JP2534649Y2 - Packaging machine control circuit - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control circuit for a packaging machine, and more specifically, a drive motor is separately provided in an operating mechanism such as a film feeding mechanism or an end seal mechanism, and provided in a rotating system of the mechanism. Position information from the incremental encoder is fed back to the respective motors, and the rotational position and speed of each operating mechanism are synchronously controlled. Is not cleared, and therefore a control circuit which can eliminate the need for the synchronization operation at the time of starting the packaging machine.

[0002]

2. Description of the Related Art For example, a packaging film fed from a roll is passed through a bag making machine to be formed into a cylindrical shape, and articles to be packaged are sequentially supplied into the cylindrical film, and a longitudinal polymerization of the film is performed. A horizontal type bag-making and filling package that continuously manufactures a package with a three-sided seal by applying a vertical seal to the edge and further applying a horizontal seal and cutting before and after sandwiching the packaged object of the tubular film, respectively. Machines are generally widely known. This type of horizontal bag making, filling and packaging machine is equipped with various operating mechanisms typified by a conveyor for supplying the articles to be packaged, a roll for feeding out the film and feeding it to the downstream side, and a seal body for applying an end seal to the film. ing.

[0003] By the way, the drive system of the packaging machine used to be 1
A configuration in which the main motor is used as a common drive source, and the multiple operating mechanisms are mechanically driven from this single motor via various power transmission systems such as a speed reduction mechanism, a differential gear mechanism, and a clutch mechanism. Had adopted. However, the packaging machine having such a mechanical configuration as a main component has the drawback that the configuration is extremely complicated, requires much labor and time for assembling, and is likely to cause a failure. Therefore, in recent years, packaging machines have been proposed in which drive servo motors are individually provided to various operation mechanisms and the motors are feedback-controlled, and are suitably commercialized and distributed on the market. As described above, for example, there is an invention according to Japanese Patent Publication No. 1-171640 of the present applicant as a proposal for performing feedback control of a servomotor individually provided in an operation mechanism.

In a servo-controlled packaging machine that performs feedback control of servo motors that individually drive the various operating mechanisms described above, an incremental type optical encoder is generally used as a means for feeding back information such as the rotational position and speed to the motor. Used. By using this encoder, synchronous positioning of the rotary system in each operating mechanism is performed based on various types of packaging data previously input to the control unit of the packaging machine via a keyboard or the like.

[0005] The present invention relates to a packaging machine employing this incremental type encoder, and the outline of the encoder will be described first. 2. Description of the Related Art As an optical position sensor (encoder) for detecting the current position of a rotor in a rotating device with high resolution, an incremental type and an absolute type are known. Incremental encoders
This type outputs pulses according to the rotation angle only during rotation. The number of output pulses is separately counted by a counter and processed by a central processing unit (CPU). As described above, since the incremental type outputs the current position as a pulse signal to the central processing unit,
When the power of the packaging machine is turned off, the position information is instantly lost. Absolute encoders, on the other hand, are of the type in which the signal of the absolute position according to the rotation angle is output in parallel with the code regardless of the presence or absence of rotation, so that the rotation position can always be checked without the need for a counter. Has become.

[0006]

In general, an incremental encoder is used in the above-mentioned packaging machine equipped with a servomotor for individually driving an operating mechanism. However, as described above, when the power of the packaging machine body is turned off, the position information of the encoder is lost. Therefore, when the main power is turned on before the packaging machine is put into full operation, or when an abnormality occurs during the operation of the packaging machine and the power is turned off and then turned on again, for example, the film feeding mechanism is used. In order to perform an initial synchronization position adjustment in an operation mechanism such as an actuator or an end seal mechanism, it is necessary to perform a synchronization setting operation each time. However, turning on / off the power of the packaging machine is frequently performed in daily operation, so that performing the synchronous setting operation every time the packaging machine is newly started up is inexpensively troublesome.

When the absolute encoder is used instead of the incremental encoder, the rotational position of the motor to be controlled is stored even if the power of the packaging machine is turned off. It is not necessary to perform the synchronous setting operation every time the unit is started up. However, on the other hand, the absolute encoder has a 1: 1 rotation on the rotating shaft.
Although the position detection is possible only in the case of, the various operating mechanisms of the packaging machine are driven at a reduced speed, so even if the current position of the servomotor itself can be recognized, the current It is impossible to detect the position. Therefore, it is conceivable to use an incremental type encoder as an encoder for recognizing the rotational position of the servomotor, and to use an absolute type encoder for the rotary shaft on the operation mechanism side driven by the motor. However, for example, in the case where the film feeding mechanism in the packaging machine is controlled in accordance with a preset film feed amount, it is impossible to cope with a case in which there is no reference one rotation axis from the beginning. .

[0008]

The purpose of the present invention is to provide a packaging machine which is equipped with a servo motor for individually driving the above-mentioned various operating mechanisms and an incremental encoder for feeding back information such as the rotational position and speed to the motor. In view of the above-mentioned problems inherent in the present invention, the present invention has been proposed in order to solve the problem suitably, and the present position information from the encoder is not cleared even if the power supply for the packaging machine is cut off. It is an object of the present invention to provide a machine control circuit.

[0009]

SUMMARY OF THE INVENTION In order to overcome the above-mentioned problems and appropriately achieve the intended purpose, the present invention provides a motor which is individually provided for each operating mechanism and provides a required drive to the operating mechanism. the disposed individually to the rotating system of the respective motor, the rotational position of the motor, an encoder for detecting the position of the speed or the actuating mechanism, connected to the respective motor, drive the motor de Live unit and each encoder
To supply low-voltage DC power to the encoder.
Source supply means and signals input from the respective encoders.
Is composed of a controller for feeding back the necessary control information to each of the drive unit in accordance with the item, at least one packaging machine is incremental type encoder of the encoder, the output path from said encoder
Signal and the operation origin signal in the operation mechanism
Operating position of the operating mechanism according to the origin signal from the origin sensor
Controls, the low pressure DC power supply between the supply means and said control controlling low voltage DC power supply generation circuit consisting of unit and the commercial power supply, the power supply circuit for driving a motor before Symbol control low-voltage DC power supply generation circuit and the drive unit The main power switch that supplies and shuts off all power
And the power for driving the motor in the drive unit.
Between the main power switch and a power supply circuit, before Symbol power supply
Auxiliary power switch to supply and cut off power to the circuit
Even if the auxiliary power switch is opened and the power supply to the respective motors is cut off, the control low-voltage DC power generation circuit is provided as long as the main power switch is turned on. A commercial power supply is supplied to the encoder to retain the position information of the incremental encoder in the encoder.

[0010]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a control circuit of a packaging machine according to the present invention. FIG. 1 is a block connection diagram schematically showing a power supply system of a control circuit according to an embodiment, and FIG. 2 is a schematic diagram of a horizontal bag making and filling machine in which the control circuit is implemented. In the embodiment, a horizontal bag making and filling machine is exemplified, but the present invention is not limited to this. In addition to individually providing motors for various operating mechanisms, an incremental type is separately provided for each motor rotating system. If it is a packaging machine of a type provided with an encoder, for example, it is suitably used for a vertical bag making and filling packaging machine, a corrugated cardboard caser and other various packaging machines.

Referring first to FIG. 2, the basic configuration of a horizontal bag making, filling and packaging machine will be described. The packaging machine according to this embodiment includes, as the above-described operating mechanism, a conveyor 10 that sequentially supplies the packaged articles 12 downstream and a packaging film 24 that is fed from the roll body 16 and fed to the bag making machine 20. Feeding rolls 18, 18, feed rolls 28, 28 for sandwiching the overlapped edge of the film 26 formed into a cylindrical shape by the bag making device 20 and feeding the film 26 to the downstream side, and the cylindrical film 26. A seal roll 30 for sealing the overlapping edge,
30 and a pair of seals 32, 32 for sealing and cutting the tubular film 26 in the horizontal direction.

These operating mechanisms are individually provided with the following motors. That is, the conveyor 10, the speed controllable universal motor M ₁ is provided by an inverter IV shown in FIG. 1, the motor M ₁ drives the endless chain 15 which is disposed an attachment 14 at predetermined intervals,
The packaged object 12 pushed by the attachment 14
Is transferred to the tubular film 26 via the bag making device 20. The drive system of the conveyor 10, the packaging machine feed origin sensor S ₁ for teaching a reference position for controlling synchronizes the driving systems in the wrapping cycle units are provided for, emitted from the sensor S ₁ upon mating synchronous operation The origin position is input and stored in a storage unit in the control device 34. Therefore, during the operation of the packaging machine, an origin position signal per pitch of the attachment 14 is output according to the value stored in the storage unit. Also in the drive system of the conveyor 10, the encoder E ₁ of the incremental type which generates a wake no pulse to the drive of the conveyor 10 is provided. And by a pulse from the encoder E _1, the driving speed of the conveyor 10 is measured by counting the pulses from the supply origin position signal,
The current supply position of the packaged object 12 can be known.

[0013] unwinding roll 18 is driven by a first servo motor M ₂ via a belt pulley transmission system, with respect to the packaged articles 12 one packaging unit supplied from the conveyor 10, a preset Film 2 for one package length
4 can be paid out. This servo motor M
The _2, wherein the encoder E ₂ incremental type is arranged, the rotational position and rotational speed of the motor M ₂ is always detected as a pulse signal. Then the pulse signal is fed back to the control unit 34, in which servo control of the servo motor M ₂ is performed. The sensor S ₃ that a photoelectric element or the like is disposed on the film feed path between the feed roll 18, 18 and bag making device 20, when performing packaging by using printed film, the end of the film the registration marks provided at regular intervals on the edge, is read to detect the sensor S _3.

[0014] The pair of feed rolls 28, 28 and the seal rolls 30, 30 are driven by a second servo motor M ₃ through the individual belt pulleys transmission system. This servo motor M _3, the incremental type encoder E ₃ is disposed, the servo control for feedback to the controller 34 the rotational position and rotational speed of the motor M ₃ as a pulse signal is performed. Incidentally delivery speed of the tubular film 26 by the servo motor M ₃ are, the servomotor M ₂
Is controlled so as to be slightly faster than the feeding speed of the film 24, and a required tension is applied to the film 24 drawn by the pair of feeding rolls 18, 18.

[0015] The pair of sealing members 32, 32 are driven by a third servo motor _{M 4} via a belt pulley transmission system. The servo motor M _4, the incremental type encoder E ₄ is arranged, the control unit the rotational position and rotational speed of the motor M ₄ as a pulse signal 34
The servo control for feeding back to is performed. Note the motor M ₄ gives while, the non-uniform rotary control so that the feeding speed and the same speed of the film 26 to the sealing member 32, 32 for applying a seal tubular film 26 is meshed Can be The seal member home position sensor S ₂ is provided to the driving system of the actuation mechanism of both seals 32, 32, the reference position of the synchronous position of 180 ° from the engaging position of the sealing member 32, 32 relative to the conveyor 10 as, and is able to detect the position by cell <br/> capacitors S _2. And
Upon synchronization setting operation is performed for initial alignment of the actuating mechanism, the origin position output from said seal body origin sensor S ₂ is stored in the control unit 34. Thus, during operation of the packaging machine, the stored values are used as the seals 32,
An origin position signal is output every 32 rotations. Therefore, based on the time when the origin position signal is transmitted,
By counting the pulses from the encoder E _4, it is possible to know the rotation current angle of the seal member 32, 32.

FIG. 1 is a block diagram schematically showing a power supply system of a control circuit according to an embodiment. A solid line shows a control low-voltage DC power supply generation circuit for the control system.
The broken line shows the power supply circuit for the power system. That is, the main power switch BR ₁ having one end connected to the commercial power supply PS of 200 V is connected to the sub power switch BR
₂ is connected to one end. In addition, sub power switch BR
₂ of the other end, the power collector shown by a broken line of an inverter IV for speed control of the general-purpose motor M ₁ for driving the conveyor 10
Is connected to the source circuit, the power supply for power is made to the general-purpose motor M _1. Servo motors M ₂ , M ₃ , and M _{4 that} are individually provided to drive the above-described series of operating mechanisms are respectively provided with a servo driver S as a drive unit.
B ₂ , SB ₃ , and SB ₄ are connected so that servo control is performed. These servo drivers SB ₂ , SB ₃ , and SB ₄ also have a power supply circuit shown by the broken line.
Road is connected to the other end of the sub power switch BR _2,
Power is supplied to the corresponding servo motors M ₂ , M ₃ , and M ₄ for power.

[0017] The other end of the main power switch BR ₁ is low DC provided to the control low-voltage DC power supply generation circuit shown by the solid line
Is connected to the switching regulator SR as power supply means, power supply is converted into DC 5V low-voltage by said regulator SR is, are supplied to the incremental type encoder E ₁ provided in the general-purpose motor M ₁ . Also the other end of the main power switch BR _1, as shown by the solid line in FIG. 1, the servo driver _SB 2, _SB 3, S
It is connected to each of B _4. Each servo driver S
B ₂ , SB ₃ and SB ₄ are built-in low-voltage DC power supply
The switching regulators SR ₂ , SR ₃ ,
The SR ₄ converts the 200 V commercial power supplied from the control low-voltage DC power generation circuit into a low-voltage DC power, and supplies this to the corresponding incremental encoders E ₂ , E ₃ , and E _4. It is composed .

[0018] Here, the main power switch BR ₁ includes a control low-voltage DC power supply generation circuit and the power collector of the horizontal bag-making Packaging Machine
The power supply to all of the power supply circuits can be cut off, and is used, for example, when a day's packaging operation is completed and the power of the packaging machine is completely turned off. Sub power switch B
R ₂ is in the state which supplied the main power switch BR _1, there performs a power supply and interruption of the power supply circuit stops the operation of the packaging machine eg abnormality occurs during operation It is used in such cases. That is, according to this embodiment, the main power switch BR _1, the low pressure direct current
Switching regulators SR and S as power supply means
R ₂ , SR ₃ , SR ₄ and the control device 34
It is interposed between the control low-voltage DC power supply generation circuit and the commercial power supply, also the sub power switch BR ₂ is interposed between the power supply circuit and the main power switch BR ₁ for the motor power supply in the drive unit ing. For this, the motor M ₁ of the respective open the sub power switch BR _2,
Even if the power supply to M ₂ , M ₃ , M ₄ is cut off, as long as the main power switch BR ₁ is turned on, the main power switch BR ₁ is turned on.
The power supply to the switching regulators SR, SR ₂ , SR ₃ , SR ₄ and the control device 34 can be maintained.

Next, the operation of the packaging machine according to this embodiment will be described. Main power switch BR ₁ in FIG. 1 is turned on, the auxiliary power switch BR ₂ are each actuating mechanism is blocked assumed to be stopped. Prior to the operation, the input means provided on the operation panel of the packaging machine is operated to input data necessary for packaging control such as the number of rotations of each operating mechanism, the cut pitch of the film 26, and the height of the packaged object 12. . Next, the sub-power switch BR ₂ is turned on, and the servo motors M ₂ , M ₃ ,
Performing synchronization setting operation for the initial registration of M _4.
That is, when the packaging machine is started, the general-purpose motor M ₁ , the servo motor M ₂ , the servo motor M _3, and the servo motor M ₄ start rotating at the same time according to the packaging rotation speed set in advance by the input means. So that the generic motor M ₁ drives the conveyor 10, the attachment 14 is to be packaged 12
Is sent out one packing unit at a time. Further, based on the time of transmission of the supply origin position signal stored in the control unit 34, a pulse from the encoder E ₁ is counted, teaches the current position of the are pusher the packaged articles 12 attachment 14. Further, the pulse signal from the encoder E ₂ provided to the servomotor M _2, pulse signals from the encoder E ₄ which and provided to the servo motor M _4, from the encoder E ₃ provided in the servo motor M ₃ is, Each is input to the control device 34.

Numerical data required for packaging control, such as the cut pitch of the film 26 and the height of the packaged object 12, are processed by the control unit 34, and the encoder E ₁ provided on the conveyor 10 is processed. Control of the position and speed of the series of servo motors M ₂ , M ₃ , and M ₄ based on the current position of the attachment 14 and the speed command signal to the general-purpose motor M ₁ by a pulse signal from doing. Therefore, according to the timing at which the packaged articles 12 of 1 packaging unit of is written fed into the tubular film 26, and the feeding and feeding of 1 packaging length worth of the film by the servo motor M _2, M _3, according to the servo motor M ₄ One rotation of the seal bodies 32, 32 is suitably performed.
That is, the drive of the supply conveyor 10 is used as a master, and the synchronous control is performed in which the position and speed of the film feeding servo motor M ₂ , the film feeding servo motor M ₃ , and the sealing body driving motor M ₄ are dependent on this.

When the registration mark position signal detected by the registration mark sensor S ₃ is input to the control device 34, the stored supply origin position and the pulse input from the encoder E ₁ provided on the conveyor 10 are calculated. rotation current angle of the seal body 32, 32 according to the supplied current position obtained by calculating, the servo motor M ₂ and the film feed servomotor M ₃ film unwinding and acceleration and deceleration control,
The printing position is adjusted with respect to the meshing position of the seals 32,32. That is, for a given position set in advance the meshing position of the sealing member 32, 32 as a reference, when the detection position of the sensor S ₃ is registration marks passed early, the deceleration command to the servo motor M ₂ and M ₃ outputs, when the registration mark on opposite passes slow sensor S _3, the printed pattern alignment issues a speed increasing command to the servo motor M ₂ and M ₃ is performed.

[0022] In packaging machine are suitably performed foregoing as packaging operations, for example, when abnormality in the operation occurs the need to turn off the power generated, in the present embodiment cuts off the sub power switch BR ₂ . Thus the power supply to the general-purpose motor _{M 1} and the series of the servomotor _{M 2,} M 3, _{M 4} is stopped reliably. However, since the main power switch BR ₁ is turned on, the control for the low pressure DC indicated by a solid line in FIG. 1
Power is continuously supplied to the power generation circuit . Therefore control
Switching regulator SR and support provided to patronized low DC power supply generation circuit Bodoraiba _{SB 2, SB 3, SB}
Switching regulator S built in each of ₄
R _{2, SR} 3, low-voltage DC power supply from SR ₄ is, the general-purpose motor _{M 1} of the incremental type encoders _{E 1} and the servo motors _{M 2,} M 3, incremental type encoder _E 2 of _{M 4, E 3,} E ₄ Supplied to For this reason,
By interrupting the auxiliary power switch BR _2, is not the position information in incremental type encoder is lost. In the illustrated embodiment, each of the motors M _1, M ₂ , M
₃ , encoders E ₁ , E ₂ , E provided separately for M ₄
As _3, E _4, was explained in the case of using the encoder of the incremental type all. However, the present invention is not limited to this, and if at least one incremental encoder is used, another encoder, for example, the above-described absolute type may be adopted.

[0023]

As described above, according to the control circuit of the packaging machine according to the present invention, the auxiliary power switch for control is provided in addition to the main power switch for power. And the auxiliary power switch, it is possible to store and hold the operating position of each operating mechanism even when an incremental encoder is used. Therefore, for example, when the power is turned on before the packaging machine is put into full operation, or when the power is turned off and then turned on again after an abnormality has occurred during operation, an operation such as a film feeding mechanism or an end seal mechanism may be performed. There is a great advantage that the operation for setting the synchronization of the mechanism is not required.

[Brief description of the drawings]

FIG. 1 is a block connection diagram schematically illustrating a power supply system of a control circuit according to an embodiment.

FIG. 2 is a schematic diagram of a horizontal bag making, filling and packaging machine in which a control circuit according to an embodiment is implemented.

[Explanation of symbols]

10 conveyor 12 to be packaged 16 roll body 18 feeding roll 20 of bag 24. The packaging film 26 cylindrical film 28 feed roll 30 the seal roll 32 the seal member 34 controller BR ₁ Main power switch BR ₂ sub-power switch M ₁ universal motor M _2, M _3, M ₄ servomotor _{E 1, E 2, E 3} , E 4 encoders SB _2, SB _3, SB ₄ servo driver IV inverter

Claims (1)

(57) [Scope of request for utility model registration] 1. Each operating mechanism (10/18, 18/28,
28, 30, 30/32, 32)
The operation mechanism (10/18, 18/28, 28, 30, 3
0/32, 32) to provide the required drive to the motor (M ₁ ,
M ₂ , M ₃ , M ₄ ) and the respective motors (M ₁ , M ₁ , M ₃ , M ₄ ).
M ₂ , M ₃ , M ₄ ) are individually disposed in the rotation system, and the rotation position , speed or the rotation position of the motor (M ₁ , M ₂ , M ₃ , M ₄ )
Each operating mechanism (10/18, 18/28, 28, 30, 3
0/32, 32) encoder (E ₁ ,
E ₂ , E ₃ , E ₄ ) and the respective motors (M
_1, M ₂ , M ₃ , M ₄ ) to connect the motors (M ₁ , M ₁ , M ₃ , M ₄ ) .
_{M 2, M 3, M 4} ) that drive the drive unit (I
V, SB ₂ , SB _3, SB ₄ ) and each of the encoders
(E ₁ , E ₂ , E ₃ , E ₄ ) and the encoder
(E ₁ , E ₂ , E ₃ , E ₄ )
Power supply means _{(SR, SR 2, SR 3} , SR 4) and, input from the respective encoders _{(E 1, E 2, E} 3, E 4)
Depending on the force the signal respectively of the drive unit (IV,
A control device (34) for feeding back required control information to SB ₂ , SB ₃ , SB ₄₎ , and at least one of the encoders (E ₁ , E ₂ , E ₃ , E ₄ ) is an incremental encoder And the output pulses from the encoders (E ₁ , E ₄ )
Operation origin signal in the operation mechanism (10/32, 32)
Origin signal from origin sensors (S ₁ , S ₂ ) that transmit signals
Controls the operating position of the operating mechanism (10/32, 32)
And the low-voltage DC power supply means (SR, SR ₂ , SR ₃ , S
R ₄ ) and the control low pressure comprising the control device (34).
Between the DC power supply generation circuit and the commercial power supply (PS), prior SL system
Your low-voltage DC power supply generation circuit and drive unit (I
V, the _{S B 2, SB 3, SB} 4) for driving the motor in
Interposed the main power switch _(BR 1) for supplying and interrupting all power of the power supply circuit, said drive unit _{(IV, S B 2, SB} 3, S
Between the main power switch and a power supply circuit for driving the motor (BR ₁₎ in B _4), the sub power switch for power supply and interruption of the previous SL power supply circuit (B
R ₂ ) , the sub power switch (BR ₂ ) is opened to cut off the power supply to each of the motors (M ₁ , M ₂ , M ₃ , M ₄ ). As long as the switch (BR ₁ ) is turned on, commercial power is supplied to the control low-voltage DC power generation circuit, and the position information of the incremental encoder in the encoders (E ₁ , E ₂ , E ₃ , E ₄ ) A control circuit for a packaging machine, characterized in that it is configured to hold