CN114476264A

CN114476264A - Packaging machine and dynamic color code correction method thereof

Info

Publication number: CN114476264A
Application number: CN202011255683.7A
Authority: CN
Inventors: 颜良益; 于侃; 周运隆; 贾磊
Original assignee: DELTA ELECTRONICS (JIANGSU) Ltd
Current assignee: DELTA ELECTRONICS (JIANGSU) Ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2022-05-13

Abstract

The invention provides a packaging machine and a dynamic color code correction method thereof. The dynamic color code correction method is applied to a packaging machine, the packaging machine comprises a feeding servo and a cutter servo, the feeding servo comprises a feeding shaft for conveying materials, the cutter servo comprises a cutter shaft for cutting packaging materials, a gear relation is formed between the feeding shaft and a cutter imaginary shaft, and an electronic cam relation is formed between the cutter imaginary shaft and the cutter shaft, and the dynamic color code correction method comprises the following steps: acquiring a first position by utilizing an incoming material sensor to correspondingly detect a color code on the material; acquiring a second position by using the cutter sensor to correspondingly detect a sensing point on the cutter shaft; and comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not meet a position relation. The invention can improve the product precision, the yield and the stability and the intellectualization effect of the equipment.

Description

Packaging machine and dynamic color code correction method thereof

Technical Field

The invention relates to the technical field of packaging, in particular to a packaging machine and a dynamic color code correction method thereof.

Background

With the development of the scientific and technical level, the automation technology becomes an indispensable link in the development of the modern society, the economic construction of each field is not supported by the automation technology, and the development of the modern industry in China has a change in the covered area under the influence of the automation technology.

In the development of packaging machinery, the prior art mostly adopts a mechanical cam mechanism. In the conventional technology using mechanical cams, the purpose of changing the cutting length is generally achieved by changing the size of the cam. However, the technology is greatly influenced by the mechanism, the position deviation of the tangent point of the cutter is easy to occur, and the correction is difficult. Moreover, the noise of the technology is high, the mechanism is easy to wear, the whole set of cam mechanism needs to be replaced when the length is changed, and the whole structure is inconvenient to maintain and upgrade.

With the updating of the technology, an electronic cam is gradually used to replace a mechanical cam, and the mechanism is controlled to complete the material cutting action according to the planned cam curve. The electronic cam mode simulates a mechanism in a mechanical cam through a computer technology, namely, the cam function is realized under the condition that an actual cam mechanism is not needed. However, although the rotary cutter can be controlled by an electronic cam mode, the high-precision alignment and material cutting cannot be achieved due to the interference of external factors such as material pulling and slipping in production, and the error magnitude and manual alignment are often required to be observed manually, so that the dependence on an operator is high, the reliability of the rotary cutter cannot be obviously improved, the machining precision of a final finished product is low, and even the position of a cutting point is wrong.

On the other hand, the processing precision is an important measure for the packaging equipment. Different customers have different acceptance criteria for errors, which also puts higher demands on the control of manufacturers, namely, the cutting speed and accuracy of the cutting knife are required. At present, some existing packaging apparatuses, such as a packaging machine, perform a cutting operation once by a cutter shaft (servo) when a feeding shaft (servo) passes by the length of one sheet (each sheet has a color code), and the feeding shaft and the cutter shaft establish an electronic cam relationship. However, due to the interaction of various uncontrollable factors, inevitable errors exist between color scales. These sources of error arise mainly from several reasons: (1) the packing material slips, the feeding position is inaccurate due to the condition, and the actual material length is smaller than the theoretical length; (2) the packaging material is stretched, the feeding position is inaccurate due to the condition, and the actual material length is larger than the theoretical length; (3) color mark printing errors, which can lead to inaccuracies in the length of a single sheet of material, with the length of a single sheet being greater than/less than the theoretical length.

Therefore, how to provide an effective color code correction method to realize accurate matching between the cutter and the color code, and further improve the product precision, the yield and the equipment stability, etc., is a problem that needs to be solved urgently in the industry.

Disclosure of Invention

The present invention is directed to a packaging machine and a dynamic color code correction method thereof, which overcome at least one or more of the disadvantages of the prior art.

In order to achieve the above object, the present invention provides a dynamic color code correction method, applied to a packaging machine, where the packaging machine includes a feeding servo and a cutter servo, and is characterized in that the feeding servo includes a feeding shaft for conveying a material, and the cutter servo includes a cutter shaft for cutting a packaging material, where the feeding shaft and a virtual cutter shaft form a gear relationship, and the virtual cutter shaft and the cutter shaft form an electronic cam relationship, and the dynamic color code correction method includes: acquiring a first position by utilizing an incoming material sensor to correspondingly detect a color code on the material; correspondingly detecting a sensing point on the cutter shaft by using a cutter sensor to obtain a second position; and comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not meet a position relation.

In an embodiment of the present invention, a difference value is calculated according to the first position and the second position to obtain a position difference value, and when the position difference value is not equal to a reference value, the compensation value is applied to the virtual axis of the cutter.

In an embodiment of the invention, the compensation value is equal to the reference value minus the position difference.

In an embodiment of the present invention, the phase of the cutting blade is calculated and corrected by comparing the first position and the second position detected in real time in each cycle.

In one embodiment of the present invention, the gear relationship is a 1:1 gear relationship.

In order to achieve the above object, the present invention further provides a packing machine, comprising: the feeding servo comprises a feeding shaft for conveying materials; the feeding sensor is used for correspondingly detecting a color code on the material to obtain a first position; the cutter servo comprises a cutter shaft for cutting the packaging material, and a cutter is arranged on the cutter shaft; the cutter sensor is used for correspondingly detecting a sensing point on the cutter shaft to obtain a second position; the control unit is internally provided with a virtual cutter shaft, forms a gear relationship with the feeding shaft and forms an electronic cam relationship with the cutter shaft; and the control unit is used for comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not meet a position relation.

In another embodiment of the present invention, the control unit performs a difference calculation according to the first position and the second position to obtain a position difference, and applies the compensation value to the virtual axis of the cutting knife when the position difference is not equal to a reference value.

In another embodiment of the invention, the compensation value is equal to the reference value minus the position difference.

In another embodiment of the present invention, the control unit performs a comparison calculation and a correction of the phase of the cutting knife according to the first position and the second position detected in real time in each cycle.

In another embodiment of the present invention, the gear relationship is a 1:1 gear relationship.

The invention realizes the dynamic color code alignment correction by using an electronic cam mode, only two sensors are needed to be arranged on hardware, and the application of a cutter virtual axis is added by a program, so that the position compensation can be superposed on the cutter virtual axis, and the phase relation of the cam cannot be influenced. Therefore, the cost is saved, the labor is saved, the product precision is improved, the yield is improved, the reliability is high, the practicability is high, and the stability and the intelligent effect of the equipment are achieved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 is a schematic structural view of a packaging machine according to a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the control architecture of the wrapping machine of the present invention and showing the axial relationship between the virtual cutter axis and the feed and cutter servo;

FIG. 3 is a flowchart illustrating a dynamic color patch correction method according to the present invention;

fig. 4 is a schematic structural view of a packaging machine according to another preferred embodiment of the present invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.

When introducing elements/components/etc. described and/or illustrated herein, the articles "a," "an," "the," "said," and "at least one" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc. Relative terms, such as "upper" or "lower," may be used in embodiments to describe one component of an icon relative to another component. It will be appreciated that if the device of the icon is turned upside down, components described as being on the "upper" side will be components on the "lower" side. Furthermore, the terms "first," "second," and the like in the claims are used merely as labels, and are not numerical limitations of their objects.

As shown in fig. 1 and 2, the packaging machine 100 according to a preferred embodiment of the present invention mainly includes a feeding servo 10, an incoming material sensor 20, a cutter servo 30, a cutter sensor 40, and a control unit (not shown in fig. 1). The feed servo 10 comprises a feed shaft for conveying a material, such as food, medicine, etc., and the material has color markings 12 thereon (fig. 1 only schematically shows a plurality of color markings on the material conveyed on the feed shaft). The incoming material sensor 20 may be, for example, a color scale sensor, and senses a color scale on the material according to a change of the gray scale, so as to obtain the first position. The cutter servo 30 includes a cutter shaft 31 for cutting the packing material, and the cutter shaft 31 has a cutter 32 thereon. The cutter sensor 40 may be, for example, a photoelectric sensor, and is used for acquiring a second position by correspondingly detecting a sensing point on the cutter shaft 31. The sensing point may be, for example, a mechanical sensing point, such as an iron rod mounted on the cutter shaft diameter, but not limited thereto. The control unit is provided with a cutter virtual shaft 51, and the cutter virtual shaft 51 forms a gear relationship with the feeding shaft of the feeding servo 10 and forms an electronic cam relationship with the cutter shaft of the cutter servo 30. The control unit is used for comparing and calculating according to the first position and the second position to obtain a calculation result, and when the calculation result does not satisfy a position relation, applying a compensation value to the virtual axis 51 of the cutter to correct the phase of the cutter 32.

Preferably, the control unit may perform a difference calculation according to the first position and the second position to obtain a position difference, and apply the compensation value to the virtual axis of the cutter when the position difference is not equal to a reference value. Wherein the compensation value is equal to a reference value minus the position difference. More preferably, the control unit may compare and calculate and correct the phase of the cutting knife according to the first position and the second position detected in real time in each cycle.

As shown in fig. 2, the feeding servo 10 of the packaging machine 100 of the present invention can perform a conveying operation or the like by driving of the motor 13, and the cutting servo 30 can perform a cutting operation or the like by driving of the motor 33.

As shown in fig. 2, the present invention uses an electronic cam control as a carrier, and a feeding shaft of a feeding servo 10 is used as a main shaft, and a distance of 1:1, and an electronic cam relationship can be established between the virtual cutter shaft and the cutter shaft servo by the cutter, so that an electronic cam curve can be planned according to actual operation requirements, for example, a main shaft passes through a material length, and a corresponding slice of material is cut by rotating the main shaft (namely the cutter shaft) for one circle. After the position deviation is detected, position compensation can be performed on the virtual axis of the cutter correspondingly, for example, an MC _ movesuperior instruction (additional displacement instruction) in a motion controller can be used, and the axis can be controlled to be independently added for a set distance according to a set speed and an acceleration and deceleration under the current motion state.

In actual operation, as shown in fig. 1, the incoming material sensor 20 detects a color scale signal ON a material, and every time a piece of material comes, the incoming material sensor "ON" is detected, that is, the position of the feeding shaft is captured and recorded as position 1; the cutter sensor 40 detects a cutter signal, and detects that the cutter sensor is 'ON' when the cutter shaft reaches a fixed position (namely the position of a sensing point), namely the position of the cutter shaft is captured and recorded as position 2; the difference between the two captured positions (e.g., position 1-position 2) is made, and the theoretical difference will always be a certain value Δ a on the premise that the color scale position is accurate.

If the difference value (Δ a) between the two positions captured by the incoming material sensor 20 and the cutter sensor 40 when the incoming material sensor and the cutter sensor detect is unstable and changes all the time due to errors such as slipping of the packaging material, stretching of the packaging material, and color mark printing errors, the color mark correction can be performed at this time, that is, the difference value Δ a between the two positions is compared with a reference value to obtain a compensation value (the reference value- Δ a is the compensation value), the reference value can be given manually, and the compensation value is superposed on the virtual axis of the cutter to shift the position of the virtual axis of the cutter forward or backward, so that the driven axis (i.e., the cutter axis) is driven to change correspondingly according to the curve of the electronic cam, and the effect of automatic alignment is achieved. Different reference values also affect the position of the tangent point, so that the effect of changing the position of the tangent point can be achieved.

As shown in fig. 3, the method 300 for dynamic color code correction of a packaging machine of the present invention mainly includes:

301, acquiring a first position by using a color code on a material correspondingly detected by an incoming material sensor;

302, correspondingly detecting a sensing point on a cutter shaft by using a cutter sensor to obtain a second position;

step 303, comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not satisfy a position relationship.

In step 303, a difference is calculated according to the first position and the second position to obtain a position difference, and when the position difference is not equal to a reference value, the compensation value is applied to the virtual axis of the cutting knife. Wherein the compensation value is equal to the reference value minus the position difference value. More preferably, the phase of the cutting knife is calculated and corrected by comparing the first position and the second position detected in real time in each cycle.

As shown in fig. 4, in other embodiments, the feeding servo 10 of the packaging machine of the present invention may further comprise a film feeding shaft 60 for conveying a packaging film 62, and the film feeding shaft 60 and the feeding shaft of the feeding servo 10 satisfy a specific relationship, for example, the feeding shaft drives the film feeding shaft 60 to move. In this way, the feeding shaft 11 of the feeding servo 10 pulls the packaging film 62 to package the material while feeding, so that the cutter cuts the packaging material.

The invention can respectively detect the material feeding signal and the cutter signal through two sensors (namely the material feeding sensor and the cutter sensor), and can respectively record the position of the feeding shaft through the two sensor signals. The invention further uses a virtual cutter axis for position compensation, wherein the feeding axis of the feeding servo is used as a main axis and is firstly established as the following axis: 1, the virtual axis of the cutter runs along with the feeding shaft, the virtual axis of the cutter simultaneously serves as a main shaft and then establishes an electronic cam relationship with the cutter shaft, at the moment, the virtual axis of the cutter is not only the driven shaft of the feeding shaft but also the main shaft of the cutter shaft, and the curve of the electronic cam passes through a material length and corresponds to the cutter shaft to rotate for a circle to cut a sheet material.

The invention can also compare and calculate the position of the feeding shaft captured by the feeding sensor and the cutter sensor in real time, and if the position requirement is not met, a position correction quantity is additionally applied to the virtual shaft (the aim of correcting the cutter shaft is indirectly achieved), thereby ensuring that the cutter is accurately cut to the designated position. Therefore, the invention can achieve the effect of knife repair by comparing the detected shaft position difference (delta A) with the reference value in real time in each period to carry out position compensation alignment (acting on the virtual shaft of the cutting knife). And the position of the tangent point can be changed according to the reference value. Therefore, the labor is saved, the precision is improved, the reliability is high, and the practicability is high. In other words, the invention can achieve the purpose of correcting the cutter phase by compensating the virtual axis, and realize the accurate matching between the cutter and the color code by dynamic color code correction.

The packaging machine of the present invention may include, but is not limited to, various color-coded correction devices such as a household paper singler, a vertical packaging machine, a pillow packaging machine, and a band-aid packaging machine. In addition, the dynamic color code correction method can be packaged into a self-defined function library and introduced into a motion controller product, so that the dynamic color code correction method is convenient for customers to use and enhances the product competitiveness.

Exemplary embodiments of the present invention are specifically illustrated and described above. It is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A dynamic color code correction method is applied to a packaging machine, the packaging machine comprises a feeding servo and a cutter servo, the feeding servo comprises a feeding shaft for conveying materials, the cutter servo comprises a cutter shaft for cutting packaging materials, a gear relationship is formed between the feeding shaft and a virtual cutter shaft, and an electronic cam relationship is formed between the virtual cutter shaft and the cutter shaft, and the dynamic color code correction method comprises the following steps:

acquiring a first position by utilizing an incoming material sensor to correspondingly detect a color code on the material;

correspondingly detecting a sensing point on the cutter shaft by using a cutter sensor to obtain a second position;

and comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not meet a position relation.

2. The method of claim 1, wherein a difference is calculated between the first position and the second position to obtain a position difference, and the compensation value is applied to the imaginary axis of the cutter when the position difference is not equal to a reference value.

3. The method of claim 2, wherein the compensation value is equal to the reference value minus the position difference value.

4. The method of claim 3, wherein the phase of the cutter is calculated and corrected based on a comparison of the first and second positions detected in real time during each cycle.

5. The dynamic color patch correction method of claim 1, wherein the gear relationship is a 1:1 gear relationship.

6. A packaging machine, characterized by comprising:

the feeding servo comprises a feeding shaft for conveying materials;

the feeding sensor is used for correspondingly detecting a color code on the material to obtain a first position;

the cutter servo comprises a cutter shaft for cutting the packaging material, and a cutter is arranged on the cutter shaft;

the cutter sensor is used for correspondingly detecting a sensing point on the cutter shaft to obtain a second position;

the control unit is internally provided with a virtual cutter shaft, forms a gear relationship with the feeding shaft and forms an electronic cam relationship with the cutter shaft; and the control unit is used for comparing and calculating according to the first position and the second position to obtain a calculation result, and applying a compensation value to the virtual axis of the cutter to correct the phase of the cutter when the calculation result does not meet a position relation.

7. The packaging machine of claim 6 wherein the control unit calculates a difference value based on the first position and the second position to obtain a position difference value and applies the offset value to the virtual cutter axis when the position difference value is not equal to a reference value.

8. A packaging machine according to claim 7 wherein the compensation value is equal to the reference value minus the position difference value.

9. A packaging machine according to claim 8 wherein the control unit calculates and corrects the phase of the cutting knife during each cycle by comparing the first and second positions detected in real time.

10. A packaging machine according to claim 6 wherein the gear relationship is a 1:1 gear relationship.