CN117446716A - Cap screwing control method and servo cap screwing machine - Google Patents
Cap screwing control method and servo cap screwing machine Download PDFInfo
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- CN117446716A CN117446716A CN202311512140.2A CN202311512140A CN117446716A CN 117446716 A CN117446716 A CN 117446716A CN 202311512140 A CN202311512140 A CN 202311512140A CN 117446716 A CN117446716 A CN 117446716A
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- 230000005540 biological transmission Effects 0.000 description 9
- 238000007789 sealing Methods 0.000 description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/26—Applications of control, warning, or safety devices in capping machinery
- B67B3/262—Devices for controlling the caps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sealing Of Jars (AREA)
Abstract
The invention discloses a cap screwing control method and a servo cap screwing machine, which belong to the technical field of caps, wherein after a cap is gripped by a cap screwing assembly, a servo motor is started, and the output rotating speed of the servo motor is controlled to be increased to a first rotating speed; and judging whether the output torque of the servo motor reaches a first torque, if not, controlling the output rotating speed of the servo motor to be kept to be operated at the first rotating speed, and if so, controlling the servo motor to reduce speed and simultaneously controlling the output torque of the servo motor to be increased. And judging whether the output rotating speed of the servo motor is reduced to a second rotating speed or not, and whether the output torque of the servo motor is increased to a second torque or not, if so, controlling the servo motor to keep the output torque to be operated at the second torque until the feedback torque of the servo motor is greater than or equal to the upper torque limit. The invention can reduce the probability of the occurrence of the condition of overlarge screwing torque, prevent the difficulty in uncovering caused by overlarge screwing torque and has higher reliability.
Description
Technical Field
The invention relates to the technical field of cap screwing, in particular to a cap screwing control method and a servo cap screwing machine.
Background
Cap screwing machines are commonly used in the liquid packaging industry to secure caps to bottles to seal the bottles. A capping machine is a closure device that secures a cap to a bottle filled with product. The torque of the cap screwing machine directly influences the sealing performance of the bottle seal and the torque required by the cap opening of a consumer. Specifically, the larger the torque force of the screw cap is, the better the sealing performance of the seal is, the larger the torque force required during the cap opening is, the larger the cap opening difficulty of consumers is, and the acceptance degree is poor; on the contrary, the smaller the torque of the screw cap is, the worse the sealing performance of the seal is, the too small torque of the screw cap can even cause leakage phenomenon, thereby losing the sealing effect, and at the moment, the torque of the cap opening is small and has no meaning. Therefore, the torque force of the cap is required to be balanced between the sealing performance and the cap opening force, so that the cap has higher sealing performance and the cap opening torque force is required to be as small as possible.
In the prior art, the cap is screwed through a servo cap screwing machine, the servo cap screwing machine comprises a servo motor and a cap screwing assembly, the cap screwing assembly can grasp the cap and then cap the cap on the bottle, and the servo motor is used for driving the cap screwing assembly to rotate so as to screw the cap on the bottle. And driving the cap screwing assembly to rotate by the servo motor according to the set torque until the feedback torque received by the servo motor is greater than the maximum torque. The set torque and the maximum torque can be obtained through experimental or theoretical calculation, so that the cap can be smoothly installed on the bottle by the cap screwing assembly under the driving of the servo motor, the cap screwing assembly has higher sealing performance, the leakage condition can not occur, the problem that the torque required by the cap opening is too large can not occur, and the cap screwing assembly is within the acceptable degree of a user.
However, in actual operation, since the servo motor is generally connected with the cap screwing assembly through a transmission chain or other connection structures, when the servo motor stops outputting torque after receiving the feedback torque as the maximum torque, the cap screwing machine has moment of inertia, and under the action of the moment of inertia, the cap screwing assembly cannot immediately stop screwing and can continue screwing, so that the cap screwing torque is continuously increased, and further the cap screwing torque is larger than the cap opening torque allowable range, so that the reliability of the cap screwing machine in the prior art is lower.
Disclosure of Invention
The invention aims to provide a cap screwing control method and a servo cap screwing machine, which can reduce the condition of overlarge cap screwing torque, prevent cap opening difficulty caused by overlarge cap screwing torque and have higher reliability.
The technical scheme adopted by the invention is as follows:
the cap screwing control method is applied to control a servo cap screwing machine, the servo cap screwing machine comprises a servo motor and a cap screwing assembly, the servo motor is connected with the cap screwing assembly and used for driving the cap screwing assembly to move, and the cap screwing control method comprises the following steps of:
s1, after the cap is gripped by the cap screwing assembly, starting a servo motor, and controlling the output rotating speed of the servo motor to be increased to a first rotating speed;
s2, judging whether the output torque of the servo motor reaches a first torque, if not, executing a step S3, and if so, executing a step S4;
s3, controlling the output rotating speed of the servo motor to be kept to be the first rotating speed, and executing a step S2 after a first preset time period;
s4, controlling the servo motor to decelerate, simultaneously controlling the output torque of the servo motor to increase, and executing the step S5;
s5, judging whether the output rotating speed of the servo motor is reduced to a second rotating speed or not, and whether the output torque of the servo motor is increased to the second torque or not, if so, executing a step S6, and if not, executing a step S4;
and S6, controlling the servo motor to keep the output torque to be the second torque, and operating until the feedback torque of the servo motor is greater than or equal to the upper torque limit.
Optionally, the step S4 includes the following steps:
s41, according to the output rotation speed v of the servo motor at the time t t And a first relation calculates a first output torque N of the servo motor at a time t t The output rotation speed v t Greater than the second rotational speed and less than the first rotational speed, the first output torque N t Greater than the first torque and less than the second torque;
s42, determining the actual output torque of the servo motor at the time t;
S43、judging whether the actual output torque of the servo motor at the time t is equal to or greater than the first output torque N t If yes, go to step S44, if no, go to step S45;
s44, controlling the servo motor to continue to decelerate;
s45, controlling the servo motor to stop decelerating and keeping the output rotation speed v t And operating until the actual output torque of the servo motor reaches the first output torque.
Optionally, the first relation is:
wherein N is t Representing a first output torque, N 1 Representing the first torque, N 2 Representing the second torque, v 1 Indicating a first rotation speed, v 2 Representing the second rotational speed, v t The output rotation speed at time t is indicated.
Optionally, the first relation is:
wherein N is t Representing a first output torque, N 1 Representing the first torque, N 2 Representing the second torque, v 1 Indicating a first rotation speed, v 2 Representing the second rotational speed, v t The output rotation speed at the time t is indicated,representation->Cosine values of (a) are provided.
Optionally, in controlling the servo motor to slow down, a plurality of times t are determined, and steps S41-S45 are performed once for each of said times t.
Optionally, the deceleration acceleration of the servo motor during deceleration satisfies a second relational expression, where the second relational expression is:
wherein a represents deceleration acceleration, v 1 Indicating a first rotation speed, v 2 Indicating the second rotation speed, deltat 1 Indicating the deceleration duration.
Optionally, in step S6, when the output rotation speed of the servomotor is 0, the servomotor is controlled to keep the output torque at the second torque for a second preset period of time until the feedback torque of the servomotor is greater than or equal to the torque upper limit.
Optionally, the servo cap screwing machine further includes a detection system, and before step S1, the cap screwing control method further includes:
and controlling the detection system to detect whether a part missing defect exists, if so, controlling the servo motor to stop running, and if not, executing the step S1, wherein the part missing defect comprises a bottle missing defect and/or a cap missing defect.
Optionally, the second rotation speed is less than or equal to 100 rotations per minute, the first rotation speed satisfies a third relation, and the third relation is:
wherein v is 1 The first rotating speed is represented, X represents the preset number of cap screwing turns, and delta t 2 Indicating a preset capping duration.
The servo cap screwing machine comprises a servo motor, a cap screwing assembly and a controller connected with the servo motor and the cap screwing assembly, wherein the servo motor is in driving connection with the cap screwing assembly, and the controller controls the servo motor and the cap screwing assembly to act according to the cap screwing control method.
The invention has the beneficial effects that:
according to the cap screwing control method and the servo cap screwing machine, after the cap is gripped by the cap screwing assembly, the servo motor is started, and the output rotating speed of the servo motor is controlled to be increased to the first rotating speed; judging whether the output torque of the servo motor reaches the first torque, if not, controlling the output rotating speed of the servo motor to be kept to be operated at the first rotating speed, and if so, controlling the servo motor to reduce speed and simultaneously controlling the output torque of the servo motor to be increased; judging whether the output rotating speed of the servo motor is reduced to a second rotating speed or not, and judging whether the output torque of the servo motor is increased to the second torque or not, if so, controlling the servo motor to keep the output torque to be the second torque to operate until the feedback torque of the servo motor is larger than or equal to the upper torque limit, if not, continuously controlling the servo motor to reduce the speed, simultaneously controlling the output torque of the servo motor to be increased, realizing the dual control of the output rotating speed of the servo motor through the first rotating speed and the second rotating speed, realizing the dual control of the output torque of the servo motor through the first torque and the second torque, gradually reducing the output rotating speed of the servo motor when screwing the cover, and compared with a control mode of only controlling the output torque of the servo motor, the influence of inertia torque of a screwing cover transmission chain on the cover torque can be reduced or even eliminated, so that the screwing cover torque output by the servo motor can be more stable, further reducing the probability of the occurrence of overlarge screwing cover torque, preventing the overlarge screwing cover torque and leading to cover opening difficulty, and having higher reliability.
Drawings
FIG. 1 is a schematic diagram of a servo cap screwing machine according to an embodiment of the present invention;
FIG. 2 is a schematic view of a cap screwing arm, cap screwing support, cap grasping region, first transition region, cap screwing region and second transition region provided in an embodiment of the present invention;
FIG. 3 is a flowchart of a method for controlling a screw cap according to an embodiment of the present invention;
FIG. 4 is a graph of output torque versus time provided by an embodiment of the present invention;
fig. 5 is a graph of output rotational speed versus time provided by an embodiment of the present invention.
In the figure:
1. a servo motor; 2. a capping head; 3. a cover grabbing head; 4. a screw cap support; 5. lifting cams; 6. a gear set; 7. a cap screwing arm; q1, a cover grabbing area; q2, a first transition zone; q3, a spiral cover area; q4, a second transition zone.
Detailed Description
In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
The embodiment provides a cap screwing control method, which can reduce the condition of overlarge cap screwing torque, prevent cap opening difficulty caused by overlarge cap screwing torque and has higher reliability.
Before describing the cap screwing control method provided in this embodiment, a servo cap screwing machine will be described.
As shown in fig. 1, the servo cap screwing machine comprises a servo motor 1, a cap screwing assembly and a controller (not shown), wherein the controller is connected with the servo motor 1 and the cap screwing assembly in a control connection mode. The servo motor 1 is drivingly connected to the cap screwing assembly and is used for driving the cap screwing assembly to rotate so as to screw the cap screwing assembly. Specifically, as shown in fig. 1, the cap screwing assembly comprises a cap screwing head 2 and a cap grabbing head 3, wherein the cap grabbing head 3 is connected to the cap screwing head 2 and used for grabbing a cap, and when the cap screwing head 2 rotates, the cap grabbing head 3 is driven to rotate, so that the cap grabbing head 3 grabs the cap to rotate, and the cap is connected to a bottle.
Optionally, referring to fig. 1, the servo cap screwing machine further includes a cap screwing support 4, a lifting cam 5, a gear set 6, and a cap screwing arm 7. Wherein, the lifting cam 5 is used for controlling the height position of the cap screwing arm 7 at different circumferential angles; the servo motor 1 is used for outputting torque of the screw cap and controlling the rotating speed and the torque of the screw cap arm 7. The gear set 6, the cap screwing arm 7, the cap screwing head 2 and the cap grabbing head 3 form a cap screwing transmission chain together, and the cap screwing transmission chain is used for transmitting the torque and the rotation speed of the servo motor 1 to the cap grabbing head 3. Specifically, the output end of the servo motor 1 is in transmission connection with a gear set 6, the gear set 6 is in transmission connection with a cap screwing arm 7, and the cap screwing head 2 is connected with the cap screwing arm 7. The cap screwing support 4 is intended to support the cap screwing arm 7 and to carry the cap screwing arm 7 together in a rotary movement around a cam structure to grip caps on a cap conveyor line or to screw caps on different bottle conveyor lines. The gripping head 3 is used to grip the cap and to transmit the cap screwing torque and rotation speed to the cap.
The working principle of the servo cap screwing machine provided by the embodiment is as follows:
the servo motor 1, the gear set 6, the cap screwing arm 7, the cap screwing head 2 and the cap grabbing head 3 form a cap screwing transmission chain, and the cap grabbing head 3 is directly driven to rotate by the servo motor 1 to screw the cap. The rotary cover support 4 is provided with rotary power by the support seat, and synchronously rotates along with bottle transmission of the filling production line, so that each cover grabbing head 3 corresponds to one bottle. Grooves with different heights are formed in the circumference of the lifting cam 5, and the shaft bearing of the spiral cover arm 7 moves in the groove; the lifting cam 5 is fixed by a supporting seat. When the cap screwing arm 7 rotates along with the cap screwing support 4, the lifting cam 5 controls the height of the cap screwing arm 7, and different operations are performed in different areas. As shown in fig. 2, one rotation of the cap screwing arm 7 sequentially passes through the cap grasping region Q1, the first transition region Q2, the cap screwing region Q3, and the second transition region Q4. When the cap screwing arm 7 is located in the cap grasping area Q1, cap grasping is performed by the cap grasping head 3, and when the cap screwing arm 7 is located in the cap screwing area Q3, cap screwing operation is performed. The rotation direction of the cap holder 4 may be changed according to the production line. More specific working steps of the servo cap screwing machine can be seen in the prior art, and the embodiment is not limited to this.
The method of controlling the screw cap according to the present embodiment will be described in detail.
The cap screwing control method provided by the embodiment is applied to a servo cap screwing machine, and is specifically executed by a controller.
As shown in fig. 3, the cap screwing control method includes the steps of:
s1, after a cap is gripped by a cap screwing assembly, starting a servo motor 1, and controlling the output rotating speed of the servo motor 1 to be increased to a first rotating speed;
in this embodiment, this process may take place in the first transition zone of the cap screwing arm 7, it being noted that the cap grasping head 3, after grasping the cap, does not come into direct contact with the bottle mouth, but requires the cap screwing drive belt to drive the cap slowly close to the bottle, this process also taking place in the first transition zone, the cap screwing arm 7 beginning to enter the cap screwing zone when the cap comes into contact with the bottle. When the cap is not in contact with the bottle, the output torque of the servomotor 1 is the initial cap screwing torque. As shown in fig. 4, the initial cap screwing torque is a torque before the time t 2.
S2, judging whether the output torque of the servo motor 1 reaches a first torque, if not, executing a step S3, and if so, executing a step S4;
in this embodiment, the first torque is greater than the initial cap screwing torque, and as shown in fig. 4, the first torque is the output torque corresponding to time t2, and N is used 1 And (3) representing.
In step S2, the controller may detect the output torque of the servomotor 1 in real time by a sensor or a detector, and the detected output torque data is analyzed and compared by the controller. When it is detected that the output torque of the servomotor 1 reaches the first torque, step S4 is performed, otherwise step S3 is performed.
S3, controlling the output rotating speed of the servo motor 1 to be kept to be a first rotating speed;
in step S3, the output torque of the servomotor 1 does not reach the first torque, which may occur because the cap has not been in contact with the bottle, and the output torque of the servomotor 1 may show an upward trend after the cap is in contact with the bottle. The servomotor 1 maintains a first rotational speed output to facilitate the cap contact with the bottle.
In step S3, step S2 is performed again after the first preset time period, that is, it is again determined whether the output torque of the servomotor 1 reaches the first torque.
S4, controlling the servo motor 1 to decelerate, simultaneously controlling the output torque of the servo motor 1 to increase, and executing step S5;
when the output torque of the servomotor 1 reaches the first torque, it is indicated that the cap has been in contact with the bottle, at which time it is necessary to increase the output torque of the servomotor 1 while controlling the output rotation speed of the servomotor 1 to decrease so as to be able to smoothly screw the cap.
S5, judging whether the output rotating speed of the servo motor 1 is reduced to a second rotating speed or not, and whether the output torque of the servo motor 1 is increased to the second torque or not, if yes, executing a step S6, and if not, executing a step S4;
in step S4, during the deceleration of the servomotor 1, the output rotation speed of the servomotor 1 may be detected in real time, for example, by detecting the output rotation speed of the servomotor 1 by a speed sensor, or the output rotation speed of the servomotor 1 may be obtained directly by the servomotor 1. Judging whether the output rotation speed of the servomotor 1 is reduced to the second rotation speed, judging whether the output torque of the servomotor 1 is increased to the second torque, if the output rotation speed of the servomotor 1 is reduced to the second rotation speed and the output torque of the servomotor 1 is increased to the second torque, executing step S6, and if the output rotation speed of the servomotor 1 is not reduced to the second rotation speed or the output torque of the servomotor 1 is not increased to the second torque, continuing to control the servomotor 1 to reduce and simultaneously controlling the output torque of the servomotor 1 to increase.
The second torque is a required torque when the cap is screwed, that is, the cap is screwed with the second torque to enable the connection between the cap and the bottle to have high tightness. As shown in fig. 4, at time t3, the output torque of the servomotor 1 reaches the second torque N 2 The output rotation speed of the servomotor 1 drops to a second rotation speed v 2 。
And S6, controlling the servo motor 1 to keep the output torque to be the second torque, and running until the feedback torque of the servo motor 1 is greater than or equal to the upper torque limit.
Wherein, when the servo motor 1 is operated, a feedback torque is detected, which may be different from the output torque, specifically, when the servo motor 1 is subjected to resistance, the detected feedback torque is larger than the output torque, and in step S6, when the cap and the bottle are not rotated relatively any more during cap screwing, the cap grabbing head 3 is not rotated any more, and at this time, the servo motor 1 detects the feedback torque and transmits the feedback torque to the controller. The upper torque limit is the cap screwing torque when the higher tightness is ensured and the larger cap screwing torque is not needed, and when the feedback torque is larger than or equal to the upper torque limit, the cap screwing is indicated to meet the requirement. The torque upper limit may be stored in the controller in advance, and the specific value may be obtained by means of a test, simulation, or the like.
FIG. 4 is a graph showing the relationship between the output torque of the servo motor 1 and time, wherein the output torque of the servo motor 1 reaches the first torque N at time t2 1 The output torque of the servomotor 1 gradually increases in the period of t2 to t3, and reaches the second torque N at time t3 2 During the period from t3 to t4, the servomotor 1 maintains the output torque at the second torque N 2 Output, the output torque of the servomotor 1 gradually decreases until 0 in the period of t4 to t 5.
FIG. 5 is a graph showing the relationship between the output rotation speed of the servo motor 1 and time, wherein the output rotation speed of the servo motor 1 is increased to a first rotation speed v before the time t2 1 And maintaining the first rotational speed for a period of time. In the period from t2 to t3, the output rotation speed of the servo motor 1 is gradually reduced, and at the time t3, the output rotation speed of the servo motor 1 is reduced to the second rotation speed v 2 At a short time after time t3, the output rotation speed of the servomotor 1 is reduced to 0, and the servomotor 1 no longer drives the cap grabbing head 3 to rotate.
In the cap screwing control method provided by the embodiment, after the cap screwing assembly grabs the cap, the servo motor 1 is started, and the output rotating speed of the servo motor 1 is controlled to be increased to the first rotating speed; judging whether the output torque of the servo motor 1 reaches the first torque, if not, controlling the output rotating speed of the servo motor 1 to be kept to be operated at the first rotating speed, and if so, controlling the servo motor 1 to be decelerated and simultaneously controlling the output torque of the servo motor 1 to be increased; judging whether the output rotating speed of the servo motor 1 is reduced to the second rotating speed or not, and if yes, controlling the servo motor 1 to keep the output torque to be the second torque, until the feedback torque of the servo motor 1 is larger than or equal to the upper torque limit, if not, continuously controlling the servo motor 1 to reduce speed, and meanwhile controlling the output torque of the servo motor 1 to be increased, realizing double control on the output rotating speed of the servo motor 1 through the first rotating speed and the second rotating speed, realizing double control on the output torque of the servo motor 1 through the first torque and the second torque, gradually reducing the output rotating speed of the servo motor 1 when screwing a cover, and compared with a control mode of only controlling the output torque of the servo motor 1, the output rotating speed of the servo motor 1 and the output torque are mutually matched, so that the influence of inertia torque of a screwing a cover transmission chain on the cover torque can be reduced, the screwing cover torque output by the servo motor 1 can be more stable, the situation that the screwing cover torque is excessively large can be reduced, difficulty caused by the overlarge screwing cover torque can be prevented, and higher reliability can be realized.
Optionally, step S4 includes the steps of:
s41, according to the output rotation speed v of the servo motor 1 at the time t t And a first relation calculating a first output torque N of the servo motor 1 at a time t t 。
Wherein the output rotation speed v t Greater than the second rotation speed and less than the first rotation speed, the first output torque N t Greater than the first torque and less than the second torque.
In some alternative embodiments, the first relationship is:
in other alternative embodiments, the first relationship is:
in the two first relations, N t Representing a first output torque, N 1 Representing the first torque, N 2 Representing the second torque, v 1 Indicating a first rotation speed, v 2 Representing the second rotational speed, v t Indicating the output rotation speed at time t, 180 ° Which means that by means of 180 degrees,representation->Cosine values of (a) are provided.
The two first relations may be selected according to actual requirements, which is not limited in this embodiment.
S42, determining the actual output torque of the servo motor 1 at the time t;
in step S42, it is necessary to determine the actual output torque of the servomotor 1 at time t, that is, the output torque of the servomotor 1 at time t, and this data may be obtained by the servomotor 1 or may be detected by a torque sensor, which is not limited in this embodiment.
S43, judging whether the actual output torque of the servo motor 1 at the time t is equal to or greater than the first output torque N t If yes, go to step S44, if no, go to step S45;
after the first output torque and the actual output torque at time t are calculated by the first relational expression, the magnitudes of the two values need to be compared.
S44, controlling the servo motor 1 to continue to decelerate;
when the actual output torque at the time t is greater than or equal to the first output torque, the change relation between the output torque and the output rotating speed of the servo motor 1 accords with a first relation, and the output torque and the output rotating speed have a better matching relation.
S45, controlling the servo motor 1 to stop decelerating and keeping the output rotation speed v t And the operation is carried out until the output torque of the servo motor 1 reaches the first output torque.
When the actual output torque at time t is smaller than the first output torque, it is indicated that the output torque of the servomotor 1 increases slowly, and at this time, it is necessary to control the speed of the servomotor 1 to be constant, waiting for the output torque of the servomotor 1 to gradually increase to the first output torque.
After the actual output torque of the servomotor 1 reaches the first output torque, the servomotor 1 is controlled to continue to decelerate, and the relationship between the output torque and the output rotation speed during deceleration conforms to the first relational expression.
Alternatively, in controlling the deceleration of the servomotor 1, a plurality of times t may be determined, and steps S41 to S45 may be performed once for each time t.
For example, if the servomotor 1 is reduced from the first rotational speed to the second rotational speed and the period of time taken for the first torque to increase to the second torque is 6 seconds, the actual output torque and the first output torque may be calculated in the second, third second and fifth seconds when the servomotor 1 starts to decelerate, respectively, and the operation mode of the servomotor 1 is controlled according to the calculation structure, so as to ensure that the output torque of the servomotor 1 is just the second torque when the output rotational speed of the servomotor 1 is the second rotational speed.
In some alternative embodiments, the deceleration acceleration at the time of deceleration of the servomotor 1 satisfies a second relational expression:
wherein a represents deceleration acceleration, v 1 Indicating a first rotation speed, v 2 Indicating the second rotation speed, deltat 1 Indicating the deceleration duration.
Optionally, in step S6, when the output rotation speed of the servomotor 1 is reduced to 0, the servomotor 1 is controlled to maintain the output torque to be the second torque for a second preset period of time until the feedback torque of the servomotor 1 is greater than or equal to the upper torque limit, and after the output rotation speed is 0, the servomotor 1 can still apply torque to the relevant cap, so as to ensure the reliability of the connection between the cap and the bottle, improve the sealing performance, and prevent leakage. It should be noted that the second preset duration can be preset, and is not easy to be too long, the too long torque of the cap can be too large, and further the required torque is too large when the cap is opened, and too short can affect the sealing performance. As shown in fig. 4, the second preset time period is equal to t4-t3.
Optionally, in order to ensure the normal operation of the servo cap screwing machine, the servo cap screwing machine further includes a detection system, and before step S1, the cap screwing control method further includes:
and (3) controlling the detection system to detect whether the part defect exists, if so, controlling the servo motor 1 to stop running, and if not, executing the step (S1).
Wherein the defect of the part lack comprises a bottle lack defect and/or a cap lack defect. The lack of bottle means that there is no bottle at the station where the cap is to be screwed, and the lack of cap means that the cap grasping head 3 does not grasp the cap.
When the defect occurs, the output torque of the servomotor 1 does not reach the second torque, and if the defect detecting step is not provided, the program is disordered and cannot be continued. The start of the next cycle can be ensured by the missing piece detection step.
Optionally, the second rotation speed in this embodiment is less than or equal to 100 rotations per minute, preferably, the second rotation speed is 50 rotations per minute, and the first rotation speed satisfies a third relation, where the third relation is:
wherein v is 1 The first rotating speed is represented, X represents the preset number of cap screwing turns, and delta t 2 Indicating a preset capping duration.
The preset number of turns of the cap is a value preset in the controller, and examples thereof are 3 turns, 4 turns, etc., which is not limited in this embodiment. The preset cap screwing time is a value preset in the controller, and is particularly related to the specific structure, the output efficiency and the like of the servo cap screwing machine.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The cap screwing control method is applied to control a servo cap screwing machine, the servo cap screwing machine comprises a servo motor (1) and a cap screwing assembly, the servo motor (1) is connected with the cap screwing assembly and used for driving the cap screwing assembly to move, and the cap screwing control method is characterized by comprising the following steps of:
s1, after the cap screwing assembly catches a cap, starting a servo motor (1), and controlling the output rotating speed of the servo motor (1) to be increased to a first rotating speed;
s2, judging whether the output torque of the servo motor (1) reaches a first torque, if not, executing a step S3, and if so, executing a step S4;
s3, controlling the output rotating speed of the servo motor (1) to be kept to be the first rotating speed, and executing a step S2 after a first preset time period;
s4, controlling the servo motor (1) to decelerate, simultaneously controlling the output torque of the servo motor (1) to increase, and executing the step S5;
s5, judging whether the output rotating speed of the servo motor (1) is reduced to a second rotating speed, and whether the output torque of the servo motor (1) is increased to the second torque, if so, executing a step S6, and if not, executing a step S4;
s6, controlling the servo motor (1) to keep the output torque to be the second torque to operate until the feedback torque of the servo motor (1) is greater than or equal to the upper torque limit.
2. The cap screwing control method according to claim 1, wherein the step S4 includes the steps of:
s41, according to the output rotation speed v of the servo motor (1) at the time t t And a first relation calculates a first output torque N of the servo motor (1) at a time t t The output rotation speed v t Greater than the second rotational speed and less than the first rotational speed, the first output torque N t Greater than the first torque and less than the second torque;
s42, determining the actual output torque of the servo motor (1) at the time t;
s43, judging whether the actual output torque of the servo motor (1) at the time t is equal to or greater than the first output torque N t If yes, go to step S44, if no, go to step S45;
s44, controlling the servo motor (1) to continue decelerating;
s45, controlling the servo motor (1) to stop decelerating and keeping the output rotating speed v t And (3) operating until the actual output torque of the servo motor (1) reaches the first output torque.
3. The method of claim 2, wherein the first relation is:
wherein N is t Representing a first output torque, N 1 Representing the first torque, N 2 Representing the second torque, v 1 Indicating a first rotation speed, v 2 Representing the second rotational speed, v t The output rotation speed at time t is indicated.
4. The method of claim 2, wherein the first relation is:
wherein N is t Representing a first output torque, N 1 Representing the first torque, N 2 Representing the second torque, v 1 Indicating a first rotation speed, v 2 Representing the second rotational speed, v t The output rotation speed at the time t is indicated,representation->Cosine values of (a) are provided.
5. A cap screwing control method according to claim 2, characterized in that in controlling the deceleration of the servomotor (1), a plurality of times t are determined, and steps S41-S45 are performed once for each of said times t.
6. A cap screwing control method according to any one of claims 2-5, wherein the deceleration acceleration at the time of deceleration of the servo motor (1) satisfies a second relational expression, the second relational expression being:
wherein a represents deceleration acceleration, v 1 Indicating a first rotation speed, v 2 Indicating the second rotation speed, deltat 1 Indicating the deceleration duration.
7. The cap screwing control method according to any one of claims 1 to 5, characterized in that in step S6, when the output rotation speed of the servomotor (1) is 0, the servomotor (1) is controlled to maintain the output torque at the second torque for a second preset period of time until the feedback torque of the servomotor (1) is greater than or equal to the torque upper limit.
8. The cap screwing control method according to any one of claims 1 to 5, wherein the servo cap screwing machine further comprises a detection system, and before step S1, the cap screwing control method further comprises:
and controlling the detection system to detect whether a piece missing defect exists, if yes, controlling the servo motor (1) to stop running, and if not, executing the step S1, wherein the piece missing defect comprises a bottle missing defect and/or a cap missing defect.
9. The cap screwing control method according to any one of claims 1 to 5, wherein the second rotation speed is 100 rotations per minute or less, the first rotation speed satisfies a third relational expression, the third relational expression being:
wherein v is 1 The first rotating speed is represented, X represents the preset number of cap screwing turns, and delta t 2 Indicating a preset capping duration.
10. The servo cap screwing machine is characterized by comprising a servo motor (1), a cap screwing assembly and a controller connected with the servo motor (1) and the cap screwing assembly, wherein the servo motor (1) is in driving connection with the cap screwing assembly, and the controller controls the servo motor (1) and the cap screwing assembly to act according to the cap screwing control method of any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311512140.2A CN117446716A (en) | 2023-11-14 | 2023-11-14 | Cap screwing control method and servo cap screwing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311512140.2A CN117446716A (en) | 2023-11-14 | 2023-11-14 | Cap screwing control method and servo cap screwing machine |
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| CN117446716A true CN117446716A (en) | 2024-01-26 |
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| CN202311512140.2A Pending CN117446716A (en) | 2023-11-14 | 2023-11-14 | Cap screwing control method and servo cap screwing machine |
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| Country | Link |
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| CN (1) | CN117446716A (en) |
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- 2023-11-14 CN CN202311512140.2A patent/CN117446716A/en active Pending
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