CN114506731B - Cardboard supply control method and device, cardboard supply system and medium - Google Patents

Cardboard supply control method and device, cardboard supply system and medium Download PDF

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Publication number
CN114506731B
CN114506731B CN202210083803.2A CN202210083803A CN114506731B CN 114506731 B CN114506731 B CN 114506731B CN 202210083803 A CN202210083803 A CN 202210083803A CN 114506731 B CN114506731 B CN 114506731B
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paper
slope
rubbing
board
current
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CN114506731A (en
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张建成
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Siemens Ltd China
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Siemens Ltd China
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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
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/02—Separating articles from piles using friction forces between articles and separator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/36—Article guides or smoothers, e.g. movable in operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

The invention provides a paperboard supply control method and device, a paperboard supply system and a computer readable medium, wherein the method comprises the following steps: controlling a paper rubbing and separating mechanism to separate paperboards in the paperboard stack one by one; controlling a brush paper feeding mechanism to convey the paper boards separated by the paper rubbing separating mechanism into a slope conveying mechanism; controlling the slope conveying mechanism to push the paper boards conveyed by the brush paper conveying mechanism to a first preset area for paper board supply; and controlling the paper rubbing separation mechanism and the slope conveying mechanism to keep a preset synchronous relation, so that the slope conveying mechanism pushes a paper board to the first preset area when the paper rubbing separation mechanism separates the paper board. The invention can ensure that the paperboards are not piled up and not supplied, and reduces the failure rate. Moreover, the situation that the paper board falls off can not occur, so that high-speed separation can be realized, and the boxing efficiency of the boxing machine can be improved.

Description

Cardboard supply control method and device, cardboard supply system and medium
Technical Field
The invention relates to the technical field of beverage high-speed box filling machines, in particular to a paperboard supply control method and device, a paperboard supply system and a computer readable medium.
Background
In beverage high-speed cartons, the paperboard supply system is responsible for paperboard supply so that other parts of the carton filler form the paperboard into cartons and bottle the beverage into the cartons. However, current paperboard supply systems are prone to problems with stacking or non-supply of paperboard and have a high failure rate. Moreover, the traditional paperboard supply system comprises a paperboard adsorption mechanism, the paperboards are adsorbed and conveyed one by the suckers in the paperboard adsorption mechanism, the paperboards are adsorbed by the suckers through compressed air, the paperboards fall off easily in the conveying process, high-speed separation cannot be achieved, and therefore the fault rate is high, and the boxing efficiency of the boxing machine is also affected.
Disclosure of Invention
The invention provides a paperboard supply control method and device, a paperboard supply system and a computer readable medium, which can reduce the failure rate in the paperboard supply process.
In one aspect, an embodiment of the present invention provides a board supply control method including:
controlling a paper rubbing and separating mechanism to separate paperboards in the paperboard stack one by one;
controlling a brush paper feeding mechanism to convey the paper boards separated by the paper rubbing separating mechanism into a slope conveying mechanism;
Controlling the slope conveying mechanism to push the paper boards conveyed by the brush paper conveying mechanism to a first preset area for paper board supply;
and controlling the paper rubbing separation mechanism and the slope conveying mechanism to keep a preset synchronous relation, so that the slope conveying mechanism pushes a paper board to the first preset area when the paper rubbing separation mechanism separates the paper board.
In some embodiments, the method further comprises:
judging whether the paper rubbing separating mechanism separates a paper board from the paper board stack or not;
if yes, determining the position deviation corresponding to the current paper board, and compensating the conveying speed of the paper rubbing separating mechanism for the current paper board according to the position deviation, so that the position deviation of the current paper board is corrected before the current paper board reaches the brush paper feeding mechanism.
In some embodiments, the controlling the paper-rub separation mechanism and the ramp conveyance mechanism to maintain a predetermined synchronization relationship comprises: and controlling a slope conveying shaft of the slope conveying mechanism to keep a preset curve synchronous relation with a pre-built slope virtual shaft, and controlling the paper rubbing separating mechanism to keep a linear synchronous relation with the slope virtual shaft so as to keep the preset synchronous relation with the slope conveying mechanism.
In some embodiments, the compensating the paper rubbing separating mechanism for the conveying speed of the current paper board according to the position deviation so that the position deviation of the current paper board is corrected before reaching the brush paper feeding mechanism comprises:
acquiring the current phase of the slope virtual axis;
taking the difference between the current phase and the reference phase of the slope virtual axis as the position deviation;
calculating a position compensation value of the paper rubbing separation mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board;
and compensating the current paper board conveying speed by the paper rubbing separating mechanism according to the position compensation value so that the position deviation of the current paper board before reaching the brush paper conveying mechanism is corrected, and the position deviation of the current paper board before reaching the brush paper conveying mechanism is corrected.
In some embodiments, the calculating the position compensation of the paper-rubbing separating mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board comprises:
calculating the position compensation value according to the first calculation formula; the first calculation formula includes:
Psup＝Pdev*L3/L1
Wherein Psup is the position compensation value, pdev is the position deviation, L3 is the width of the cardboard, and L1 is the modal length of the slope virtual axis.
In some embodiments, the method further comprises:
when the paperboard feeding system is started, if the paperboard separated by the paper rubbing separation mechanism is not detected, controlling the paper rubbing separation mechanism to start a paperboard separation program; when the paper rubbing separation mechanism is detected to separate a piece of paper board, the paper rubbing separation mechanism is subjected to phase zeroing, the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft, and the reference phase is the synchronous phase difference between the slope conveying mechanism and the paper rubbing separation mechanism.
In some embodiments, the method further comprises:
when the paperboard feeding system is started, if the paperboard separated by the paper rubbing separation mechanism is detected, the slope conveying mechanism is controlled to push the paperboard to a second preset area, and the paper rubbing separation mechanism is controlled to start a paperboard separation program; when the paper rubbing separation mechanism is detected to separate out the next paper board, the paper rubbing separation mechanism is subjected to phase zeroing, and the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft; the reference phase is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism, and the second preset area and the first preset area do not interfere with each other.
In some embodiments, the calculating the position compensation value of the paper rubbing separating mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board comprises: and when the position deviation is smaller than or equal to a preset maximum deviation, calculating a position compensation value of the paper rubbing separation mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board.
In some embodiments, the method further comprises:
when the position deviation is larger than a preset maximum deviation, controlling the paper rubbing separation mechanism to stop at a preset position, calculating a corresponding starting phase value according to the preset position and the reference phase, and controlling the paper rubbing separation mechanism to restart according to the starting phase value; the starting phase value is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism for the first paper board after the paper rubbing separating mechanism is started again.
In some embodiments, the calculating the corresponding start phase value according to the preset position and the reference phase includes:
calculating the starting phase value by adopting a second calculation formula; the second calculation formula includes:
Poffset2＝Poffset1+Prel*L1\L3
Wherein Poffset2 is the starting phase value, poffset1 is the reference phase, pres is the preset position, L3 is the width of the cardboard, and L1 is the modal length of the virtual axis of the slope.
In another aspect, an embodiment of the present invention provides a paperboard supply control apparatus including:
the first control module is used for controlling the paper rubbing separation mechanism to separate the paperboards in the paperboard stack one by one;
the second control module is used for controlling the brush paper feeding mechanism to convey the paper boards separated by the paper rubbing separating mechanism into the slope conveying mechanism;
the third control module is used for controlling the slope conveying mechanism to push the paper boards conveyed by the brush paper conveying mechanism to a first preset area for paper board supply;
and the fourth control module is used for controlling the paper rubbing separation mechanism and the slope conveying mechanism to keep a preset synchronous relationship, so that the slope conveying mechanism pushes one paper board to the first preset area when the paper rubbing separation mechanism separates the paper board.
In yet another aspect, an embodiment of the present invention provides a paperboard supply system, comprising: a controller, a paper rubbing separating mechanism, a brush paper feeding mechanism and a slope conveying mechanism which are connected with the controller; the paper board supply controller is the paper board supply control device.
In still another aspect, an embodiment of the present invention provides a paperboard supply control apparatus including: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor is configured to invoke the machine readable program to perform the above-described board supply control method.
In yet another aspect, an embodiment of the present invention provides a computer readable medium having stored thereon computer instructions that, when executed by a processor, cause the processor to perform the above-described method for calibrating a container liquid level or method for measuring a container liquid level.
The paperboard supply control method and device, the paperboard supply system and the computer readable medium control the paper rubbing separating mechanism to separate the paperboard from the paperboard stack through friction force and convey the paperboard to the brush conveyor mechanism; the brush paper feeding mechanism is controlled to quickly drive the paper board to the slope conveying mechanism through the brush; the slope conveying mechanism is controlled to push the paper boards into the first preset area along the slope to participate in the packaging process of the bottles. In the process, the preset synchronous relation between the paper rubbing separation mechanism and the slope conveying mechanism is also kept, so that after the paper rubbing separation mechanism separates a piece of paper board, the slope separation mechanism also conveys the piece of paper board to a first preset area, the paper board is prevented from being accumulated and supplied, and the failure rate is reduced. In addition, in the method provided by the embodiment of the invention, the paper rubbing separating mechanism separates the paper boards from the paper board stack through friction force, and the situation that the paper boards fall off is avoided, so that high-speed separation can be realized, and the boxing efficiency of the boxing machine can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling paperboard supply according to an embodiment of the invention;
FIG. 2 is a flow chart of a method of controlling paperboard supply according to an embodiment of the invention;
FIG. 3 is a flowchart showing a specific process of compensating the feeding speed of the paper separating mechanism for the current paper board according to the position deviation in step S150 according to an embodiment of the present invention;
FIG. 4 is a block diagram of a board supply control device in one embodiment of the invention;
fig. 5 is a schematic view of the structure of the paperboard supply system in one embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
In one aspect, one embodiment of the present invention provides a method of controlling a paperboard supply, the method being applied to a control process in a paperboard supply system. Referring to fig. 1, the method includes the following steps S110 to S140:
s110, controlling a paper rubbing separation mechanism to separate paperboards in the paperboard stack one by one;
it will be appreciated that the function of the sheet separation mechanism is to separate the sheets from one sheet of the stack. The sheet separating mechanism separates the sheet from the sheet stack by friction, for example, by rubbing the sheet from the sheet stack formed of a plurality of sheets by friction between the belt and the sheet.
S120, controlling a brush paper feeding mechanism to convey the paper boards separated by the paper rubbing separating mechanism into a slope conveying mechanism;
it will be appreciated that the brush feed mechanism functions to feed the sheet into the ramp feed mechanism after the sheet has been separated by the sheet separation mechanism. The brush paper feeding mechanism can convey the paper board separated by the paper rubbing separating mechanism into the slope conveying mechanism through the roller with the brush.
S130, controlling the slope conveying mechanism to push the paper boards conveyed by the brush paper conveying mechanism to a first preset area for paper board supply;
It is understood that the slope conveying mechanism is used for pushing the paper board conveyed by the brush paper conveying mechanism into the first preset area along the slope through the two push rods, and the paper board and the bottle reaching the first preset area participate in the packaging process.
It can be seen that a paper rub separating mechanism, a brush feed mechanism and a ramp feed mechanism are included in one paperboard supply system. The operation of each mechanism is controlled by the above-described cardboard supply control method. The paper rubbing separating mechanism and the slope conveying mechanism can adopt an S210 servo motor as a driving motor. And the control of the paper rubbing separation mechanism and the slope conveying mechanism is realized through the control of the S210 servo motor.
And S140, controlling the paper rubbing separation mechanism and the slope conveying mechanism to keep a preset synchronous relationship, so that the slope conveying mechanism pushes a paper board to the first preset area when the paper rubbing separation mechanism separates the paper board.
According to S140, in the working process of each mechanism, it is further required to control the paper board separating mechanism and the slope separating mechanism to maintain a certain synchronization relationship, where the synchronization relationship can enable the slope separating mechanism to push a paper board into the first preset area after separating the paper board by the paper board separating mechanism, so as to keep the two synchronous, avoid the problem of stacking and jamming of the paper boards, and avoid the problem that the paper boards cannot be fed and cannot participate in the packaging process with the bottles in time.
In practical application, the control device for executing the paperboard supply control method provided by the embodiment of the invention can adopt Siemens S7-1515SP OpenController.
According to the paperboard supply control method provided by the embodiment of the invention, the paper rubbing separation mechanism is controlled to separate the paperboard from the paperboard stack through friction force, and the paperboard is conveyed to the brush conveyor mechanism; the brush paper feeding mechanism is controlled to quickly drive the paper board to the slope conveying mechanism through the brush; the slope conveying mechanism is controlled to push the paper boards into the first preset area along the slope to participate in the packaging process of the bottles. In the process, the preset synchronous relation between the paper rubbing separation mechanism and the slope conveying mechanism is also kept, so that after the paper rubbing separation mechanism separates a piece of paper board, the slope separation mechanism also conveys the piece of paper board to a first preset area, the paper board is prevented from being accumulated and supplied, and the failure rate is reduced. In addition, in the method provided by the embodiment of the invention, the paper rubbing separating mechanism separates the paper boards from the paper board stack through friction force, and the situation that the paper boards fall off is avoided, so that high-speed separation can be realized, and the boxing efficiency of the boxing machine can be improved.
In a specific implementation, there are various ways to implement the predetermined synchronization between the paper-rubbing separation mechanism and the slope conveying mechanism in S140, for example, a slope virtual axis may be constructed, so that a certain relationship is maintained between the slope conveying axis and the slope virtual axis, and a certain relationship is maintained between the paper-rubbing separation mechanism and the slope virtual axis, so that the above-mentioned predetermined synchronization relationship is formed between the slope conveying mechanism and the paper-rubbing separation mechanism.
The relationship between the slope conveying axis and the slope virtual axis can be Cam synchronous relationship, namely, curve synchronous relationship is kept between the slope conveying axis and the slope virtual axis at the moment. The relationship maintained between the paper-rubbing separation mechanism and the virtual slope axis may be an electronic gear synchronization relationship, so that a linear synchronization relationship is maintained between the paper-rubbing separation mechanism and the virtual slope axis. At this time, the preset synchronization relationship maintained between the slope conveying mechanism and the paper-rubbing separating mechanism is also a certain curve synchronization relationship.
That is, the controlling the paper-rubbing separating mechanism and the slope conveying mechanism to maintain the predetermined synchronization relationship in S140 may include: and controlling a slope conveying shaft of the slope conveying mechanism to keep a preset curve synchronous relation with a pre-built slope virtual shaft, and controlling the paper rubbing separating mechanism to keep a linear synchronous relation with the slope virtual shaft so as to keep the preset synchronous relation with the slope conveying mechanism.
It is understood that, since the paper-rubbing separation mechanism and the slope conveying mechanism have a certain distance, the paper-rubbing separation mechanism and the slope conveying mechanism have a certain phase difference. For example, when the phase difference is a, the phase value of the slope conveying mechanism is a when the phase of the paper separating mechanism is 0. That is, the paper-rubbing separating mechanism and the slope conveying mechanism maintain a predetermined synchronization relationship with a phase difference a.
In specific implementation, referring to fig. 2, the method for controlling cardboard supply provided by the embodiment of the invention may further include:
s150, judging whether the paper rubbing separation mechanism separates a paper board from the paper board stack or not; if yes, determining the position deviation corresponding to the current paper board, and compensating the conveying speed of the paper rubbing separating mechanism for the current paper board according to the position deviation, so that the position deviation of the current paper board is corrected before the current paper board reaches the brush paper feeding mechanism.
In a practical scenario, after the cardboard is separated from the cardboard stack, a positional deviation may occur during the transport to the brush feeding mechanism, so that after entering the slope feeding mechanism via the brush feeding mechanism, if there is a positional deviation of the cardboard, the two pushers of the slope feeding mechanism may not accurately push the cardboard into the first preset area. In view of this possible occurrence, in one embodiment of the present invention, after the paper-rubbing separating mechanism separates a piece of paper, it is determined whether there is a positional deviation of the paper, and if it is determined that there is a positional deviation, correction compensation for the position of the paper is achieved during the conveyance of the paper to the brush feeding mechanism, so that the positional deviation of the paper has been corrected when the paper reaches the brush feeding mechanism.
In order to facilitate positioning of the paper boards separated by the paper rubbing separating mechanism, an electric eye device can be arranged, so that detection is performed within a certain range through the electric eye device, if a paper board is detected within the range, the paper board separating mechanism is considered to just separate a paper board from the paper board stack, at the moment, the position deviation corresponding to the paper board is determined, and compensation processing is performed according to the position deviation, so that the position deviation is eliminated.
Further, on the basis of maintaining a preset synchronization relationship between the paper rubbing separation mechanism and the slope conveying mechanism through the slope virtual axis, referring to fig. 3, compensating the conveying speed of the paper rubbing separation mechanism for the current paper board according to the position deviation in S150 so that the position deviation of the current paper board is corrected before reaching the brush paper feeding mechanism may include:
s151, acquiring the current phase of the slope virtual axis;
that is, when it is detected that the paper-separating mechanism just separates a piece of paper, the current phase of the virtual axis of the slope is obtained.
S152, taking the difference value between the current phase and the reference phase of the slope virtual axis as the position deviation;
here, the reference phase of the slope virtual axis, which is a phase difference held by the paper separating mechanism and the slope conveying mechanism, that is, the above-described phase difference a, is predetermined, and a specific determination process will be described in detail below.
It will be appreciated that if the current phase and the reference phase of the virtual axis of the ramp are equal, this indicates that the cardboard just separated is free of positional deviations. If the current phase is greater than the reference phase of the virtual axis of the ramp, the position of the board is indicated to be relatively forward. If the current phase is less than the reference phase of the virtual axis of the ramp, the position of the board is indicated to be relatively backward. Both cases require compensation processing.
S153, calculating a position compensation value of the paper rubbing separation mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board;
the modal length of the virtual axis of the slope is the distance L1 between two push rods in the slope conveying mechanism.
In particular implementations, the position compensation value may be calculated in a number of ways based on a number of parameters as described above, one of which is provided below: calculating the position compensation value according to the first calculation formula; the first calculation formula includes:
Psup＝Pdev*L3/L1
wherein Psup is the position compensation value, pdev is the position deviation, L3 is the width of the cardboard, and L1 is the modal length of the slope virtual axis.
In the first calculation formula, pdev is a positional deviation on the virtual axis side of the slope, and the obtained positional compensation value Psup is actually a positional deviation on the paper-separating mechanism side by multiplying Pdev by L3/L1.
And S154, carrying out compensation processing on the conveying speed of the current paper board by the paper rubbing separating mechanism according to the position compensation value, so that the position deviation of the current paper board before reaching the brush paper feeding mechanism is corrected, and the position deviation of the current paper board before reaching the brush paper feeding mechanism is corrected.
After the paper rubbing separating mechanism separates a paper board, if position deviation exists, a corresponding position compensation value is calculated, and then the paper rubbing separating mechanism compensates the conveying speed of the current paper board according to the position compensation value. If the paper board is relatively forward, the paper board separating mechanism can downwards regulate the conveying speed of the current paper board according to the position compensation value, and the conveying speed is reduced, so that the position deviation can be eliminated when the current paper board reaches the brush paper feeding mechanism. The greater the position compensation value, the greater the length of the speed down-adjustment. If the paper board is relatively backward, the paper board separating mechanism can adjust the conveying speed of the current paper board upwards to a certain extent according to the position compensation value, and the conveying speed of the paper rubbing separating mechanism to the current paper board is increased, so that the elimination of the position deviation can be completed when the current paper board reaches the brush paper feeding mechanism. The greater the position compensation value, the greater the degree of speed up-regulation.
The compensation of the conveying speed of the current paper board is realized through the steps S151 to 154, so that the position deviation of the current paper board is corrected before the current paper board reaches the brush paper feeding mechanism. The correction process is specific to the current paperboard, and as to whether the next paperboard needs to be subjected to compensation operation, the correction process needs to be determined according to whether the next paperboard has position deviation and the size of the position deviation. Therefore, the method can realize the compensation treatment of the position deviation of each paperboard, so that each paperboard can reach the correct position in the slope conveying mechanism and can be smoothly pushed to the first preset area.
In the specific implementation, if the positional deviation is relatively small, the compensation process may be performed according to the above steps. If the positional deviation is relatively large, the processing may be performed in other ways.
That is, a preset maximum deviation may be preset, and after the position deviation is calculated in S152, the position deviation is compared with the preset position deviation, and if the position deviation is less than or equal to the preset maximum deviation, the subsequent steps are performed. That is, S153 may include: and when the position deviation is smaller than or equal to a preset maximum deviation, calculating a position compensation value of the paper rubbing separation mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board.
In the specific implementation, if the position deviation is larger than the preset maximum deviation, the following manner can be adopted: the paper rubbing separation mechanism is controlled to stop at a preset position, a corresponding starting phase value is calculated according to the preset position and the reference phase, and restarting of the paper rubbing separation mechanism is controlled according to the starting phase value; the starting phase value is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism for the first paper board after the paper rubbing separating mechanism is started again.
That is, when the positional deviation of one sheet of paper is excessive, the paper-rubbing separating mechanism is controlled to stop at a predetermined position, that is, at a predetermined phase, which is predetermined, and stop at the predetermined phase whenever the preset maximum deviation is exceeded, no matter how large the positional deviation of one sheet of paper is. Because the slope conveying mechanism is not stopped, the slope conveying mechanism continues to work, and when the phase difference between the slope conveying mechanism and the paper rubbing separating mechanism reaches a starting phase value, the paper rubbing separating mechanism is started. Thus, for the first paper board after restarting, the phase difference between the slope separating mechanism and the paper rubbing separating mechanism is the starting phase value.
It is understood that the start phase value is only for the first cardboard after restarting, and the reference phase for the second cardboard after restarting can be the original reference phase or the reference phase can be calibrated again.
In a specific implementation, the calculating the corresponding start phase value according to the preset position and the reference phase may include: calculating the starting phase value by adopting a second calculation formula; the second calculation formula includes:
Poffset2＝Poffset1+Prel*L1\L3
wherein Poffset2 is the starting phase value, poffset1 is the reference phase, pres is the preset position, L3 is the width of the cardboard, and L1 is the modal length of the virtual axis of the slope.
That is, the reference phase, the slope imaginary axis, and the board width are taken into consideration in calculating the start-up phase value. It is understood that, the phase of the paper-separating mechanism side at the time of stop is the phase of the paper-separating mechanism side at the time of stop, and the phase of the slope conveying mechanism side at the time of stop can be obtained by multiplying the phase of the paper-separating mechanism side by L1/L3, and the sum of the phase and the reference phase is taken as the start-up phase value.
It can be seen that the present invention deals with the relationship between the positional deviation and the preset maximum deviation, in case of division. If the positional deviation is greater than the preset maximum deviation, the correction is still performed in a compensating manner, and may not be completely corrected, because the distance between the paper-rubbing separation mechanism and the brush paper feeding mechanism is limited, and the speed adjustment capability of the paper-rubbing separation mechanism is limited, so that the positional deviation is eliminated by stopping and restarting according to the starting phase value. Therefore, the position deviation of the paperboard can be corrected under any condition, and the follow-up process of packaging the paperboard and the bottle together is ensured.
The following provides an alternative way of determining the reference phase for the slope virtual axis, which needs to be handled according to different situations when determining the reference phase for the slope virtual axis:
(1) When the paperboard feeding system is started, if the paperboard separated by the paper rubbing separation mechanism is not detected, controlling the paper rubbing separation mechanism to start a paperboard separation program; when the paper rubbing separation mechanism is detected to separate a piece of paper board, the paper rubbing separation mechanism is subjected to phase zeroing, the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft, and the reference phase is the synchronous phase difference between the slope conveying mechanism and the paper rubbing separation mechanism.
(2) When the paperboard feeding system is started, if the paperboard separated by the paper rubbing separation mechanism is detected, the slope conveying mechanism is controlled to push the paperboard to a second preset area, and the paper rubbing separation mechanism is controlled to start a paperboard separation program; when the paper rubbing separation mechanism is detected to separate out the next paper board, the paper rubbing separation mechanism is subjected to phase zeroing, and the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft; the reference phase is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism, and the second preset area and the first preset area do not interfere with each other.
As can be seen from the above (1) and (2), the timing of determining the reference phase is when the board feeding system is started up.
Aiming at the condition (1), when the paperboard supply system is started, the paperboard does not exist in the detection range of the electric eye device, and at the moment, the paper rubbing separation mechanism is controlled to start a paper rubbing separation program, so that the paperboard is separated. When the electric eye device detects that a piece of paper board is separated, the current phase of the paper rubbing separation mechanism is subjected to zero resetting, then the current phase corresponding to the slope virtual axis after the phase of the paper rubbing separation mechanism is reset is obtained, and the current phase of the slope virtual axis is used as a reference phase. It can be seen that the reference phase is the phase difference between the current phase of the virtual axis of the ramp and the current phase of the paper separating mechanism at the time of separating the first sheet of paper.
For case (2), when the board supply system is started up, there is one board in the detection range of the electric eye device, and the board cannot be referred to, but the next board of the board is taken as a reference. That is, the cardboard is conveyed to the second preset area without interference between the second preset area and the first preset area, so that the cardboard conveyed to the second preset area does not affect the packing flow of the bottles. Then, the paper rubbing separation mechanism is controlled to start a paper plate separation program, at the moment, the paper rubbing separation mechanism starts to separate paper plates, after one paper plate is separated, the current phase of the paper rubbing separation mechanism is subjected to zero resetting treatment, then the current phase corresponding to the virtual axis of the slope after the phase of the paper rubbing separation mechanism is reset is obtained, and the current phase of the virtual axis of the slope is used as a reference phase. It can be seen that the reference phase is the phase difference between the current phase of the virtual axis of the ramp and the current phase of the paper separating mechanism at the time of separating the next sheet of paper.
Therefore, the embodiment of the invention sets the method for determining the reference phase according to different possible situations when the paperboard supply system is started, so that the calibration of the reference phase can be realized under any situation.
In another aspect, referring to fig. 4, an embodiment of the present invention provides a paperboard supply control apparatus 100, including:
a first control module 110 for controlling the paper-rubbing separation mechanism to separate the paperboards in the paperboard stack one by one;
the second control module 120 is used for controlling the brush paper feeding mechanism to convey the paper board separated by the paper rubbing separating mechanism into the slope conveying mechanism;
a third control module 130, configured to control the slope conveying mechanism to push the paper board conveyed by the brush paper conveying mechanism to a first preset area for paper board feeding;
and a fourth control module 140, configured to control the paper rubbing separation mechanism and the slope conveying mechanism to maintain a preset synchronization relationship, so that when the paper rubbing separation mechanism separates a piece of paper board, the slope conveying mechanism pushes the piece of paper board to the first preset area.
In some embodiments, the apparatus 100 further comprises:
the deviation determining module is used for judging whether the paper rubbing separating mechanism separates a paper board from the paper board stack or not; if yes, determining the position deviation corresponding to the current paperboard;
And the deviation compensation module is used for compensating the conveying speed of the paper rubbing separation mechanism for the current paper board according to the position deviation so as to correct the position deviation of the current paper board before the current paper board reaches the brush paper feeding mechanism.
In some embodiments, the fourth control module 140 is specifically configured to: and controlling a slope conveying shaft of the slope conveying mechanism to keep a preset curve synchronous relation with a pre-built slope virtual shaft, and controlling the paper rubbing separating mechanism to keep a linear synchronous relation with the slope virtual shaft so as to keep the preset synchronous relation with the slope conveying mechanism.
Further, the deviation compensation module specifically includes:
the first acquisition unit is used for acquiring the current phase of the slope virtual axis;
a first calculation unit configured to take a difference between the current phase and a reference phase of the ramp virtual axis as the positional deviation;
the second calculating unit is used for calculating a position compensation value of the paper rubbing separating mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board;
the first compensation unit is used for carrying out compensation processing on the paper rubbing separation mechanism according to the position compensation value and aiming at the conveying speed of the current paper board, so that the position deviation of the current paper board before reaching the brush paper feeding mechanism is corrected, and the position deviation of the current paper board before reaching the brush paper feeding mechanism is corrected.
Further, the second calculating unit is configured to: calculating the position compensation value according to the first calculation formula; the first calculation formula includes:
Psup＝Pdev*L3/L1
wherein Psup is the position compensation value, pdev is the position deviation, L3 is the width of the cardboard, and L1 is the modal length of the slope virtual axis.
In some embodiments, the apparatus 100 may further include:
the first calibration module is used for controlling the paper rubbing separation mechanism to start a paper plate separation program if the paper plate separated by the paper rubbing separation mechanism is not detected when the paper plate supply system is started; when the paper rubbing separation mechanism is detected to separate a piece of paper board, the paper rubbing separation mechanism is subjected to phase zeroing, the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft, and the reference phase is the synchronous phase difference between the slope conveying mechanism and the paper rubbing separation mechanism.
In some embodiments, the apparatus 100 may further include:
the second calibration module is used for controlling the slope conveying mechanism to push the paper board to a second preset area if the paper board separated by the paper rubbing separating mechanism is detected when the paper board feeding system is started, and controlling the paper rubbing separating mechanism to start a paper board separating program; when the paper rubbing separation mechanism is detected to separate out the next paper board, the paper rubbing separation mechanism is subjected to phase zeroing, and the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft; the reference phase is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism, and the second preset area and the first preset area do not interfere with each other.
In some embodiments, the second computing unit is configured to: and when the position deviation is smaller than or equal to a preset maximum deviation, calculating a position compensation value of the paper rubbing separation mechanism for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board.
In some embodiments, the apparatus 100 further comprises:
the stop processing module is used for controlling the paper rubbing separation mechanism to stop at a preset position when the position deviation is larger than a preset maximum deviation, calculating a corresponding starting phase value according to the preset position and the reference phase, and controlling the paper rubbing separation mechanism to restart according to the starting phase value; the starting phase value is a synchronous phase difference between the slope conveying mechanism and the paper rubbing separating mechanism for the first paper board after the paper rubbing separating mechanism is started again.
In some embodiments, the shutdown processing module is specifically configured to calculate the startup phase value using a second calculation formula; the second calculation formula includes:
Poffset2＝Poffset1+Prel*L1\L3
wherein Poffset2 is the starting phase value, poffset1 is the reference phase, pres is the preset position, L3 is the width of the cardboard, and L1 is the modal length of the virtual axis of the slope.
It may be understood that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the apparatus provided by the embodiment of the present invention, reference may be made to corresponding parts in the foregoing method, and details are not repeated herein.
In yet another aspect, one embodiment of the present invention provides a paperboard supply system. The paperboard supply system has the function of supplying the paperboard in the box filling machine, so that the paperboard and the bottles can be subjected to the box filling operation in the subsequent process.
Referring to fig. 5, the paperboard supply system 200 may include: a controller 210, and a paper-rubbing separating mechanism 220, a brush paper feeding mechanism 230 and a slope conveying mechanism 240 connected with the controller 210; the controller 210 is the above-described board supply control device 100.
It is understood that the paper rubbing separating mechanism separates the paper boards from the paper board stack through friction force and conveys the paper boards to the brush feeding mechanism, the brush feeding mechanism drives the paper boards to the slope conveying mechanism through the brush, and the slope conveying mechanism pushes the paper boards to the first preset area along the slope to participate in the packaging process of the bottles. In the process, the controller controls the mechanism to ensure that each mechanism executes corresponding operation.
Meanwhile, the controller can also keep a preset synchronous relation between the paper rubbing separation mechanism and the slope conveying mechanism, so that after the paper rubbing separation mechanism separates a piece of paper board, the slope separation mechanism also conveys the piece of paper board to a first preset area, and therefore the paper board is prevented from being accumulated and supplied.
Wherein, the brush paper feeding mechanism can be driven by a G120C controlled three-phase asynchronous motor, the paper rubbing separating mechanism and the slope conveying mechanism are driven by an S210 servo motor, and the controller can be Siemens S7-1515SP OpenController. The width of the paper board is L3, the modal length of the virtual axis of the slope is L1, and the synchronization ratio of the electronic gear between the paper rubbing separating mechanism and the slope conveying mechanism is L3:L1.
In an actual scene, it is required to detect whether the paper rubbing separation mechanism separates a piece of paper board, so the system provided by the embodiment of the invention may further include:
and the electric eye device is used for detecting whether the paper rubbing separating mechanism separates a piece of paper board from the paper board stack.
That is, by providing an electric eye device above the paper-discharging position of the paper-separating mechanism, it is detected by the electric eye device whether or not the paper-separating mechanism separates a sheet of paper from the paper-sheet stack.
If the paper rubbing separating mechanism separates a piece of paper board, the paper board can enter a certain area, so that the electric eye device can detect the paper board within a preset range, for example, the upper edge of the paper board can be detected within the preset range.
That is, the electric eye device may be specifically used for: detecting the upper edge of the paper board within a preset range, and if the upper edge of the paper board is detected, determining that the paper rubbing separating mechanism separates a paper board from the paper board stack; the initial value of the preset range is the difference value between the reference phase and the first preset value, and the ending value of the preset range is the sum of the reference phase and the second preset value.
That is, the reference phase is Poffset1, and a range is set based on the reference phase for upper edge detection. The first preset value is Lf, the second preset value is Lb, and the preset range is: [ Poffset1-Lf, poffset1+Lb ].
It is understood that in the prior art, the suction cups are used for sucking the paperboards and separating the paperboards from the paperboard stacks, and the paperboards are easy to fall off in the separation process, so that high-speed separation cannot be realized, and the boxing efficiency of the boxing machine can be improved. The paper rubbing separating mechanism adopts friction force, for example, the paper plates are separated from the paper plate stack through the friction force between the belt of the paper rubbing separating structure and the surface of the paper plates, and the situation that the paper plates fall off is avoided, so that high-speed separation can be realized, and the boxing efficiency of the boxing machine can be improved.
In still another aspect, an embodiment of the present invention provides a paperboard supply control apparatus including: at least one memory and at least one processor; the at least one memory for storing a machine readable program; the at least one processor is configured to invoke the machine readable program to perform a paperboard supply control method.
It may be understood that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the apparatus provided by the embodiment of the present invention, reference may be made to corresponding parts in the foregoing method, and details are not repeated herein.
In yet another aspect, embodiments of the present invention provide a computer readable medium having stored thereon computer instructions that, when executed by a processor, cause the processor to perform a paperboard supply control method. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It may be appreciated that, for explanation, specific implementation, beneficial effects, examples, etc. of the content in the computer readable medium provided by the embodiments of the present invention, reference may be made to corresponding parts in the above methods, and details are not repeated herein.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the present invention may be implemented in hardware, software, a pendant, or any combination thereof. When implemented in software, these functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention in further detail, and are not to be construed as limiting the scope of the invention, but are merely intended to cover any modifications, equivalents, improvements, etc. based on the teachings of the invention.

Claims (13)

1. A board supply control method, comprising:
controlling a paper rubbing separating mechanism (220) to separate paperboards in the paperboard stack one by one;
controlling a brush paper feeding mechanism (230) to convey the paper boards separated by the paper rubbing separating mechanism (220) into a slope conveying mechanism (240);
controlling the slope conveying mechanism (240) to push the paper boards conveyed by the brush paper conveying mechanism (230) to a first preset area for paper board supply;
controlling the paper rubbing separation mechanism (220) and the slope conveying mechanism (240) to keep a preset synchronous relationship, so that when the paper rubbing separation mechanism (220) separates a piece of paper board, the slope conveying mechanism (240) pushes the piece of paper board to the first preset area;
further comprises:
judging whether the paper rubbing separating mechanism (220) separates a paper board from the paper board stack;
if yes, determining the position deviation corresponding to the current paper board, and compensating the conveying speed of the paper rubbing separating mechanism (220) for the current paper board according to the position deviation so as to correct the position deviation of the current paper board before the current paper board reaches the brush paper feeding mechanism (230);
Controlling the paper-rubbing separation mechanism (220) and the slope conveying mechanism (240) to maintain a preset synchronous relationship, comprising:
controlling a slope conveying shaft of the slope conveying mechanism (240) to keep a preset curve synchronous relation with a pre-built slope virtual shaft, and controlling the paper rubbing separating mechanism (220) to keep a linear synchronous relation with the slope virtual shaft so as to keep the preset synchronous relation between the paper rubbing separating mechanism (220) and the slope conveying mechanism (240);
compensating the paper-rubbing separating mechanism (220) for the conveying speed of the current paper board according to the position deviation so that the position deviation of the current paper board is corrected before reaching the brush paper feeding mechanism (230), comprising:
acquiring the current phase of the slope virtual axis;
taking the difference between the current phase and the reference phase of the slope virtual axis as the position deviation;
calculating a position compensation value of the paper rubbing separation mechanism (220) for a current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board;
and compensating the conveying speed of the paper rubbing separating mechanism (220) for the current paper board according to the position compensation value, so that the position deviation of the current paper board before reaching the brush paper feeding mechanism (230) is corrected, and the position deviation of the current paper board before reaching the brush paper feeding mechanism (230) is corrected.
2. The method according to claim 1, wherein said calculating a position compensation value of the paper-separating mechanism (220) for a current board based on the position deviation, the modal length of the slope virtual axis and the width of the board comprises:
calculating the position compensation value according to a first calculation formula; the first calculation formula includes:
Psup = Pdev * L3 /L1
wherein Psup is the position compensation value, pdev is the position deviation, L3 is the width of the cardboard, and L1 is the modal length of the slope virtual axis.
3. The method as recited in claim 1, further comprising:
when the paperboard supply system is started, if the paperboard separated by the paper rubbing separation mechanism (220) is not detected, controlling the paper rubbing separation mechanism (220) to start a paperboard separation program; when the paper rubbing separation mechanism (220) is detected to separate a piece of paper board, the paper rubbing separation mechanism (220) is subjected to phase zeroing, the current phase of the slope virtual shaft is used as the reference phase of the slope virtual shaft, and the reference phase is the synchronous phase difference between the slope conveying mechanism (240) and the paper rubbing separation mechanism (220).
4. The method as recited in claim 1, further comprising:
when the paperboard feeding system is started, if the paperboard separated by the paper rubbing separating mechanism (220) is detected, the slope conveying mechanism (240) is controlled to push the paperboard to a second preset area, and the paper rubbing separating mechanism (220) is controlled to start a paperboard separating program; when the paper rubbing separation mechanism (220) is detected to separate out the next paper board, the paper rubbing separation mechanism (220) is subjected to phase zeroing, and the current phase of the slope virtual axis is used as the reference phase of the slope virtual axis; the reference phase is a synchronous phase difference between the slope conveying mechanism (240) and the paper rubbing separating mechanism (220), and the second preset area and the first preset area do not interfere with each other.
5. The method according to claim 1, wherein said calculating a position compensation value of the paper-separating mechanism (220) for a current board based on the position deviation, the modal length of the slope virtual axis and the width of the board comprises: and when the position deviation is smaller than or equal to a preset maximum deviation, calculating a position compensation value of the paper rubbing separation mechanism (220) for the current paper board according to the position deviation, the modal length of the slope virtual axis and the width of the paper board.
6. The method as recited in claim 5, further comprising:
when the position deviation is larger than a preset maximum deviation, controlling the paper rubbing separation mechanism (220) to stop at a preset position, calculating a corresponding starting phase value according to the preset position and the reference phase, and controlling the paper rubbing separation mechanism (220) to restart according to the starting phase value; the starting phase value is a synchronous phase difference between the slope conveying mechanism (240) and the paper rubbing separating mechanism (220) for the first paper plate after the paper rubbing separating mechanism (220) is started again.
7. The method of claim 6, wherein calculating the corresponding start phase value from the preset position and the reference phase comprises:
calculating the starting phase value by adopting a second calculation formula; the second calculation formula includes:
Poffset2 = Poffset1+ Prel*L1\L3
wherein Poffset2 is the starting phase value, poffset1 is the reference phase, pres is the preset position, L3 is the width of the cardboard, and L1 is the modal length of the virtual axis of the slope.
8. A board supply control device (100), characterized by comprising:
a first control module (110) for controlling the paper-rubbing separation mechanism (220) to separate the paperboards in the paperboard stack one by one;
A second control module (120) for controlling the brush paper feeding mechanism (230) to convey the paper board separated by the paper rubbing separating mechanism (220) into the slope conveying mechanism (240);
a third control module (130) for controlling the slope conveying mechanism (240) to push the paper board conveyed by the brush paper feeding mechanism (230) to a first preset area for paper board supply;
a fourth control module (140) configured to control the paper rubbing separation mechanism (220) and the slope conveying mechanism (240) to maintain a preset synchronization relationship, so that when the paper rubbing separation mechanism (220) separates a piece of paper board, the slope conveying mechanism (240) pushes the piece of paper board to the first preset area;
the cardboard supply control device (100) further comprises:
a deviation determining module for determining whether the paper separating mechanism (220) separates a sheet of paper from the paper sheet stack; if yes, determining the position deviation corresponding to the current paperboard;
a deviation compensation module for compensating the conveying speed of the paper rubbing separating mechanism (220) for the current paper board according to the position deviation so that the position deviation of the current paper board is corrected before reaching the brush paper feeding mechanism (230);
The fourth control module (140) is configured to: controlling a slope conveying shaft of the slope conveying mechanism (240) to keep a preset curve synchronous relation with a pre-built slope virtual shaft, and controlling the paper rubbing separating mechanism (220) to keep a linear synchronous relation with the slope virtual shaft so as to keep the preset synchronous relation between the paper rubbing separating mechanism (220) and the slope conveying mechanism (240);
the deviation compensation module specifically comprises:
the first acquisition unit is used for acquiring the current phase of the slope virtual axis;
a first calculation unit configured to take a difference between the current phase and a reference phase of the ramp virtual axis as the positional deviation;
a second calculating unit, configured to calculate a position compensation value of the paper-rubbing separation mechanism (220) for a current paper board according to the position deviation, the modal length of the slope virtual axis, and the width of the paper board;
and the first compensation unit is used for carrying out compensation processing on the conveying speed of the paper rubbing separating mechanism (220) aiming at the current paper board according to the position compensation value so as to enable the position deviation of the current paper board to be corrected before the current paper board reaches the brush paper feeding mechanism (230), and enable the position deviation of the current paper board to be corrected before the current paper board reaches the brush paper feeding mechanism (230).
9. A paperboard supply system, comprising: a controller (210), a paper-rubbing separating mechanism (220), a brush paper-feeding mechanism (230) and a slope conveying mechanism (240) connected with the controller (210); the controller (210) is a board supply control device (100) of claim 8.
10. The system of claim 9, further comprising:
and the electric eye device is used for detecting whether the paper rubbing separation mechanism (220) separates a piece of paper board from the paper board stack.
11. The system of claim 10, wherein the system further comprises a controller configured to control the controller,
the electric eye device is specifically used for: detecting the upper edge of the paper board within a preset range, and if the upper edge of the paper board is detected, determining that the paper rubbing separating mechanism separates a paper board from the paper board stack; the initial value of the preset range is the difference value between the reference phase and the first preset value, and the ending value of the preset range is the sum of the reference phase and the second preset value.
12. A board supply control device, comprising: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
The at least one processor being configured to invoke the machine readable program to perform the method of any of claims 1 to 7.
13. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 7.
CN202210083803.2A 2022-01-20 2022-01-20 Cardboard supply control method and device, cardboard supply system and medium Active CN114506731B (en)

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