of a workpiece to be processed; the first angle information is angle information when the workpiece to be processed moves to a preset position through a first moving device;

the first control module is used for controlling the first mobile device to rotate according to the first angle information until the workpiece to be processed on the first mobile device rotates to a preset angle;

the second control module is used for controlling the second moving device to drive the workpiece to be processed to move into the workpiece groove on the packaging device;

and the packaging module is used for packaging the workpiece to be processed.

The application also provides a control device of a packaging device, the device comprises a processor and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the control method of the packaging device.

The present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executes the control method of the packaging apparatus as described above.

The embodiment of the application has the following beneficial effects:

the utility model provides a equipment for packing carries out the adjustment of angle through the first mobile device that sets up to the work piece of treating to after the angle modulation with the work piece of treating to predetermine the angle, pack on putting into packing plant, the blowing not only can be got automatically to this kind of mode, and can be accurate quick realization to treat the angle of work piece fixed, the degree of accuracy is high, and is efficient, and can avoid the damage of work piece.

Drawings

In order to more clearly illustrate the control method, device and apparatus of the packaging apparatus described in the present application, the drawings required for the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive work.

Fig. 1 is a schematic diagram of an implementation environment of control of a packaging apparatus according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a packaging apparatus provided in an embodiment of the present application;

FIG. 3 is a partial schematic structural diagram of a packaging apparatus provided in an embodiment of the present application;

fig. 4 is an enlarged structural schematic view of a first moving device in a packaging apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second positioning assembly in a packaging apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a packaging device in a packaging apparatus according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a braid in a packaging device according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a structure of a workpiece to be processed according to an embodiment of the present disclosure;

fig. 9 is a schematic flowchart of a control method for a packaging apparatus according to an embodiment of the present disclosure;

FIG. 10 is a flowchart illustrating a method for controlling rotation of a workpiece to be processed according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a control device of a packaging apparatus according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Wherein the reference numerals in the figures correspond to: 1-a first moving device, 101-a sucker assembly, 102-a first driving member, 103-a transmission assembly, 1031-a conveyor belt, 1032-a transmission gear, 104-a substrate, 2-a second moving device, 3-a packaging device, 301-a braid, 3011-a workpiece groove, 3012-a second end surface, 302-a second angle acquisition device, 303-a sealing assembly, 3031-a hot pressing member, 3032-a braid tensioning wheel, 3033-a sealing belt, 3034-a braid take-up wheel, 3035-a third driving member, 4-a driving device, 5-a first angle acquisition device, 6-a first positioning assembly, 7-a second positioning assembly, 701-a clamping member, 702-a workpiece placing groove, 703-a second driving member, 704-a detection member, 8-a workpiece loading level, 9-a third moving device, 10-a workpiece to be processed, 1001-a first end surface.

Detailed Description

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 only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, a schematic diagram of an implementation environment provided in the embodiment of the present application is shown, where the implementation environment may include:

at least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 may perform data communication through a network.

In an alternative embodiment, the terminal 01 may be the executor of the control method of the packaging apparatus. Terminal 01 may include, but is not limited to, vehicle terminals, smart phones, desktop computers, tablet computers, laptop computers, smart speakers, digital assistants, augmented Reality (AR)/Virtual Reality (VR) devices, smart wearable devices, and other types of electronic devices. The operating system running on terminal 01 may include, but is not limited to, an android system, an IOS system, linux, windows, unix, and the like.

The server 02 may provide the terminal 01 with a preset angle. Optionally, the server 02 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like.

Referring to fig. 2, a partial schematic structural diagram of a packaging apparatus provided in an embodiment of the present application is shown, including a first moving device 1, a second moving device 2, and a packaging device 3;

the first moving device 1 is used for driving the workpiece 10 to be processed to move from a first position to a second position;

optionally, the packaging apparatus includes a driving device 4, and the driving device 4 drives the first moving device 1 to move the workpiece 10 to be processed from the first position to the second position.

The first moving device 1 is used for driving the workpiece 10 to be processed to rotate to a preset angle in the process of moving the workpiece 10 to be processed from the first position to the second position; the workpiece to be processed 10 is rotated to the preset angle, which indicates that the orientation of a first end face 1001 on the workpiece to be processed 10 is the same as the orientation of a second end face 3012 of a workpiece slot 3011 arranged on the packaging device, and the second end face is an end face matched with the first end face on the workpiece slot;

optionally, the packaging apparatus further comprises a first angle acquisition device 5, a first positioning assembly 6 and a second positioning assembly 7, wherein the first angle acquisition device 5 is located between the first positioning assembly 6 and the second positioning assembly 7;

the first position is located on the first positioning component 6, and the second position is located on the second positioning component 7; the first moving device 1 is used for driving the workpiece 10 to be processed to move from the first positioning component 6 to the second positioning component 7 through a preset position;

in one example, the first angle acquisition device 5 is used for acquiring the angle information of the workpiece to be processed 10 located at the preset position;

the first moving device 1 is configured to drive the workpiece 10 to be processed to rotate to a preset angle according to the angle information in the process of moving the workpiece 10 to be processed from the first positioning component 6 to the second positioning component 7.

The first angle acquisition device 5 may be a CCD (charge coupled device) camera.

For example, the first angle acquisition means 5 may acquire image information of the workpiece to be processed 10 at a preset position, and recognize the angle information of the workpiece to be processed 10 based on the image information.

In another example, the first moving device 1 may also directly drive the workpiece to be processed 10 to rotate until the workpiece to be processed 10 rotates to a preset angle after the workpiece to be processed 10 is clamped.

Alternatively, the driving device 4 may be configured to drive the first moving device 1 to clamp the workpiece 10 to be processed from the tray, and drive the workpiece 10 to be processed to rotate to a preset angle after clamping the workpiece 10 to be processed.

The second moving device 2 is used for moving the workpiece to be processed 10 rotated to the preset angle onto the packing device 3;

optionally, the driving device 4 drives the second moving device 2 to grab the workpiece 10 to be processed from the second positioning assembly 7 and move the workpiece 10 to be processed onto the packing device 3.

The packaging device 3 is used for packaging the workpiece 10 to be processed. This application carries out the adjustment of angle through the first mobile device that sets up to the pending work piece to after the angle modulation with the pending work piece to predetermineeing the angle, put into packing plant and go up and pack, the blowing not only can be got automatically to this kind of mode, and can be accurate quick realization to the angle fixation of pending work piece, the degree of accuracy is high, and is efficient, and can avoid the damage of work piece.

In the embodiment of the present application, a control unit is further included, and the driving device 4 is in driving connection with the first moving device 1, the second moving device 2 and the packaging device 3 respectively;

optionally, the driving device 4 is in driving connection with the first moving device 1, the second moving device 2 and the packaging device 3 respectively;

alternatively, the control unit may control the driving device 4 to output different driving forces, so that the driving device drives the first moving device 1, the second moving device 2, or the packing device 3 according to the different driving forces.

In one example, the driving device 4 may include a linear motor, and each of the first moving device 1 and the second moving device 2 may be slidably connected with the driving device.

Specifically, the first moving device 1 and the second moving device 2 are driven by the linear motor to move linearly, so that the first moving device 1 and the second moving device 2 can move stably at a constant speed.

In another example, the driving device 4 may further include a lifting cylinder, and the lifting cylinder may drive the first moving device 1 and the second moving device 2 to move up and down, so that the first moving device 1 and the second moving device 2 clamp or release the workpiece 10 to be processed.

The driving means 4 may be controlled to output different driving forces so that the driving means drives the first moving means 1, the second moving means 2 or the packing means 3 according to the different driving forces.

In one example, the driving device 4 may include a linear motor, and each of the first moving device 1 and the second moving device 2 may be slidably connected to the driving device.

Specifically, the first moving device 1 and the second moving device 2 are driven by the linear motor to do linear motion, so that the first moving device 1 and the second moving device 2 can move stably at a constant speed.

In the embodiment of the present application, the first moving device 1 and the second moving device 2 may use a gripper or a suction cup assembly to grip and release the workpiece 10 to be processed.

Alternatively, as shown in fig. 3 and 4, the first moving device 1 and the second moving device 2 each include a suction cup assembly 101;

the driving device 4 is used for controlling the first moving device 1 and the second moving device 2 to suck or release the workpiece 10 to be processed through the sucker assembly 101.

Alternatively, the suction cup assembly may use vacuum pressure to suck or release the workpiece 10 to be processed.

In particular, the suction cup assembly 101 may include a plurality of suction cups thereon, for example, may include 5 suction cups.

Optionally, as shown in fig. 4, the first moving device 1 further includes a first driving element 102; the first driving member 102 is in driving connection with the suction cup assembly and is used for driving the suction cup on the suction cup assembly 101 to rotate, so as to drive the workpiece 10 to be processed to rotate.

In one example, the first driving member 102 can be a stepping motor, which can drive the chuck assembly 101 to rotate more accurately, so as to make the workpiece 10 to be processed rotate by a precise angle.

Optionally, the first moving device 1 further includes a first driving member 102, a transmission assembly 103 and a substrate 104, and the first driving member 102, the suction cup assembly 101 and the transmission assembly 103 are all disposed on the substrate 104;

the first driving member 102 is in driving connection with the transmission assembly 103;

the transmission component 103 is in transmission connection with the sucker component 101.

In one example, the first drive member 102 may be a stepper motor;

the first driving member 102 is used for driving the transmission assembly 103 to rotate, and the chuck assembly 101 and the transmission assembly 103 rotate synchronously to drive the workpiece 10 to be processed to rotate.

In one example, the drive assembly 103 includes at least one transfer belt 1031 and at least two drive gears 1032;

one of the transmission gears 1032 is arranged at one end of the sucker assembly 101, and the other transmission gear 1032 is arranged at the other end of the sucker assembly 101;

one end of the transfer belt 1031 is sleeved on one of the transmission gears 1032, and the other end of the transfer belt 1031 penetrates through the sucker component 101 and is sleeved on the other transmission gear 1032;

the transfer belt 1031 is in transmission connection with a suction cup on the suction cup assembly 101; the transmission belt is used for driving the sucker on the sucker component 101 to rotate, and further drives the workpiece to be processed 10 adsorbed on the sucker to rotate.

Preferably, as shown in fig. 4, 5 transmission gears may be included, wherein two transmission gears 1032 are disposed at one end of the suction cup assembly 101, the other three rotation gears are disposed at the other end of the suction cup assembly 101, correspondingly, each transmission gear 1032 is sleeved with a transfer belt 1031, and each transfer belt 1031 penetrates through the suction cup assembly and is in transmission connection with the suction cup on the suction cup assembly 101.

In the embodiment of the present application, as shown in fig. 5, each of the first positioning assembly 6 and the second positioning assembly 7 includes a clamping member 701, a workpiece placing slot 702, a second driving member 703, and a detecting member 704;

the detecting member 704 is disposed at one end of the workpiece placing groove 702; the detecting element 704 is configured to collect action signals of the workpiece 10 to be processed in the workpiece placing slot 702, where the action signals include a workpiece placing signal and a workpiece clamping signal; wherein the workpiece placing signal may be a signal when the workpiece 10 to be processed is placed in the workpiece placing groove 702; the workpiece gripping signal may be a signal when the external apparatus needs to grip the workpiece 10 to be processed. The external device may be the first mobile apparatus 1 or the second mobile apparatus 2.

The second driving member 703 is in driving connection with the clamping member 701; the second driving member 703 may drive the clamp members 701 to close or open.

Under the condition that a workpiece placing signal is acquired, the second driving part 703 drives the clamping part 701 to close, so that the clamping part 701 limits and fixes the workpiece 10 to be processed in the workpiece placing groove 702;

when a workpiece clamping signal is acquired, the second driving member 703 drives the clamping member 701 to open, so as to release the workpiece 10 to be processed.

Optionally, at least two workpiece positions are arranged in the workpiece placing groove 702, and one workpiece 10 to be processed can be placed in each workpiece position; further, when the clamping members 701 are closed, each workpiece to be processed 10 in the workpiece placement groove 702 can be clamped and limited.

Optionally, the control unit is in communication connection with the second driving member 703 and the detecting member 704, respectively;

the detection piece 704 sends the action signal to the control unit after acquiring the action signal;

in one example, the control unit controls the second driving member 703 to output the second driving force in a case where the workpiece placing signal is received; further, when the second driving member 703 receives the second driving force, the clamping member 701 is driven to close; thereby achieving centered clamping of the workpiece 10 to be processed. The second driving force may refer to a force that drives the clamp 701 to close.

The control unit controls the third driving member 703 to output a third driving force when receiving the workpiece clamping signal; further, the second driving member 703 drives the clamping member 701 to open when receiving the third driving force. The third driving force may be a force that drives the grip 701 to open.

The workpiece to be processed 10 in the workpiece placing groove 702 is limited and fixed in a centered clamping mode by the clamping piece 701, so that the damage to the workpiece to be processed 10 due to unbalanced clamping force can be effectively avoided, and the limitation to the workpiece to be processed can be well realized; and the actuating signal of the workpiece to be processed, which is acquired by the detection piece, controls the driving piece to drive the clamping piece to close or open, so that the automatic control of the positioning device can be realized.

Optionally, the detecting element 704 is further configured to acquire a status signal of the workpiece 10 to be processed in the workpiece placement slot 702, where the status signal may include a workpiece presence signal or a workpiece absence signal, where the workpiece presence signal may refer to the presence of the workpiece 10 to be processed in the workpiece placement slot 702; the workpiece absence signal may mean that the workpiece 10 to be processed is not present in the workpiece placement slot 702.

The control unit controls the external device to place the workpiece 10 to be processed into the workpiece placing groove 702 according to the status signal, or prohibits the external device from placing the workpiece 10 to be processed into the workpiece placing groove 702, that is, the external device can pick the workpiece 10 to be processed from the workpiece placing groove 702, but can not place the workpiece 10 to be processed into the workpiece placing groove 702 any more. The external device may be the first mobile apparatus 1 or the second mobile apparatus 2. This way, repeated loading in the workpiece placement slot 702 can be avoided.

In an exemplary embodiment, the detecting member 704 includes a first sensor and a second sensor, which are symmetrically disposed at both ends of the workpiece placing groove 702;

a line connecting the first sensor and the second sensor is parallel to an axial direction line of the workpiece placing groove 702;

specifically, the axial direction line of the workpiece placement groove 702 may coincide with a connecting line between adjacent workpiece positions on the workpiece placement groove 702.

The connecting line between the first sensor and the second sensor is parallel to the connecting line between two adjacent workpiece positions on the workpiece placement slot 702.

Furthermore, the first sensor and the second sensor are arranged in an opposite mode; a status signal of the workpiece to be processed in each workpiece position on the workpiece placing groove 702 can be detected.

Preferably, a center line between the first sensor and the second sensor may coincide with a center line between two adjacent workpiece positions on the workpiece placement slot 702.

The first sensor and the second sensor are both used for detecting and acquiring status signals of the workpieces 10 to be processed in the workpiece placing groove 702, and the status signals include a workpiece existing signal and a workpiece non-existing signal;

the control unit outputs a signal that the workpiece placing groove 702 is prohibited from placing the workpiece when receiving the workpiece existence signal; further, the control unit may control the first moving device 1 or the second moving device 2 to prohibit the placement of the workpiece to be processed 10 into the workpiece placement slot 702 in accordance with the workpiece presence signal.

The control unit outputs a workpiece placing signal that the workpiece placing groove 702 can place a workpiece when receiving the workpiece absence signal. Further, the control unit may control the first moving device 1 or the second moving device 2 to place the workpiece 10 to be processed into the workpiece placement groove 702 in accordance with the workpiece absence signal.

In the embodiment of the present application, the packaging equipment further comprises a workpiece loading level 8 and a third moving device 9, wherein the third moving device 9 has the same structure as the second moving device 2;

the driving device 4 drives the third moving device 9 and the first moving device 1 to synchronously grab or release the workpiece 10 to be processed.

Alternatively, the workpiece loading level 8 may refer to a tray, and the workpiece loading level 8 may be an initial placement position of the workpiece 10 to be processed.

The driving device 4 can drive the third moving device 9 to move the workpiece 10 to be processed on the workpiece loading position 8 to the first positioning assembly 6; and simultaneously drives the first moving device 1 to move the workpiece 10 to be processed on the first positioning component 6 to the second positioning component 7.

In the present embodiment, as shown in fig. 6-8, the packaging device 3 comprises a braid 301, a second angle acquisition device 302 and a sealing assembly 303; the second angle acquisition device 302 is in communication connection with the control unit.

Specifically, the braid 301 is disposed on a braid movement track; a second angle acquisition device 302 is disposed between the fill level of the braid 301 and the seal assembly.

The second moving device 2 is used for moving the workpiece to be processed 10 rotated to the preset angle onto the braid 301;

specifically, as shown in fig. 7 and 8, the driving device 4 drives the second moving device 2 to move the workpiece 10 to be processed from the second positioning assembly 7 into the workpiece slot 3011 on the braid 301;

the second angle acquisition device 302 is used for detecting the state information of the to-be-processed workpiece 10 on the braid 301; the state information may include positive and negative state information of the workpiece 10 to be processed and relative position information of the workpiece 10 to be processed and the workpiece slot 3011;

preferably, the second angle-capturing device may be a CCD camera.

In one example, the second angle acquisition device may acquire image information of the workpiece to be processed 10 within the braid, and identify the front-back state information of the workpiece to be processed 10 and the relative position information of the workpiece to be processed 10 and the workpiece slot 3011 based on the image information.

In an exemplary embodiment, in the case that the state information satisfies the preset condition, the control unit controls the driving device 4 to drive the sealing assembly 303 to perform the sealing process on the to-be-processed workpiece 10 on the braid 301 according to the state information. The state information satisfying the preset condition may represent that the positive and negative state information indicates that the workpiece to be processed 10 faces upward and the workpiece to be processed 10 coincides with the workpiece slot 3011. The coincidence of the workpiece to be processed 10 with the workpiece slot 3011 may be characterized in that the first end surface 1001 of the workpiece to be processed 10 is oriented in the same direction as the second end surface 3012 of the workpiece slot 3011.

In another exemplary embodiment, in the case where the status information does not satisfy the preset condition, alarm information is issued, and the wrapping process of the workpiece 10 to be processed is stopped. The state information not meeting the preset condition can represent that the positive and negative state information is that the reverse side of the workpiece to be processed 10 faces upwards or the workpiece to be processed 10 is not coincident with the workpiece slot 3011. Misalignment of the workpiece to be processed 10 with the workpiece slot 3011 can characterize that the first end face 1001 of the workpiece to be processed 10 is oriented differently than the second end face 3012 of the workpiece slot 3011.

In one exemplary embodiment, the seal assembly 303 may include a hot press 3031, a braid tensioner wheel 3032, a seal band 3033, and a braid take-up wheel 3034;

the drive means may drive the braid take-up and pay-off wheel 3034 to release or take-up the braid to facilitate placement of the workpiece 10 to be processed and receipt of the packaged workpiece.

The driving device can also tension the braid 301 by a braid tension wheel 3032; the phenomenon that the braid is loosened to influence the packaging process is avoided.

The driving means may include a third driving member 3035, and the third driving member 3035 may include a lifting cylinder and a rotation driving member.

The lifting cylinder can drive the hot pressing member 3031 to move up and down, so that the hot pressing member 3031 thermally presses the sealing tape 3033 and the braid 301 together; to seal the workpiece 10 to be processed and thereby complete the packaging of the workpiece to be processed.

A rotary drive may be used to assist in the movement of the sealing band 3033, maintaining the feeding of the sealing band 3033.

The working principle of the packaging equipment is as follows:

when the workpiece 10 to be processed needs to be packaged, the workpiece to be processed is placed on the workpiece loading position 8, the control device controls the driving device 4 to drive the third moving device 9 and the first moving device 1 to move simultaneously, and the suction cup assembly 101 is controlled to be in a vacuum state when the third moving device 9 moves to the position above the workpiece loading position 8 so as to suck the workpiece 10 to be processed on the workpiece loading position 8; then, the third moving device 9 is controlled to move the workpiece 10 to be processed to the first positioning assembly 6; then the driving device 4 is controlled to drive the third moving device 9 and the first moving device 1 to move simultaneously, the suction cup assembly 101 is controlled to be in a vacuum state when the third moving device 9 moves to the position above the workpiece feeding position 8, and the suction cup assembly 101 is controlled to be in a vacuum state when the first moving device 1 moves to the position above the first positioning assembly 6, so that the third moving device 9 absorbs the workpiece 10 to be processed on the workpiece feeding position 8, and the first moving device 1 absorbs the workpiece 10 to be processed on the first positioning assembly 6; then, controlling the first moving device 1 to rotate the workpiece 10 to be processed on the first positioning assembly 6 to a preset angle after passing through a preset position and move the workpiece to be processed on the second positioning assembly, and simultaneously controlling the third moving device 9 to move the workpiece 10 to be processed on the workpiece loading position 8 to the first positioning assembly 6; then, controlling the second moving device 2 to move until the second moving device 2 moves above the second positioning assembly 7 and simultaneously controlling the suction cup assembly 101 to be in a vacuum state, so that the second moving device 2 sucks the workpiece 10 to be processed on the second positioning assembly 7, and then controlling the second moving device 2 to move the sucked workpiece 10 to be processed into the workpiece slot 3011 on the braid 301 of the packaging device 3; and then controlling the sealing assembly 303 to package the workpiece 10 to be processed to obtain a packaged finished product.

Referring to fig. 9, which is a schematic flow chart illustrating a method for controlling a packaging apparatus according to an embodiment of the present application, the present specification provides the method operation steps according to the embodiment or the flow chart, but based on the conventional method; or the non-inventive act may include more or fewer steps. The sequence of steps recited in the embodiments is only one of the execution sequences of the steps, and does not represent the only execution sequence, and the control method of the packaging apparatus may be executed according to the method sequence shown in the embodiments or the drawings. Specifically, as shown in fig. 9, the method includes:

s901, acquiring first angle information of a workpiece to be processed; the first angle information is angle information when the workpiece to be processed moves to a preset position through the first moving device.

In the embodiment of the present application, the preset position may be a position that can be acquired by the first angle acquisition device, and the position is not limited to be a position point, for example, the preset position may be a region. The first angle information may refer to an angle between a centerline of a first end surface on the workpiece to be processed and a centerline of a second end surface on the workpiece slot.

Alternatively, the first angle information of the workpiece to be processed at the preset position may be acquired by the first angle acquisition device. Wherein the first angle acquisition device may be a CCD camera.

In one example, the first moving device can be controlled to drive the workpiece to be processed to move to the preset position; controlling a first angle acquisition device to acquire first angle information of the workpiece to be processed positioned at the preset position; and receiving the first angle information sent by the first angle acquisition device.

Optionally, the image information of the workpiece to be processed at the preset position may be acquired by the first angle acquisition device; and determining first angle information according to the image information.

In one example, the first moving device can be controlled to move the workpiece to be processed to the preset position; controlling a first angle acquisition device to acquire image information of a workpiece to be processed at a preset position; receiving image information sent by a first angle acquisition device; determining the center line information of the first end face on the workpiece to be processed according to the image information; and determining first angle information according to the middle line information and the preset reference line information. The preset reference line information may refer to center line information of the second end face of the workpiece groove on the braid.

In an exemplary embodiment, before the obtaining of the first angle information of the workpiece to be processed, the method further includes controlling the first moving device to clamp the workpiece to be processed from the first position, and controlling the first moving device to move the workpiece to be processed to a preset position. The first position may be a preset position, for example, a workpiece placing position on the first positioning component; it may also be an initial loading level of the workpiece.

S902, controlling the first mobile device to rotate according to the first angle information until the workpiece to be processed on the first mobile device rotates to a preset angle.

In this application embodiment, the work piece that waits to handle rotates to preset angle representation the orientation of first terminal surface on the work piece that waits to handle with the orientation of the second terminal surface of the work piece groove that sets up on the packing plant is the terminal surface with first terminal surface adaptation on the work piece groove. Facing the same may mean that the midline of the first end surface coincides with the midline of the second end surface.

Optionally, a target rotation angle of the workpiece to be processed may be determined according to the first angle information, and then the first moving rotation is controlled to drive the workpiece to be processed to rotate by the target rotation angle, so that the workpiece to be processed rotates to a preset angle.

In one example, a target rotation angle of the workpiece to be processed may be determined according to the first angle information and a preset angle.

Furthermore, the rotation of the workpiece to be processed can be driven by controlling the sucker component on the first moving device.

In an exemplary embodiment, after the workpiece to be processed is rotated to the preset angle, the first moving device is controlled to move the workpiece to be processed to the second position, where the second position may be a preset position, for example, a workpiece placing position on the second positioning assembly, or a position where the first moving device and the second moving device can interface the workpiece.

And S903, controlling the second moving device to drive the workpiece to be processed to move into a workpiece groove on the packaging device.

In the embodiment of the application, the second moving device can be controlled to grab the workpiece to be processed which rotates to the preset angle from the second position, and move the workpiece to be processed into the workpiece groove on the packaging device.

Optionally, under the condition that the second position is the workpiece placement position on the second positioning assembly, the second moving device may be controlled to grab the workpiece to be processed, which is rotated to the preset angle, from the second positioning assembly, and move the workpiece to be processed into the workpiece slot on the packaging device.

Optionally, when the second position is a position where the first moving device and the second moving device can transfer the workpiece, the second moving device may be controlled to directly grab the workpiece to be processed, which is rotated to a preset angle, from the first moving device, and move the workpiece to be processed into the workpiece slot on the packaging device.

And S904, packaging the workpiece to be processed.

In the present embodiment, the packaging process may be a heat press packaging process.

Optionally, the workpieces to be processed in the workpiece groove may be directly subjected to the hot-pressing packaging treatment in sequence.

Optionally, the positive and negative state information of the workpiece to be processed and the relative position information of the workpiece to be processed and the workpiece groove can also be acquired; and processing the workpiece to be processed according to the positive and negative state information and the relative position information. Wherein, the positive and negative state information can refer to the information that the front and the back of the workpiece to be processed are upward; the relative position information may refer to position information between a first end face on the workpiece to be processed and a second end face on the workpiece groove.

In one example, the workpiece to be processed is subjected to hot-press packaging under the condition that the relative position information meets a preset superposition condition and the positive and negative state information meets a preset workpiece state. The preset coincidence condition can mean that the first end face on the workpiece to be processed and the second end face on the workpiece groove face in the same direction; specifically, it may mean that the centerline of the first end surface coincides with the centerline of the second end surface. The preset workpiece state may refer to the right side of the workpiece to be processed facing upward.

In another example, in the case that the relative position information does not satisfy a preset coincidence condition or the positive and negative state information does not satisfy a preset workpiece state, the thermocompression packaging process is stopped and warning information is issued. The alert information may include, but is not limited to, audible warning information, light warning information, and the like.

Specifically, the warning information is sent out under the condition that one of the relative position information and the positive and negative state information does not meet the preset condition.

In this embodiment, this application is corrected through the angle of treating the processing work piece carries out automatic adjustment to confirm that the angle that gets into the work piece of packing plant work piece inslot and work piece groove looks adaptation, not only can improve the degree of accuracy and the speed of angle correction, can improve the efficiency of packing moreover greatly, increase the productivity.

In an exemplary embodiment, as shown in fig. 10, a schematic flow chart of a method for controlling rotation of a workpiece to be processed according to an embodiment of the present application is shown; the details are as follows.

S1001, determining a target rotation angle of a workpiece to be processed according to the first angle information;

s1002, determining a target driving signal corresponding to the target rotation angle according to the target rotation angle;

in the embodiment of the present application, the target driving signal may be a driving signal capable of driving the first driving element to rotate by the target rotation angle.

And S1003, controlling the first driving piece to drive the sucker assembly to rotate based on the target driving signal so as to drive the workpiece to be processed to rotate by a target rotation angle.

In the embodiment of the application, the first driving part is a driving device arranged on the first moving device and used for driving the sucker assembly to rotate. For example, the first drive member may be a stepper motor; the sucker component is a device which is arranged on the first moving device and used for sucking the workpiece to be processed.

Alternatively, the first driver may be controlled to output the target driving force based on the target driving signal;

and controlling the first driving piece to drive the sucker assembly to rotate based on the target driving force, so as to drive the workpiece to be processed to rotate by a target rotation angle.

In the embodiment, the sucker assembly is driven to rotate by the arranged first driving piece, so that the accuracy of angle adjustment of the sucker assembly can be ensured, and the adjustment speed of the angle of a workpiece can be improved; thereby improving the packaging efficiency.

An embodiment of the present application further provides a control device of a packaging apparatus, as shown in fig. 11, which is a schematic structural diagram of the control device of the packaging apparatus provided in the embodiment of the present application; specifically, the device comprises:

an obtaining module 1101, configured to obtain first angle information of a workpiece to be processed; the first angle information is angle information when the workpiece to be processed moves to a preset position through a first moving device;

the first control module 1102 is configured to control the first moving device to rotate according to the first angle information, so that the workpiece to be processed on the first moving device rotates to a preset angle;

the second control module 1103 is configured to control the second moving device to drive the workpiece to be processed to move into the workpiece slot on the packaging device;

and the packaging module 1104 is used for packaging the workpiece to be processed.

In this embodiment of the present application, the obtaining module 1101 includes:

the first control unit is used for controlling the first moving device to drive the workpiece to be processed to move to the preset position;

the second control unit is used for controlling the first angle acquisition device to acquire the first angle information of the workpiece to be processed positioned at the preset position;

and the receiving unit is used for receiving the first angle information sent by the first angle acquisition device.

In the embodiment of the present application, the first control module 1102 includes:

the third control unit is used for determining a target rotation angle of the workpiece to be processed on the first mobile device based on the first angle information and a preset angle;

and the fourth control unit is used for controlling the first moving device to drive the workpiece to be processed to rotate by the target rotation angle until the workpiece to be processed rotates to the preset angle.

In the present embodiment, the wrapping module 1104 includes:

the acquisition unit is used for acquiring the positive and negative state information of the workpiece to be processed and the relative position information of the workpiece to be processed and the workpiece groove;

and the first processing unit is used for carrying out hot-press packaging on the workpiece to be processed under the condition that the relative position information meets a preset coincidence condition and the positive and negative state information meets a preset workpiece state.

In the embodiment of the present application, the method further includes:

and the second processing unit is used for stopping hot-pressing packaging and sending out warning information under the condition that the relative position information does not meet a preset superposition condition or the positive and negative state information does not meet a preset workpiece state.

It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.

The embodiment of the application provides a control device of a packaging device, the device comprises a processor and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the control method of the packaging device according to the method embodiment.

Further, fig. 12 shows a schematic hardware structure of an electronic device for implementing the method for controlling the packaging apparatus provided in the embodiment of the present application, where the electronic device may participate in forming or including the control device of the packaging apparatus provided in the embodiment of the present application. As shown in fig. 12, electronic device 120 may include one or more processors (shown here as 1202a, 1202b, \8230;, 1202 n) which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, memory 1204 for storing data, and a transmission device 1206 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 12 is only an illustration and is not intended to limit the structure of the electronic device. For example, electronic device 120 may also include more or fewer components than shown in FIG. 12, or have a different configuration than shown in FIG. 12.

It should be noted that the one or more processors and/or control circuitry of other packaging devices described above may be generally referred to herein as "control circuitry of a packaging device. The control circuitry of the packaging apparatus may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the control circuitry of the packaging device may be a single, stand-alone processing module, or incorporated in whole or in part into any of the other elements in the electronic device 120 (or mobile device). As referred to in the embodiments of the application, the control circuit of the packaging device is controlled as a processor (e.g. selection of variable resistance termination paths connected to the interface).

The memory 1204 can be used for storing software programs and modules of application software, such as program instructions/data storage devices corresponding to the control method of the packaging apparatus described in the embodiments of the present application, and the processor executes various functional applications and control of the packaging apparatus by running the software programs and modules stored in the memory 1204, that is, implementing the control method of the packaging apparatus described above. The memory 1204 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 1204 may further include memory located remotely from the processor, which may be connected to the electronic device 120 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission means 1206 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 120. In one example, the transmitting device 1206 includes a network adapter (NIC) that can be connected to other network devices through a base station to communicate with the internet. In one embodiment, the transmitting device 1206 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 120 (or mobile device).

Embodiments of the present application further provide a computer-readable storage medium, where the storage medium may be configured in an electronic device to store at least one instruction or at least one program for implementing a method for controlling a packaging apparatus in the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for controlling the packaging apparatus provided in the method embodiments.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the above-mentioned various alternative implementation modes.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the device and electronic apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A packaging apparatus is characterized by comprising a first moving device, a second moving device and a packaging device;

the first moving device is used for driving the workpiece to be processed to rotate to a preset angle in the process of moving the workpiece to be processed from the first position to the second position; the workpiece to be processed rotates to the preset angle to represent that the orientation of a first end face on the workpiece to be processed is the same as the orientation of a second end face of a workpiece groove arranged on the packaging device, and the second end face is an end face, matched with the first end face, on the workpiece groove;

the packaging device is used for packaging the workpiece to be processed.

2. The packaging apparatus of claim 1, further comprising a first angle collection device, a first positioning assembly, and a second positioning assembly, the first angle collection device being located between the first positioning assembly and the second positioning assembly;

3. A control method of a packing apparatus according to claim 1 or 2, comprising:

and packaging the workpiece to be processed.

4. The control method according to claim 3, wherein the acquiring first angle information of the workpiece to be processed comprises:

controlling a first angle acquisition device to acquire first angle information of the workpiece to be processed positioned at the preset position;

5. The control method according to claim 3, wherein the controlling the first moving device to rotate according to the first angle information, and the workpiece to be processed on the first moving device to rotate to a preset angle comprises:

6. The control method according to claim 3, wherein the wrapping process of the workpiece to be processed includes:

and carrying out hot-pressing packaging on the workpiece to be processed under the condition that the relative position information meets a preset coincidence condition and the positive and negative state information meets a preset workpiece state.

7. The control method according to claim 6, characterized in that the method further comprises:

8. A control device for a packaging apparatus, characterized in that the packaging apparatus is a packaging apparatus according to claim 1 or 2, the device comprising:

and the packaging module is used for packaging the workpiece to be processed.

9. Control device of a packaging device, characterized in that it comprises a processor and a memory in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement a control method of a packaging device according to any one of claims 3 to 7.

10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded by a processor and executes a control method of a packaging apparatus according to any one of claims 3 to 7.