CN115285403A - Flying shear control system and control method for pillow type packaging machine - Google Patents
Flying shear control system and control method for pillow type packaging machine Download PDFInfo
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- CN115285403A CN115285403A CN202210792207.1A CN202210792207A CN115285403A CN 115285403 A CN115285403 A CN 115285403A CN 202210792207 A CN202210792207 A CN 202210792207A CN 115285403 A CN115285403 A CN 115285403A
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- 238000000034 method Methods 0.000 title claims description 37
- 238000004806 packaging method and process Methods 0.000 title claims description 17
- 239000000463 material Substances 0.000 claims abstract description 71
- 229920006280 packaging film Polymers 0.000 claims abstract description 51
- 239000012785 packaging film Substances 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000003860 storage Methods 0.000 claims abstract description 9
- 230000001960 triggered effect Effects 0.000 claims abstract description 9
- 238000012856 packing Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 25
- 238000005520 cutting process Methods 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 8
- 230000003111 delayed effect Effects 0.000 claims description 8
- 238000013523 data management Methods 0.000 claims description 5
- 230000009347 mechanical transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012886 linear function Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000010008 shearing Methods 0.000 description 7
- 230000003993 interaction Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/02—Wrapping articles or quantities of material, without changing their position during the wrapping operation, e.g. in moulds with hinged folders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/06—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/005—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for removing material by cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/04—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages
- B65B61/06—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
The invention discloses a pillow type packing machine flying shear control system, comprising: a material storage device; material rolls; a film drawing device; a feeding device; a feeding device; a cutter device; the feeding device and the cutter device are driven to operate by a film pulling shaft, a feeding shaft and a cutter shaft which are arranged on the feeding device and the cutter device; the material photoelectric switch is arranged near the feeding device; the feeding device is provided with a shifting tooth which is triggered to be conducted through the material photoelectric switch; the film pulling device and the moving color code photoelectric switch are fixedly arranged above the packaging film pulled out from the material roll; the cutter photoelectric switch is fixedly arranged above the cutter device; the PLC controls the movement of the film drawing shaft, the feeding shaft and the cutter shaft. The invention adopts PLC to control, the servo driving device and the photoelectric switch are connected with the PLC, the PLC realizes the control and adjustment of the shaft, no special requirement is made on the servo driving device, and the invention has better compatibility.
Description
Technical Field
The invention relates to the field of pillow type packaging machines.
Background
A shearing machine for transversely shearing a wire in motion is called a flying shear, and is called flying shear for short. The flying shear control system can quickly cut off iron plates, steel pipes, paper rolls, packaging films and the like, and is widely applied to production lines of metallurgy, papermaking, packaging and the like.
The conventional flying shear control device is mainly specially developed for a driver of a flying shear motor, a special expansion circuit and a special control program are added in the driver to realize process control on the rotating flying shear, and a control system has considerable complexity in the aspects of control structure, equipment type selection, control algorithm and the like. However, the dedicated driving controller is inconvenient for maintenance and repair, and the production efficiency is greatly influenced after a fault occurs.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a flying shear control system of a pillow type packaging machine, which adopts a PLC (programmable logic controller) as a flying shear controller.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a pillow packaging machine flying shear control system includes:
the storage device is used for placing materials to be packaged;
a material roll wound with a packaging film;
and the film pulling device is used for pulling the packaging film from the material roll and completing the longitudinal folding and longitudinal edge sealing processes. The movement of the film drawing device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a film drawing shaft; the feeding device pushes the material to be packaged out of the material storage device and sends the material to the packaging film without edge sealing; the movement of the feeding device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a feeding shaft;
the cutter device cuts the packaging film filled with the materials at the color code position and finishes the transverse edge sealing process; the movement of the cutter device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a cutter shaft;
the material photoelectric switch is arranged near the feeding device; the feeding device is provided with a shifting tooth which is triggered to be conducted through the material photoelectric switch;
the color code photoelectric switch is fixedly arranged above the packaging film pulled out from the material roll; triggering the color code on the packaging film to be conducted when the color code passes through the color code photoelectric switch;
the cutter photoelectric switch is fixedly arranged above the cutter device; the upper cutter of the cutter device passes through the cutter
Triggering the photoelectric switch to be conducted;
and the PLC is connected with the material photoelectric switch, the color code photoelectric switch and the cutter photoelectric switch and controls the movement of the film pulling shaft, the feeding shaft and the cutter shaft.
The invention records photoelectric signal data in the moving process of the system through the photoelectric switch, calculates an adjustment value through the PLC, controls the servo driver to control the movement of the film drawing device, the feeding device and the cutter device, and can realize the adjustment of the shearing position and the feeding position without additionally adding a special expansion circuit and a special control program in the driver.
The flying shear control system of the pillow type packaging machine further comprises a man-machine interaction interface for fine adjustment of the shearing position and the material position. And the man-machine interaction is convenient through the man-machine interaction interface.
The invention also provides a flying shear control method of the pillow type packaging machine, which comprises the following steps:
(1) Generating a curve track:
the PLC calculates an electronic cam track curve and a follow-up proportion parameter when the flying shear control system of the pillow type packaging machine is started; the electronic cam track curve is a fifth-order polynomial, and the parameters of the polynomial are obtained by adopting a normalization calculation method;
(2) Shaft control:
the PLC calculates the pulse number sent to the feeding device, the film drawing device and the cutter device in each interpolation period;
(3) Photoelectric signal recording:
the film drawing device continuously draws the packaging film from the material roll, and the color code on the packaging film triggers and conducts when passing through the color code photoelectric switch and records the instruction position S1 of the film drawing shaft; the feeding device periodically pushes the materials to be packaged out of the storage device through the shifting teeth which are arranged at equal intervals, the materials are placed on the pulled packaging film, and the film pulling device completes the longitudinal folding and longitudinal edge sealing of the packaging film; triggering the conduction of the shifting tooth when the shifting tooth passes through the material photoelectric switch, and recording the instruction position S3 of the film pulling shaft; the packaging film filled with the materials is sent to a cutter device, and the cutter device cuts off the packaging film at the color code position of the packaging film and completes transverse edge sealing; when a cutter on the cutter device passes through a cutter photoelectric switch, the cutter is triggered to be conducted, and the instruction position S2 of the film pulling shaft is recorded;
(4) Shaft motion adjustment:
the film cutting shaft and the film drawing shaft synchronously move along an electronic cam track curve, the film drawing shaft is a main shaft, and the film cutting shaft is a driven shaft; the feeding shaft and the film drawing shaft perform follow-up motion according to mechanical transmission parameters, the film drawing shaft is a main shaft, and the feeding shaft is a driven shaft;
the PLC calculates a difference value ADJ1 between the relative position of the current cutter to the color scale and a tangent point position U1 set by a user through ((S1-S2) -U1); the electronic cam performs phase adjustment: from the moment when the photoelectric switch of the cutter is switched on and rises, the phase of the main shaft of the electronic cam is superposed within the position change length delta L of the film drawing shaft, the superposed numerical value is ADJ1, and a quintic polynomial curve is adopted in the superposition process;
the PLC calculates the difference between the relative position of the current material to the cutting knife and the material position U2 set by a user through a formula ((S3-S2) -U2)/L1L 3, and converts the difference into an adjustment value ADJ2 of the feeding shaft; l1 is packing length, and L3 is dialling tooth length.
The electronic cam track curve and the adjustment curve generated by the method both adopt a fifth-order polynomial curve, so that the system is more stable to operate.
The flying shear control method of the invention also comprises the following steps:
calculating the angle of the cutter: the PLC calculates the real-time angle of the cutter shaft;
power failure data management: managing the technological parameters of the system and storing the angle information of the cutter shaft before the system is powered off.
More specifically, when the phase of the electronic cam is adjusted, when ADJ1 is positive, the phase will be advanced, the cutter shaft will rotate faster, and the cutting position of the packaging film will be advanced; when ADJ1 is negative, the phase will be delayed, the rotation of the cutter shaft will be slowed down, and the cutting position of the packaging film will be delayed.
In some embodiments, the position change length Δ L of the film drawing shaft is preferably 0.9 × L1.
More specifically, a quintic polynomial curve is adopted in the phase adjustment process of the feeding shaft, the position of the feeding shaft is adjusted within the position change length delta L of the film drawing shaft, and the adjustment amount is ADJ2: when ADJ2 is the positive number, pay-off axle pivoted position will increase, treats that the packing material will be seen off in advance, and when ADJ2 was the negative number, pay-off axle pivoted position will reduce, treats that the packing material will postpone and see off.
The flying shear control system of the invention is initially set as follows:
the partition setting of the cutter device is as follows: dividing the packaging film into a synchronous area and a non-synchronous area according to the position relation between the cutter device and the packaging film; when the cutter rotates in the range of the synchronous area, the linear speed of the cutter is consistent with that of the packaging film;
initialization of a cutter device: when the flying shear control system is powered on for the first time, the PLC controls the cutter shaft to rotate slowly, the cutter shaft stops rotating when the cutter photoelectric switch is switched on to rise, and the PLC sets the current angle of the cutter shaft as the angle of the installation position of the cutter photoelectric switch;
initialization of a film drawing device: the center position of the cutter device is positioned at the position of the perpendicular bisector of the front and the back color codes by inching the film drawing shaft.
More specifically, the electronic cam trajectory curve is divided into a starting curve, a circulating curve and a stopping curve according to the working process; the phase interval of the main shaft of the starting curve is [ L1/2, L1], and the angle interval of the driven shaft is [180 degrees, 360 degrees ]; the phase interval of the main shaft of the circular curve is [0, L1], and the angle interval of the auxiliary shaft is [0 degrees and 360 degrees ]; the phase interval of the main shaft of the shutdown curve is [0, L1/2], and the angle interval of the driven shaft is [180 degrees and 360 degrees ]; under the condition of system standby, if a user clicks the cutter shaft to make the cutter shaft deviate from a starting position of 180 degrees, a curve track generation module of the PLC regenerates a starting curve according to the current angle of the cutter shaft, the phase interval of a main shaft of the PLC is still [ L1/2, L1], and the angle interval of the auxiliary shaft is changed into [ current angle, 360 degrees ]; when the cutter is positioned in the synchronous area, the curve type of the electronic cam track curve is a linear function, and when the cutter is positioned in the asynchronous area, the curve type of the electronic cam track curve is a quintic polynomial function.
Compared with the prior art, the invention has the following advantages:
1) The servo driving equipment and the photoelectric switch are connected with the PLC, the PLC is used for realizing the control and adjustment of the shaft, no special requirement is required on the servo driving equipment, and the compatibility is better;
2) The shearing position and the material position can be finely adjusted through a human-computer interface at any time in the processing process, and the human-computer interaction is convenient;
3) The flying shear trajectory curve and the adjusting curve both use a fifth-order polynomial curve, and the system runs more stably.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a PLC functional module of the present invention;
FIG. 3 is a schematic diagram of phase stacking according to the present invention;
FIG. 4 is a partial schematic view of a cutter assembly of the present invention;
fig. 5 is a schematic diagram of an electronic cam trajectory curve according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in figure 1, the flying shear control system comprises a PLC13, a human-computer interface 14, a feeding device 4, a film drawing device 1, a cutter device 2, a material photoelectric switch 9, a color code photoelectric switch 8 and a cutter photoelectric switch 7. The feeding device 4, the film drawing device 1 and the cutter device 2 are controlled by servo drivers 20, 19 and 18 and servo motors 17, 16 and 15 respectively to rotate, three sets of corresponding servo drivers and servo motors respectively form a feeding shaft, a film drawing shaft and a cutter shaft of a control system, and the three shafts all run in a single direction and are controlled by a PLC 13. The PLC13 comprises an axis control module, a curve track generation module, a photoelectric signal recording module, a cutter angle calculation module, a power failure data management module and an axis motion adjustment module. The film cutting shaft and the film drawing shaft synchronously move along an electronic cam track curve, the film drawing shaft is a main shaft of the electronic cam, and the film cutting shaft is a driven shaft of the electronic cam; the feeding shaft and the film drawing shaft perform follow-up motion according to mechanical transmission parameters, the film drawing shaft is a follow-up main shaft, and the feeding shaft is a follow-up driven shaft.
The human-computer interface 14 is used for setting a tangent point position U1, a material position U2, mechanical transmission parameters, a packaging length L1, a material length L2, a shifting tooth length L3 and a synchronization zone angle A. The film drawing device 1 consists of an upper roller and a lower roller, the upper roller and the lower roller are linked through a gear, and are driven to rotate through a film drawing shaft, so that the packaging film is continuously drawn from a material roll 6, and the longitudinal folding and longitudinal edge sealing process is completed (the longitudinal folding and longitudinal edge sealing are completed by adopting the structure of the existing folding and edge sealing device); the feeding device 4 (can feed materials by adopting a belt pulley mode, the belt is provided with shifting teeth at equal intervals for pushing materials, the belt pulley is driven by a feeding shaft) periodically pushes the materials 11 to be packaged from a material storage device 10 (the material storage device is fixedly arranged above the belt pulley, and is provided with an opening at the lower part, the height of the opening and the height of the materials through the shifting teeth 5 at equal intervals, so that the materials can just fall onto the belt pulley singly, and can not advance along with the belt pulley under the condition of no shifting tooth drive), and are placed on a packaging film without edge sealing; the cutter device 2 comprises an upper cutter rod and a lower cutter roller, the upper cutter rod and the lower cutter roller are linked through a gear, cutters are arranged on the upper cutter rod and the lower cutter roller respectively, the upper cutter rod and the lower cutter roller are driven by a cutter shaft to rotate, a packaging film filled with materials is cut off at the position of the color code 12, and a transverse edge sealing process is completed (the completion of the transverse edge sealing process can be completed by adopting the structure of the existing transverse edge sealing device). The angle of the cutter shaft is 0 degree of the position of the upper cutter roller which vertically contacts the packaging film, and the schematic diagram of the angle positions of the upper cutter roller is given in figure 4. The axis control module of the PLC13 is used for calculating the number of pulses sent to three axes in each interpolation period; the curve track generation module is used for calculating an electronic cam track curve and a follow-up proportion parameter when the system is started, wherein the electronic cam track curve is a fifth-order polynomial, and the parameters of the polynomial are obtained by adopting a normalization calculation method; the photoelectric signal recording module is used for capturing the rising edge of the photoelectric switch and recording the film pulling shaft instruction position at the moment; the cutter angle calculation module is used for calculating the real-time angle of the cutter shaft; the power failure data management module is used for managing the technological parameters of the system; the shaft movement adjusting module is used for calculating according to the recording data of the photoelectric signal recording module in the movement process to obtain an adjusting value, and adjusting the shearing position and the feeding position. As shown in fig. 2.
All the photoelectric switches are connected with a digital quantity input terminal of the PLC13, and the photoelectric switches are connected with a rising edge to trigger a photoelectric signal recording module of the PLC to work so as to record the current instruction position of the film drawing shaft. Specifically, the color code photoelectric switch 8 is arranged above the packaging film, and the color code 12 is triggered to be conducted and record the instruction position S1 of the film pulling shaft when passing; the cutter photoelectric switch 7 is fixedly arranged at the 180-degree position of the cutter shaft (as shown in figure 4), and the cutter 3 is triggered to be conducted and records the instruction position S2 of the film drawing shaft when passing through; the material photoelectric switch 9 is arranged near the feeding device 10, and the poking teeth 5 are triggered to be conducted when passing through the material photoelectric switch 9 and record the instruction position S3 of the film pulling shaft. If the bag is a color-code-free bag, the color-code photoelectric switch 8 will not be triggered. It should be noted that, the recorded S1, S2 and S3 are the commanded positions of the film drawing shaft, and there is a positional deviation from the theoretical actual position of the film drawing shaft, and assuming that the actual film drawing shaft positions corresponding to the recorded S1, S2 and S3 are SS1, SS2 and SS3, respectively, and the motor positional deviations are E1, E2 and E3, respectively, then:
S1＝SS1+E1；
S2＝SS2+E2；
S2＝SS3+E3；
since the film drawing shaft is at a constant film drawing speed when reaching the processing speed set by the user, and it can be known from the characteristics of the servo driving device that E1 ≈ E2 ≈ E3, if S1, S2, S3 perform subtraction operation in the calculation process, the influence of the position deviation will be substantially eliminated.
The axis motion adjusting module of the PLC13 calculates a difference value ADJ1 between the relative position of the current cutting blade 3 to the color scale 12 and the user-set tangent point position U1 by ((S1-S2) -U1), and ADJ1 is used as a phase adjustment value of the electronic cam. The phase adjustment process starts from the moment that the photoelectric switch 7 of the cutter is switched on to rise, the phase of the main shaft of the electronic cam is overlapped within the position change length delta L of the film drawing shaft, the overlapped value is ADJ1, a quintic polynomial curve is adopted in the overlapping process, and the phenomenon that the cutter shaft rotates to generate mutation is avoided. Fig. 3 shows a schematic diagram of the phase superimposing process, and it can be seen from the diagram that, within the variation length Δ L of the packaging film on the film drawing device 1, the phase of the electronic cam originally changes to PH, and after the phase superimposing, the variation amount of the phase changes to PH + ADJ1. As shown in fig. 3.
When ADJ1 is positive, the phase will be advanced, the cutter shaft will rotate fast, and the cutting position of the packaging film will be advanced. When ADJ1 is negative, the phase will be delayed, the rotation of the cutter shaft will be slowed down, and the cutting position of the packaging film will be delayed. The length Δ L of the change in position of the film-drawing shaft is preferably (0.9 × L1) in order to terminate the adjustment before the next activation of the knife-knife photoelectric switch 7. After several adjustments, ADJ1 will swing around the value 0 and the relative position of the corresponding cut and color patch 12 will remain stable. The user can adjust the cutting position by fine-tuning the value of the cutting position U1 through the human-machine interface 14. The phase adjusting process only intervenes in the phase value of the electronic cam main shaft participating in calculation, the movement of the film drawing shaft is not affected, and the fluctuation of the film drawing tension is avoided. When the packaging bag is a color-mark-free bag, the system cannot calculate ADJ1 and cannot adjust the cutter shaft.
The shaft movement adjusting module of the PLC13 calculates a difference between the relative position of the current material 11 to the cutting knife 3 and the material position U2 set by the user through a formula ((S3-S2) -U2)/L1 × L3, and converts the difference into an adjustment value ADJ2 of the feeding shaft. The feeding action of the material shaft is advanced or delayed, so that the position of the material 11 to be packaged on the packaging film is adjusted. Similar to the adjustment of the slitting cutter shaft, a fifth-order polynomial curve is used in the adjustment process of the feeding shaft, the position of the feeding shaft is adjusted within the variable length delta L of the packaging film on the film drawing device 1, and the adjustment amount is ADJ2. When ADJ2 is positive number, the position of the rotation of the feeding shaft will be increased, the material 11 to be packaged in the figure 1 will be sent out in advance, when ADJ2 is negative number, the position of the rotation of the feeding shaft will be reduced, and the material 11 to be packaged in the figure 1 will be sent out after being delayed. After a plurality of times of adjustment, ADJ2 can swing left and right at the value of 0, and the relative position of the corresponding material position and the shearing position can be kept stable. The user can fine-tune the value of the material position U2 through the human-machine interface 14, thereby adjusting the position of the material 11 in the packaging bag.
As shown in fig. 4, the cutter device 2 is divided into a synchronous region and a non-synchronous region according to the positional relationship with the packaging film. The synchronous area is positioned near 0 degree of contact of the cutter 3 and the packaging film, and when the cutter 3 rotates within the angle range of the synchronous area, the linear speed of the cutter 3 is consistent with that of the packaging film.
When the flying shear control system is powered on for the first time, the cutter device 2 and the film drawing device 1 need to be initialized first. The initialization of the cutter device 2 is automatically performed by the PLC, in the initialization process, the PLC13 controls the cutter shaft to rotate at a slow speed, the cutter photoelectric switch is turned on and rises to stop the rotation of the cutter shaft at the moment, and the PLC sets the current angle of the cutter shaft to the angle of the installation position of the cutter photoelectric switch, which is generally 180 degrees (as shown in fig. 4). In the subsequent movement process, the cutter angle calculation module of the PLC can continuously calculate the real-time angle of the cutter shaft. The initialization of the film drawing device is completed by an operator who clicks the film drawing shaft to enable the center position of the cutter device to be positioned near the perpendicular bisector of the front color scale and the rear color scale. The power failure data management module of the PLC stores the angle information of the cutter shaft before the system is powered off, and reads the angle information of the cutter shaft when the system is powered on without initializing the cutter device again.
As shown in fig. 5, the electronic cam trajectory curve is calculated by a curve trajectory generation module of the PLC at system startup. The electronic cam track curve is divided into a starting curve, a circulating curve and a stopping curve according to the working process. The phase interval of the main shaft of the starting curve is [ L1/2, L1], and the angle interval of the driven shaft is [180 degrees, 360 degrees ]; the phase interval of the main shaft of the circular curve is [0, L1], and the angle interval of the auxiliary shaft is [0 degrees and 360 degrees ]; the phase interval of the main shaft of the shutdown curve is [0, L1/2], and the angle interval of the driven shaft is [180 degrees and 360 degrees ]. Under the condition of system standby, if a user clicks the cutter shaft to make the cutter shaft deviate from a starting position of 180 degrees, the curve track generation module of the PLC regenerates a starting curve according to the current angle of the cutter shaft, the main shaft phase interval of the PLC is still [ L1/2, L1], and the auxiliary shaft angle interval is changed into [ current angle, 360 degrees ]. When the cutter shaft is positioned in the synchronous area, the curve type of the electronic cam track curve is a linear function, and when the cutter shaft is positioned in the asynchronous area, the curve type of the electronic cam track curve is a quintic polynomial function.
Claims (8)
1. A pillow packaging machine flying shear control system, characterized in that, pillow packaging machine flying shear control system includes:
the storage device is used for placing materials to be packaged;
a material roll wound with a packaging film;
and the film drawing device is used for drawing the packaging film from the material roll and completing the longitudinal folding and longitudinal edge sealing processes. The movement of the film drawing device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a film drawing shaft;
the feeding device pushes the material to be packaged out of the material storage device and sends the material to the packaging film which is not edge sealed; the movement of the feeding device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a feeding shaft;
the cutter device cuts the packaging film filled with the materials at the color code position and finishes the transverse edge sealing process; the movement of the cutter device is driven by a corresponding servo motor, and the servo motor and a matched servo driver form a cutter shaft;
the material photoelectric switch is arranged near the feeding device; the feeding device is provided with a shifting tooth which is triggered to be conducted through the material photoelectric switch;
the color code photoelectric switch is fixedly arranged above the packaging film pulled out from the material roll; triggering the color code on the packaging film to be conducted when the color code passes through the color code photoelectric switch;
the cutter photoelectric switch is fixedly arranged above the cutter device; the upper cutter of the cutter device triggers the conduction of the upper cutter when passing through the photoelectric switch of the cutter;
and the PLC is connected with the material photoelectric switch, the color code photoelectric switch and the cutter photoelectric switch and controls the movement of the film pulling shaft, the feeding shaft and the cutter shaft.
2.A flying shear control method using the flying shear control system of the pillow type packaging machine according to claim 1, characterized by comprising the steps of:
(1) Generating a curve track:
the PLC calculates an electronic cam track curve and a follow-up proportion parameter when the flying shear control system of the pillow type packaging machine is started; the electronic cam track curve is a fifth-order polynomial, and the parameters of the polynomial are obtained by adopting a normalization calculation method;
(2) Shaft control:
the PLC calculates the pulse quantity sent to the feeding shaft, the film drawing shaft and the cutter shaft in each interpolation period;
(3) Photoelectric signal recording:
the film drawing device continuously draws the packaging film from the material roll, and the color code on the packaging film triggers and conducts when passing through the color code photoelectric switch and records the instruction position S1 of the film drawing shaft; the feeding device periodically pushes the materials to be packaged out of the material storage device through the shifting teeth which are arranged at equal intervals, the materials are placed on the pulled packaging film, and the film pulling device completes the longitudinal folding and the longitudinal edge sealing of the packaging film; triggering the conduction of the shifting tooth when the shifting tooth passes through the material photoelectric switch, and recording the instruction position S3 of the film pulling shaft; the packaging film filled with the materials is sent to a cutter device, and the cutter device cuts off the packaging film at the color code position of the packaging film and completes transverse edge sealing; when a cutter on the cutter device passes through a cutter photoelectric switch, the cutter is triggered to be conducted, and the instruction position S2 of the film pulling shaft is recorded;
(4) Shaft motion adjustment:
the film cutting shaft and the film drawing shaft synchronously move along an electronic cam track curve, the film drawing shaft is a main shaft, and the film cutting shaft is a driven shaft; the feeding shaft and the film drawing shaft perform follow-up motion according to mechanical transmission parameters, the film drawing shaft is a main shaft, and the feeding shaft is a driven shaft;
the PLC calculates a difference value ADJ1 between the relative position of the current cutter to the color scale and a tangent point position U1 set by a user through ((S1-S2) -U1); the electronic cam performs phase adjustment: from the moment when the photoelectric switch of the cutter is switched on and rises, the phase of the main shaft of the electronic cam is superposed within the position change length delta L of the film drawing shaft, the superposed numerical value is ADJ1, and a quintic polynomial curve is adopted in the superposition process;
the PLC calculates the difference between the relative position of the current material to the cutting knife and the material position U2 set by a user through a formula ((S3-S2) -U2)/L1L 3, and converts the difference into an adjustment value ADJ2 of the feeding shaft; and L1 is the packaging length, and L3 is the length of the shifting teeth.
3. The flying shear control method according to claim 2, further comprising:
calculating the angle of the cutter: the PLC calculates the real-time angle of the cutter shaft;
power failure data management: managing the technological parameters of the system and storing the angle information of the cutter shaft before the system is powered off.
4. The flying shear control method as claimed in claim 3, wherein when the phase of the electronic cam is adjusted, when ADJ1 is positive, the phase will be advanced, the cutter shaft will rotate faster, and the cutting position of the packaging film will be advanced; when ADJ1 is negative, the phase will be delayed, the rotation of the cutter shaft will be slowed down, and the cutting position of the packaging film will be delayed.
5. The flying shear control method according to claim 4, wherein the position change length Δ L of the film drawing shaft is 0.9 × L1.
6. The flying shear control method according to claim 5, wherein the phase adjustment process of the feed shaft adopts a quintic polynomial curve, and the position of the feed shaft is adjusted within the position change length Δ L of the film drawing shaft by an adjustment amount ADJ2: when ADJ2 is the positive number, pay-off axle pivoted position will increase, treats that the packing material will send out in advance, and when ADJ2 is the negative number, pay-off axle pivoted position will reduce, treats that the packing material will postpone and send out.
7. The flying shear control method of claim 6, wherein the flying shear control system performs the following initial settings:
the partition setting of the cutter device: dividing the packaging film into a synchronous area and a non-synchronous area according to the position relation between the cutter device and the packaging film; when the cutter rotates in the range of the synchronous area, the linear speed of the cutter is consistent with that of the packaging film;
initialization of a cutter device: when the flying shear control system is powered on for the first time, the PLC controls the cutter shaft to rotate slowly, the cutter shaft stops rotating when the cutter photoelectric switch is switched on to rise, and the PLC sets the current angle of the cutter shaft as the angle of the installation position of the cutter photoelectric switch;
initialization of a film drawing device: the center position of the cutter device is positioned at the position of the perpendicular bisector of the front and the back color codes by inching the film drawing shaft.
8. The flying shear control method of claim 7, wherein the electronic cam trajectory curve is divided into a start-up curve, a cycle curve, and a stop curve according to a working process; the phase interval of the main shaft of the starting curve is [ L1/2, L1], and the angle interval of the driven shaft is [180 degrees, 360 degrees ]; the phase interval of the main shaft of the circular curve is [0, L1], and the angle interval of the auxiliary shaft is [0 degrees and 360 degrees ]; the phase interval of the main shaft of the shutdown curve is [0, L1/2], and the angle interval of the driven shaft is [180 degrees and 360 degrees ]; under the condition of system standby, if a user clicks the cutter shaft to make the cutter shaft deviate from a starting position of 180 degrees, a curve track generation module of the PLC regenerates a starting curve according to the current angle of the cutter shaft, the phase interval of a main shaft of the PLC is still [ L1/2, L1], and the angle interval of the auxiliary shaft is changed into [ current angle, 360 degrees ]; when the cutter shaft is positioned in the synchronous area, the curve type of the electronic cam track curve is a linear function, and when the cutter shaft is positioned in the asynchronous area, the curve type of the electronic cam track curve is a quintic polynomial function.
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