CN112551245B - Self-adaptive adjustment method for movement speed of paper shoveling frame - Google Patents

Self-adaptive adjustment method for movement speed of paper shoveling frame Download PDF

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CN112551245B
CN112551245B CN202011383234.0A CN202011383234A CN112551245B CN 112551245 B CN112551245 B CN 112551245B CN 202011383234 A CN202011383234 A CN 202011383234A CN 112551245 B CN112551245 B CN 112551245B
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paper
shoveling frame
frame
bundle
lifting
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CN112551245A (en
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李丽娟
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Guangdong Dongfang Precision Science and Technology Co Ltd
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Guangdong Dongfang Precision Science and Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H33/00—Forming counted batches in delivery pile or stream of articles
    • B65H33/06—Forming counted batches in delivery pile or stream of articles by displacing articles to define batches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/74—Auxiliary operations
    • B31B50/92—Delivering
    • B31B50/98—Delivering in stacks or bundles

Abstract

The invention discloses a self-adaptive adjustment method for the movement speed of a paper shoveling frame, belonging to the technical field of stacking of carton production, wherein the insertion process of the paper shoveling frame in the method sequentially comprises the following steps: starting an acceleration section, a paper bundle separation section and a deceleration stop section; the starting acceleration section is that the paper shoveling frame reaches the upper surface of the paper outlet from the position when starting insertion; the paper bundle separating section is a position where the paper shoveling frame reaches the new paper bundle and the old paper bundle from the upper surface of the paper outlet and is separated; the deceleration stop section is used for enabling the paper shoveling frame to reach the upper surface of the old paper bundle from the position when the new paper bundle and the old paper bundle are separated; in the starting acceleration section, the paper shoveling frame continuously accelerates and descends; in the paper bundle separating section, the paper shoveling frame descends at the operation speed; in the deceleration stop section, the paper shoveling frame continuously decelerates and descends to stop; the method is accurate and stable in control, can automatically optimize operation according to different mechanical parameters, and is high in applicability.

Description

Self-adaptive adjustment method for movement speed of paper shoveling frame
Technical Field
The invention relates to the technical field of stacking of carton production, in particular to a self-adaptive adjusting method for the movement speed of a paper shoveling frame.
Background
The counting and pushing unit is an important unit of the carton gluing machine and is equipment for further carrying out processes of stacking, correcting, counting, separating, conveying and the like on the cartons formed by the folding unit. In order to realize the uninterrupted stacking, separation and conveying of the paper bundles, the paper shoveling frame needs to be controlled to be inserted between the last paper box of the old paper bundle and the first paper box of the new paper bundle after the old paper bundle is stacked, the new paper bundle and the old paper bundle are separated and reach the upper surface of the old paper bundle, the old paper bundle is clamped together with the paper supporting frame, and the old paper bundle is conveyed out.
The conventional insertion control method of the paper shoveling frame comprises the following steps: calculating the time required by inserting the paper shoveling frame according to the distance between the two paper boxes and the conveying speed of the paper boxes; calculating the speed and acceleration of inserting the paper shoveling frame according to the insertion stroke and the empirical proportion coefficient of the paper shoveling frame; when the number of the actual bundles reaches a set value, the paper shoveling frame immediately and vertically descends to the surface of the old paper bundle according to the calculated speed and acceleration.
The above method has certain technical defects, including:
1. in order to ensure the insertion effect of the paper shoveling frame, a larger insertion speed and acceleration are required to be given, the impact on the mechanical structure is large, and the service life of the machine is influenced.
2. When the distance between two paper boxes is very small, the paper feeding speed is very high, the insertion time is very short, the insertion stroke of the paper shoveling frame is large, the torque and the maximum speed of the paper shoveling frame are limited, the paper shoveling frame is very easy to have the problems that paper cannot be received in time, the paper bundle stacking quantity is inaccurate, the paper shoveling frame is stopped by alarming, paper is damaged, paper is jammed, and even a mechanical structure is damaged, so that the technical precision of paper bundle stacking of a box gluing machine is influenced, the speed of the box gluing machine is prevented from being improved, the yield, the performance and the stability of production are reduced, paper boards are wasted, mechanical damage is possibly caused, and economic loss is caused to the production.
3. The paper shoveling frame has motion lag due to mechanical inertia, and the insertion speed is accelerated by using an empirical proportionality coefficient, so that although the lag can be reduced to a certain degree, if the coefficient is unreasonable, the insertion advance of the paper shoveling frame can be generated; moreover, when box gluing machines of different models, different printing machines are connected, different cartons are produced, different numbers of stacked bundles are produced, and different speeds are adopted, the inserting effects of the paper shoveling frames are different, and the stability of the inserting effects is difficult to control.
It is seen that improvements and enhancements in the prior art are needed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method for adaptively adjusting the moving speed of a paper shoveling frame, and aims to solve at least one of the above-mentioned technical problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-adaptive adjustment method for the movement speed of a paper shoveling frame sequentially comprises the following steps of: starting an acceleration section, a paper bundle separation section and a deceleration stop section;
the starting acceleration section is that the paper shoveling frame reaches the upper surface of the paper outlet from the position when starting insertion;
the paper bundle separating section is a position where the paper shoveling frame reaches the new paper bundle and the old paper bundle from the upper surface of the paper outlet and is separated;
the deceleration stop section is used for enabling the paper shoveling frame to reach the upper surface of the old paper bundle from the position when the new paper bundle and the old paper bundle are separated;
in the starting acceleration section, the paper shoveling frame continuously accelerates and descends; in the paper bundle separating section, the paper shoveling frame descends at the operation speed; in the deceleration stop section, the paper shoveling frame continuously decelerates and descends to stop.
In the self-adaptive adjustment method of the movement speed of the paper shoveling frame, in the starting acceleration section, when the last paper box of the old paper bundle is just conveyed out of the paper outlet, the paper shoveling frame just descends to the upper surface of the paper outlet.
In the self-adaptive adjustment method for the movement speed of the paper shoveling frame, the positioning stroke S of the lifting of the paper shoveling frame in the starting acceleration section AB And positioning jerk J AB Comprises the following steps:
S AB ＝LIMIT(0.01,ABS(P A -P B ),P A -P E ) In millimeters;
wherein, P A The unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the paper shoveling frame is started to be inserted is millimeter;
P B the unit of the position of the paper shoveling frame is millimeter when the paper shoveling frame is arranged on the upper surface of the paper outlet;
P E the unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the new and old paper bundles are separated is millimeter;
Figure BDA0002810209880000031
the unit is the third power of millimeter/second;
wherein alpha is AB The positioning acceleration is expressed in square of millimeter/second;
T AB the unit is second for positioning time.
In the self-adaptive adjustment method of the movement speed of the paper shoveling frame, the positioning acceleration alpha of the lifting of the paper shoveling frame in the starting acceleration section AB And a positioning time T AB Comprises the following steps:
Figure BDA0002810209880000032
square in millimeters per second;
wherein, V AB For the positioning speed of the lifting of the paper shoveling frame,
Figure BDA0002810209880000033
units are mm/min;
Figure BDA0002810209880000034
the unit is second;
wherein, C AB Is the time experience scale factor of the start-up acceleration segment;
S S the stroke of the photoelectric switch from the paper outlet is counted, and the unit is millimeter;
V BOX the speed of carton conveying is given in meters per minute;
T BOX the time required for one carton to be conveyed is in seconds.
In the self-adaptive adjustment method for the movement speed of the paper shoveling frame, the maximum speed V for lifting the paper shoveling frame in the starting acceleration section VLim Comprises the following steps:
Figure BDA0002810209880000035
wherein, V VLim The maximum lifting speed of the paper shoveling frame is in millimeter/minute;
V VRate the rated rotating speed of a paper shoveling frame lifting motor is shown in the unit of revolutions per minute;
G V the transmission ratio of the paper shoveling frame lifting reduction box and the motor end/terminal end;
S VGear the unit is millimeter/revolution, which is the mechanical stroke of the paper shoveling frame lifting reduction box.
In the self-adaptive adjustment method of the movement speed of the paper shoveling frame, in the paper bundle separation section, the paper shoveling frame does not contact with the first paper box of a new paper bundle when passing through the paper outlet; when the paper shoveling frame reaches the lower surface of the paper outlet, the first paper box of the new paper bundle is just tangent to the tip end of the paper receiving surface of the paper shoveling frame; when the paper shoveling frame reaches a position at which the new paper bundle and the old paper bundle are completely separated, the paper shoveling frame receives the first paper box of the new paper bundle.
In the self-adaptive adjustment method of the movement speed of the paper shoveling frame, the positioning distance S of the paper shoveling frame in the paper bundle separation section BE And the positioning speed of the lifting is V BE Comprises the following steps:
S BE ＝LIMIT(0.01，ABS(P B -P E )，P B ) In millimeters;
Figure BDA0002810209880000041
units are mm/min;
wherein S is BE The positioning distance for lifting the paper shoveling frame;
T BE The positioning time of the lifting of the paper shoveling frame of the paper bundle separation section.
In the self-adaptive adjustment method for the movement speed of the paper shoveling frame, the positioning time T for lifting the paper shoveling frame in the paper bundle separation section BE Comprises the following steps:
Figure BDA0002810209880000042
the unit is second;
wherein, C BE Is a time empirical proportionality coefficient of the paper bundle separation section;
S Box the distance between the two cartons is in millimeters;
P H the target position for the lateral movement of the forklift during insertion is in millimeters.
In the self-adaptive adjusting method of the moving speed of the paper shoveling frame, the position P of the upper surface of the old paper bundle in the deceleration stop section F Comprises the following steps:
P F ＝LIMIT(10-P TLim ,P P -P T ,P E )；
wherein, P F The unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the paper shoveling frame is arranged on the upper surface of the old paper bundle is millimeter;
P TLim the unit is millimeter, and the highest position of the lifting of the paper support frame is the height of the paper support frame;
P P is the actual position of the lifting of the paper receiving platform,the unit is millimeter;
P T the unit is millimeter for the actual position of the lifting of the paper support frame.
In the self-adaptive adjusting method of the movement speed of the paper shoveling frame, the positioning deceleration alpha of the lifting of the paper shoveling frame in the deceleration stop section EF Comprises the following steps:
Figure BDA0002810209880000051
the units are millimeters per second squared.
Has the advantages that:
the invention provides a self-adaptive adjustment method of the movement speed of a paper shoveling frame, which comprises the steps of sequentially dividing the insertion of the paper shoveling frame into a starting acceleration section, a paper bundle separation section and a deceleration stop section for processing according to the mechanical structures of an upstream printing machine and a box gluing machine, the size of a paper box, the number of paper bundles and the production process and requirements of the paper bundle separation process, calculating the maximum speed of a servo shaft according to the motor parameters of the servo shaft, controlling the operation speed of the servo shaft within the maximum speed range, and avoiding the problems of shutdown and the like of the servo shaft due to deviation alarm; the control algorithm of the method for the paper shoveling frame is based on parameters of a mechanical structure, automatic optimization operation is carried out according to different mechanical parameters, and the method is high in applicability, universality and applicability and accurate and stable in control.
Drawings
Fig. 1 is a schematic diagram of a three-stage insertion process of the paper shoveling frame provided by the invention.
Fig. 2 is a schematic view of the paper shoveling frame at position a.
Fig. 3 is a schematic view of the paper shoveling frame located at position B.
Fig. 4 is a schematic view of the paper shoveling frame at position C.
Fig. 5 is a schematic view of the paper shoveling frame located at position D.
Fig. 6 is a schematic view of the paper shoveling frame located at the E position.
Fig. 7 is a schematic view of the paper shoveling frame at F.
FIG. 8 is a flow chart illustrating a process for inserting the paper spading rack according to one embodiment.
Fig. 9 is a waveform diagram of the control effect of the insertion of the paper cutting frame.
Detailed Description
The invention provides a method for adaptively adjusting the movement speed of a paper shoveling frame, which is described in further detail below by referring to the attached drawings and embodiments in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the "old paper bundle" and the "new paper bundle" refer to two paper bundles successively pushed out during the process, respectively, the former being referred to as "old paper bundle" and the latter being referred to as "new paper bundle".
In fig. 1 to 7, reference numeral "1" denotes a paper scooping frame, "2" denotes a paper outlet, "3" denotes a counter photoelectric switch, "4" denotes a paper tray, and "5" denotes a paper receiving platform.
The invention provides a self-adaptive adjustment method for the movement speed of a paper shoveling frame, which controls the insertion speed of the paper shoveling frame according to the mechanical structures of an upstream printing machine and a box gluing machine, the size of a paper box, the number of bundles and the production process and requirements of the paper bundle separation process. The insertion process of the paper shoveling frame in the method sequentially comprises the following steps: starting an acceleration section, a paper bundle separation section and a deceleration stop section;
the starting acceleration section is that the paper shoveling frame reaches the upper surface of the paper outlet from the position when starting insertion;
the paper bundle separating section is a position where the paper shoveling frame reaches the new paper bundle and the old paper bundle from the upper surface of the paper outlet and is separated;
the deceleration stop section is used for enabling the paper shoveling frame to reach the upper surface of the old paper bundle from the position when the new paper bundle and the old paper bundle are separated;
in the starting acceleration section, the paper shoveling frame continuously accelerates and descends; in the paper bundle separating section, the paper shoveling frame descends at the operation speed; in the deceleration stop section, the paper shoveling frame continuously decelerates and descends to stop.
Referring to fig. 1, for convenience of description, a position of the paper shoveling frame when starting insertion is set as a position a, a position of the paper shoveling frame when the paper shoveling frame is located at the upper surface of the paper outlet is set as a position B, a position of the paper shoveling frame when the paper shoveling frame is located at the paper outlet is set as a position C, a position of the paper shoveling frame when the paper shoveling frame is located at the lower surface of the paper outlet is set as a position D, a position of the paper shoveling frame when the new paper bundle and the old paper bundle are separated is set as a position E, and a position of the paper shoveling frame when the paper shoveling frame is located at the upper surface of the old paper bundle is set as a position F;
That is, the paper shoveling frame reaches the position B from the position A to form a starting acceleration section, reaches the position E from the position B to form a paper bundle separation section, and reaches the position F from the position E to form a deceleration stop section.
As shown in fig. 2 and 3, in the start-up acceleration section, after the mark indicating that the paper bundle is stacked is generated, the paper shoveling frame starts to descend from the position a, and when the last carton of the old paper bundle is just conveyed out of the paper outlet, the paper shoveling frame just descends to the upper surface of the paper outlet, so that the insertion speed of the paper shoveling frame is fast enough, and the paper shoveling frame is prevented from hitting the last carton of the old paper bundle.
Specifically, the starting acceleration section is provided with a positioning stroke S for lifting of the paper shoveling frame AB And positioning jerk J AB Comprises the following steps:
S AB ＝LIMIT(0.01,ABS(P A -P B ),P A -P E ) In millimeters;
wherein, P A The unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the paper shoveling frame is started to be inserted is millimeter;
P B the unit of the position of the paper shoveling frame is millimeter when the paper shoveling frame is arranged on the upper surface of the paper outlet;
P E the unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the new and old paper bundles are separated is millimeter;
Figure BDA0002810209880000071
the unit is the third power of millimeter/second;
wherein alpha is AB The positioning acceleration is expressed in square of millimeter/second;
T AB the unit is second for positioning time.
Furthermore, the positioning acceleration alpha of the lifting of the paper shoveling frame in the starting acceleration section AB And decideBit time T AB Comprises the following steps:
Figure BDA0002810209880000072
square in millimeters per second;
wherein, V AB For the positioning speed of the lifting of the paper shoveling frame,
Figure BDA0002810209880000081
units are mm/min;
Figure BDA0002810209880000082
the unit is second;
wherein, C AB The time experience proportion coefficient of the acceleration section is started, the larger the coefficient is, the longer the positioning time is, and the slower the positioning speed is;
S S the stroke of the photoelectric switch from the paper outlet is counted, and the unit is millimeter;
V BOX the speed of carton conveying is given in meters per minute;
T BOX the time required for one carton to be conveyed is in seconds.
Specifically, the maximum speed V of the lifting of the paper shoveling frame in the starting acceleration section VLim Comprises the following steps:
Figure BDA0002810209880000083
wherein, V VLim The maximum lifting speed of the paper shoveling frame is in millimeter/minute;
V VRate the rated rotating speed of a paper shoveling frame lifting motor is shown in the unit of revolutions per minute;
G V the transmission ratio of the paper shoveling frame lifting reduction box and the motor end/terminal end;
S VGear the unit is millimeter/revolution, which is the mechanical stroke of the paper shoveling frame lifting reduction box.
In the paper bundle separating section, as shown in fig. 4, the paper shoveling frame does not contact with the first paper box of the new paper bundle when passing through the paper outlet; as shown in fig. 5, when the paper shoveling frame reaches the lower surface of the paper outlet, the first paper box of the new paper bundle is just tangent to the tip of the paper receiving surface of the paper shoveling frame; as shown in fig. 6, when the paper spading frame reaches the position at which the separation of the new paper bundle and the old paper bundle is completed, the paper spading frame receives the first paper box of the new paper bundle.
Positioning distance S of paper shoveling frame in paper bundle separation section BE And the positioning speed of the lifting is V BE Comprises the following steps:
S BE ＝LIMIT(0.01，ABS(P B -P E )，P B ) In millimeters;
Figure BDA0002810209880000084
units are mm/min;
wherein S is BE The positioning distance for lifting the paper shoveling frame;
T BE the positioning time for lifting the paper shoveling frame of the paper bundle separation section.
Specifically, the positioning time T for lifting the paper shoveling frame in the paper bundle separating section BE Comprises the following steps:
Figure BDA0002810209880000091
the unit is second;
wherein, C BE The time experience scale coefficient of the paper bundle separation section is larger, the longer the positioning time is, and the slower the positioning speed is;
S Box the distance between the two cartons is in millimeters;
P H the target position for the lateral movement of the forklift during insertion is in millimeters.
According to the positioning speed of the lifting of the paper shoveling frame of the paper bundle separation section, which is obtained in the mode, only the situation that the paper shoveling frame reaches the position E where the new and old paper bundles are separated within the alternative interval time of the new and old paper bundles is considered, and the position F on the upper surface of the paper bundle is not required, so that the pressure of the speed can be relieved, the impact on a mechanical structure is reduced, the stability and the service life of equipment are improved, the bottleneck can be broken through, and the speed of the equipment is improved.
Further, as shown in fig. 7, in the deceleration stop section, the paper shoveling frame continuously decelerates to stop, and when the paper shoveling frame stops, the paper shoveling frame stops just and stably at the position F on the upper surface of the old paper bundle, clamps the old paper bundle together with the paper supporting frame, and conveys the old paper bundle out, so that the old paper bundle can be clamped together with the paper supporting frame, and the old paper bundle cannot be crushed, and the real-time accurate and stable deceleration of the positioning is realized.
Since the bundle of paper is automatically stacked down according to the detection and set parameters of the paper full photoelectric switch, the position value of the F-bit on the upper surface of the old bundle of paper is randomly changed, and needs to be detected in real time. Position P of the upper surface of the old sheet bundle in the deceleration stop section F Comprises the following steps:
P F ＝LIMIT(10-P TLim ,P P -P T ,P E )；
wherein, P F The unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the paper shoveling frame is arranged on the upper surface of the old paper bundle is millimeter;
P TLim the unit is millimeter, and the highest position of the lifting of the paper support frame is the height of the paper support frame;
P P the actual position of the paper splicing platform is in millimeters;
P T the unit is millimeter for the actual position of the lifting of the paper support frame.
Furthermore, the positioning deceleration alpha of the lifting of the paper shoveling frame in the deceleration stop section EF Comprises the following steps:
Figure BDA0002810209880000101
the units are millimeters per second squared.
As shown in fig. 8, the insertion process of the paper shoveling frame includes: judging whether the counting push of the carton gluing machine is in circulating operation or not, and if so, determining whether the paper shoveling frame 1 is located at the A position or not; if not, returning to the circulating operation again. Then, determining whether a paper feeding starting switch starts paper feeding and counting, and if so, detecting whether the stacking number of the paper bundles reaches a target value through a counting photoelectric switch; otherwise, returning to determine whether paper feeding and counting have been started by the paper feeding start switch. If the counting photoelectric switch 3 detects that the stacking number of the paper bundles reaches a target value, a paper bundle stacking completion mark is generated, the insertion of the paper shoveling frame 1 is started, the paper shoveling frame 1 descends to the B position on the upper surface of the paper outlet 2 in a continuously accelerated state, the paper shoveling frame is ensured not to hit the last paper box of the old paper bundle, and then the paper shoveling frame descends to the C position, the D position and the E position from the B position in turn at the operation speed within the alternate time of the new and old paper bundles; and when the paper shoveling frame 1 reaches the position C, the first paper box of the new paper bundle cannot be collided, when the position D is reached, the first paper box of the new paper bundle is just tangent to the tip end of the paper receiving surface of the paper shoveling frame 1, and when the position E is reached, the first paper box of the new paper bundle is received by the paper shoveling frame 1. Finally, the paper shoveling frame 1 continuously decelerates to descend from the position E to the position F, and when the paper shoveling frame reaches the position F, the paper shoveling frame just stably stops on the upper surface of the old paper bundle, and the insertion of the paper shoveling frame 1 is completed. The control effect of the insertion of the paper spading frame is shown in fig. 9.
A mathematical model obtained by the adaptive control of the three-section speed of inserting the paper shoveling frame is applied to the insertion control of the paper shoveling frame of the box gluing machine, and the test structure is shown in tables 1 and 2:
TABLE 1 adaptive control test result I of three inserted speed sections of paper shoveling frame
Figure BDA0002810209880000102
Figure BDA0002810209880000111
TABLE 2 adaptive control test result II of three inserted speed sections of paper shoveling frame
Figure BDA0002810209880000112
From table 1 and 2, can obtain, the three-section speed control that the shovel paper frame was inserted is applicable to the carton of different length, different thickness to set for different pile bundle numbers, all effective under different production speed, control is accurate, stable. Through speed limit processing, the problem of shutdown caused by servo shaft alarm basically does not occur when the box gluing machine runs at high speed. And the control algorithm is based on the parameters of the mechanical structure, can automatically optimize operation according to different mechanical parameters, and has strong applicability, universality and practicability.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.

Claims (7)

1. The self-adaptive adjustment method for the movement speed of the paper shoveling frame is characterized in that the insertion process of the paper shoveling frame sequentially comprises the following steps: starting an acceleration section, a paper bundle separation section and a deceleration stop section;
The starting acceleration section is that the paper shoveling frame reaches the upper surface of the paper outlet from the position when starting insertion;
the paper bundle separating section is a position where the paper shoveling frame reaches the new paper bundle and the old paper bundle from the upper surface of the paper outlet and is separated;
the deceleration stop section is used for enabling the paper shoveling frame to reach the upper surface of the old paper bundle from the position when the new paper bundle and the old paper bundle are separated;
in the starting acceleration section, the paper shoveling frame continuously accelerates and descends; in the paper bundle separating section, the paper shoveling frame descends at the operation speed; in the deceleration stop section, the paper shoveling frame continuously decelerates and descends to stop;
in the starting acceleration section, when the last paper box of the old paper bundle is just conveyed out of the paper outlet, the paper shoveling frame just descends to the upper surface of the paper outlet;
positioning stroke S for lifting of paper shoveling frame in starting acceleration section AB And positioning jerk J AB Comprises the following steps:
S AB ＝LIMIT(0.01,ABS(P A -P B ),P A -P E ) In millimeters;
wherein, P A For the forklift frameThe lifting position of the paper shoveling frame is in millimeters;
P B the unit of the position of the paper shoveling frame is millimeter when the paper shoveling frame is arranged on the upper surface of the paper outlet;
P E the unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the new and old paper bundles are separated is millimeter;
Figure FDA0003663685790000011
the unit is the third power of millimeter/second;
Wherein alpha is AB The positioning acceleration is expressed in square of millimeter/second;
T AB the unit is second for positioning time;
positioning acceleration alpha of lifting of paper shoveling frame in starting acceleration section AB And a positioning time T AB Comprises the following steps:
Figure FDA0003663685790000012
square in millimeters per second;
wherein, V AB For the positioning speed of the lifting of the paper shoveling frame,
Figure FDA0003663685790000021
units are mm/min;
Figure FDA0003663685790000022
the unit is second;
wherein, C AB Is the time experience scale factor of the start-up acceleration segment;
S S the stroke of the photoelectric switch from the paper outlet is counted, and the unit is millimeter;
V BOX the speed of carton conveying is given in meters per minute;
T BOX the time required for one carton to be conveyed is in seconds.
2. The adaptive paper shoveling frame movement speed adjusting method according to claim 1, wherein the maximum speed V of the lifting of the paper shoveling frame in the starting acceleration section VLim Comprises the following steps:
Figure FDA0003663685790000023
wherein, V VLim The maximum lifting speed of the paper shoveling frame is in millimeter/minute;
V VRate the rated rotating speed of a paper shoveling frame lifting motor is shown in the unit of revolutions per minute;
G V the transmission ratio of the paper shoveling frame lifting reduction box and the motor end/terminal end;
S VGear the unit is millimeter/revolution, which is the mechanical stroke of the paper shoveling frame lifting reduction box.
3. The adaptive adjustment method for the movement speed of the paper shoveling frame according to claim 2, wherein in the paper bundle separation section, the paper shoveling frame does not contact with the first paper box of the new paper bundle when passing through the paper outlet; when the paper shoveling frame reaches the lower surface of the paper outlet, the first paper box of the new paper bundle is just tangent to the tip end of the paper receiving surface of the paper shoveling frame; when the paper shoveling frame reaches a position at which the new paper bundle and the old paper bundle are completely separated, the paper shoveling frame receives the first paper box of the new paper bundle.
4. The adaptive adjustment method for the moving speed of the paper shoveling frame according to claim 3, wherein the positioning distance S of the paper shoveling frame in the paper bundle separation section BE And the positioning speed of the lifting is V BE Comprises the following steps:
S BE ＝LIMIT(0.01，ABS(P B -P E )，P B ) In millimeters;
Figure FDA0003663685790000031
units are mm/min;
wherein S is BE The positioning distance for lifting the paper shoveling frame;
T BE the positioning time of the lifting of the paper shoveling frame of the paper bundle separation section.
5. The adaptive adjustment method for the movement speed of the paper shoveling frame according to claim 4, wherein the positioning time T for the lifting of the paper shoveling frame in the paper bundle separation section BE Comprises the following steps:
Figure FDA0003663685790000032
the unit is second;
wherein, C BE Is a time empirical proportionality coefficient of the paper bundle separation section;
S Box the distance between the two cartons is in millimeters;
P H the target position for the lateral movement of the forklift during insertion is in millimeters.
6. The adaptive adjustment method of the moving speed of the paper spading rack according to claim 5, characterized in that the position P of the upper surface of the old paper bundle in the deceleration stop section F Comprises the following steps:
P F ＝LIMIT(10-P TLim ,P P -P T ,P E )；
wherein, P F The unit of the position of the paper shoveling frame for lifting the paper shoveling frame when the paper shoveling frame is arranged on the upper surface of the old paper bundle is millimeter;
P TLim the unit is millimeter, and the highest position of the lifting of the paper support frame is the height of the paper support frame;
P P the actual position of the paper splicing platform is in millimeters;
P T The unit is millimeter for the actual position of the lifting of the paper support frame.
7. The adaptive adjustment method for the moving speed of the paper shoveling frame according to claim 6, wherein the ascending and descending of the paper shoveling frame in the deceleration stop section are fixedBit deceleration alpha EF Comprises the following steps:
Figure FDA0003663685790000033
the units are millimeters per second squared.
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