JPH07110645B2 - Packaging machine operation control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an operation control of a packaging machine capable of synchronously operating at least three axes of a carry-in conveyor of a packaging machine, a film feed roll, and a horizontal seal cutting device by servo motors. Regarding the device.

[Prior Art] Conventionally, as a three-axis operation control device for synchronously operating three driving motors of a carry-in conveyor, a film feed roll, and a horizontal seal cutting device of a horizontal bag-making filling and packaging machine, JP-A-63-
125108, JP-A-63-125109, JP-A-53-218008,
JP-A-63-218009, JP-A-63-281911, JP-A-63-
There is 281913. Among these, the servomotors are used as the driving motors for the three sections of the carry-in conveyor, the film feed roll, and the horizontal seal cutting device, as disclosed in JP-A-63-125109 and JP-A-63-281911. And JP-A-63-281913.

JP-A-63-125109 is a complete three-axis servo operation control system, but the vertical sealer servo motor is designed to operate synchronously with the motor driving the payout roller as the master. Conveyor servo motors and end sealer servo motors use the motor that drives the feeding roller as the master and
It is designed to operate synchronously via the F / F converter.
Therefore, the parallel operation control such as the operation control of the three-axis servo of the industrial robot is not performed, and a special master / slave operation system is adopted. Further, JP-A-63-281911 and JP-A-63-281913 do not clearly show that a servomotor is used as a drive motor, but in any case, the third method for pulling out the strip film is Based on the drive motor, the first drive motor that drives the transport means and the second drive motor that drives the seal cutting means are controlled synchronously, and this also uses the master / slave operation system. There is.

[Problems to be Solved by the Invention] However, the operation system of the master / slave as described above is adopted when the operation control of the packaging machine is performed by the loading conveyor, the paper-drawing roll, and the horizontal sealing device. Since synchronous operation is essential and variable data (packaging cycle time, bag length, product carry-in pitch, registration mark position deviation, etc.) must be supported,
This is because it is easier to create a soft program in the slave operating system than in the non-master / slave operating system. However, since the master / slave operation system does not compensate for the complete independence of each servo motor, the initialization control for synchronizing the three-axis servos is required.

The basic problem that must be solved in order to realize a 3-axis servo control system by adopting a servo motor as a drive motor for the carry-in conveyor of the packaging machine, the film feed roll, and the horizontal seal cutting device is the one-motor control system. It is exactly the same as the task required in. That is, the object to be packaged can be housed in the packaging cylinder so that the object to be packaged is positioned between the registration mark and the registration mark, and the registration mark is not displaced, and the object to be packaged is removed from the registration mark. Do not cut lateral seals. And, since a servo motor is used, it is possible to handle any combination of packaging length and packaging size.
In particular, it is required to cope with extremely small packaging lengths to extremely large lengths such as long onions.

The present invention employs a servomotor as a driving motor for a carry-in conveyor of a packaging machine, a film feed roll, and a horizontal seal cutting device, and a three-axis servomotor is not a master / slave control system but an independent pair by software. It is realized as a control system, and on top of that, even if the packaging length and number of packaging are large or small,
The object to be packaged can be stored in the packaging cylinder so that the object to be packaged is located between the registration mark and the registration mark, and the lateral seal is provided at the place where the registration mark is not displaced and the registration mark is removed. -The purpose of the present invention is to provide an operation control device for a packaging machine that can control the operation without cutting.

[Means for Solving the Problems] According to the present invention, as means for solving the above problems, a conveyor A that is driven by the first servomotor 1 and conveys an article w to be packaged at a predetermined interval h, and the conveyance. The film is fed by a pair of film feed rollers b4 continuously provided on the downstream side of the conveyor A and driven by the second servo motor 2 to fold the belt-shaped film f1 into a tubular shape and continuously connect both edges f'of the film. And sealing by welding to form a packaging cylinder f2, and the object to be packaged w conveyed by the conveyor A is passed through the former b1 to form the packaging cylinder f2.
A packaging means B to be housed therein and a downstream side of the packaging means B are connected to each other and are driven by a third servomotor 3 to laterally weld and seal an intermediate position between the objects to be packaged of the packaging cylinder f2.
In a packaging machine having a horizontal sealing / cutting means D for cutting, control signals are sent to the first to third servo drivers 4,5,6 for driving and controlling the first to third servomotors 1,2,3. Is provided with a first to a third servo controller 7,8,9, and a main controller 10 for exchanging control signals with these three servo controllers 7,8,9. , By inputting operating parameters from data input or from external device 11 and performing the required calculation and outputting as the required servo motor operating parameter signal, always generate a fixed number of reference signals per unit packaging cycle time during packaging. In the first servo controller 7, the object w to be packaged is supplied to the packaging cylinder f2 at an intermediate position between the registration mark and the registration mark. As the required servo motor operating parameter signal for
A group of control signals required for a unit packaging cycle calculated according to the packaging length in the main controller 10 are input and stored in advance, and the reference signal is input as an operation parameter read signal during operation. Then, the required servo motor operation parameter signals are sequentially output, and at that time, the actual origin position detection signal is input from the first origin sensor 12 installed at the predetermined position of the packaging machine to perform the required calculation. When there is a deviation due to the operation, it is configured to output to the first servo driver 4 as a control signal to which the origin position correction is added, and the second servo controller 8 is used to feed the film at a predetermined packaging cycle speed. As the required servo motor operating parameter signal, the main controller
In 10, the required constant multiple calculated according to the packaging length is input and stored in advance, and the reference signal is input during operation, and the number of signals is increased so that it becomes a number multiplied by the constant multiple. And the required number of control signals that can feed the film in accordance with the number of packages, and at that time, the registration mark detection signal is input from the registration mark sensor 14 installed at the predetermined position of the packaging machine to perform the required calculation. If there is a deviation, it is configured to output to the second servo driver 5 as a control signal to which the film feed correction for correcting the position shift of the registration mark is added, and the third servo controller 9 Calculated according to the packaging length in the main controller 10 as a required servo motor operation parameter signal for laterally sealing and cutting the cylinder f2 in conformity with each registration mark. A group of control signals for a required shift pattern for a number of packaging cycles are input and stored in advance, and the reference signal is input as an operation parameter read signal during operation to sequentially output the required servo motor operation parameter signals. And at that time, the actual origin position detection signal is input from the second origin sensor 13 installed at the predetermined position of the packaging machine to perform the required calculation, and if there is a deviation, the origin position correction is added to the control. 1 shows an operation control device for a packaging machine, which is configured to output as a signal to a third servo driver 6.

[Operation] In operation, when the package length 1 is input to the main controller 10 as one of the operation parameters, the first servomotor 1 for driving and controlling the first servomotor 1 in accordance with the package length 1 is input. Calculates and outputs the required servo motor operating parameter signals (a group of control signals per unit packaging cycle) to the first servo controller 7, and
A second calculation for driving and controlling the second servo motor 2 is performed corresponding to the packaging length l, and a required servo motor operation parameter signal (required constant multiple K) is sent to the second servo controller 8. Furthermore, the third operation for driving and controlling the third servomotor 3 corresponding to the packaging length 1 is output, and the required servomotor operating parameter signal (a group of control per unit packaging cycle is controlled). Signal) to the third servo controller 9, and the first to third servo controllers 7, 8 and 9 store the respective servo motor operation parameter signals.

In addition, when the number of packages per unit packaging cycle time is input as data to the main controller 10 as one of the operation parameters, the required calculation is performed and a constant number of reference signals are output per unit packaging cycle time during operation. Is set to.

Then, when the operation is performed, a constant number of reference signals are always output from the main controller 10 to the first to third servo controllers 7, 8 and 9 per unit packaging cycle time. Then, the first to third servo controllers 7, 8 and 9 can detect the actual origin position detection signal or the registration mark of the corresponding origin sensor 12 or 13 at a required timing while the unit packaging cycle time is extremely short. The registration mark detection signal of the sensor 14 is input to perform the required calculations.

Therefore, each time the control signal from the main controller 10 is input by the first servo controller 7 and the third servo controller 9, a predetermined shift pattern per unit packaging cycle stored in advance is formed. When a group of control signals are sequentially read, and at that time, if there is a deviation by comparing and calculating the origin signal and the actual origin position detection signal, add the actual origin position correction necessary to correct the actual origin position. A required control signal is output to the corresponding first servo driver 4 or third servo driver 6, and the second servo controller 8 scales the reference signal and at the same time outputs the origin signal. If there is a deviation by comparing and calculating the registration mark detection signal, the required control signal with the necessary film feed correction to correct the registration mark position deviation is added to the second control signal. It will be output to the servo driver 5.

Therefore, the first to third servo motors 1, 2 and 3 respectively correspond to the corresponding first to third servo drivers 4,5 and
Although the operation control is independently performed by 6, while the close synchronization of the packaging cycle is maintained without interruption,
Each of them will be operated and controlled as required. That is,
The second servo motor 2 rotationally drives the film feed roller b4 at a predetermined packaging cycle speed regardless of the packaging length to feed the film, and the first servo motor 1
Is the packaging cylinder f2 so that the transfer conveyor A is driven at a required speed to position the article to be packaged w between the registration marks.
The third servomotor 3 is a horizontal seal.
The cutting means D is driven at a required speed to match the registration mark of the packaging cylinder f2 and perform lateral sealing and cutting.

Example First, the configuration of the packaging machine will be described.

The packaging machine of this embodiment is a horizontal bag-making filling and packaging machine, and includes a transport conveyor A, a packaging means B continuously provided on the downstream side of the transport conveyor A, and a downstream side of the packaging means B. It has an intermediate conveyor C provided, a horizontal seal / cutting means D continuously provided on the downstream side of the intermediate conveyor C, and a carry-out conveyor E continuously provided on the downstream side of the horizontal seal / cutting means D. Become.

The conveyor A conveys the object w to be conveyed, which is placed on the table by the conveying claw a2, which is attached to the endless chain a1 at a pitch h which is larger than the packaging length l and is larger than the packaging length l. It is designed to be transported to.

The packaging means B comprises a former b1, a roll mounting shaft b2 provided above the former b1 and rotatably supporting a roll R of the strip film f1, and a roll film provided above the former b1 from the roll R. It has a film feeding roll b3 for feeding f1, a pair of film feeding rollers b4 and a pair of heater rollers b5 (which may be a heater bar) provided below the former b1, and further the pair of films. The feed roller b4 is driven by the second servomotor 2, and the film feeding roll b3 and the pair of heater rollers b5 are continuously variable transmissions b6 and b, respectively.
It is connected so that rotation is transmitted from the pair of film feeding rollers b4 via 7, and the belt-shaped film f1 is fed from the roll R by the film feeding roll b3 and passed through the former b1 to be folded up in a tubular shape and On the lower side of b1, both edges f'of the film are nipped and rotated by a pair of film feed rollers b4 to feed the film, and further, both edges f'of the film are heated by a heater roller b5.
Are continuously welded and sealed to form a packaging cylinder f2, and the object w to be packaged conveyed by the conveyor A is passed through the former b1 and accommodated in the packaging cylinder f2. .

The horizontal seal / cutting means D is adapted to weld and seal a predetermined position on the packaging cylinder f2 where the registration mark is printed between the articles w to be packaged into two strips in the lateral direction, and to cut the middle of the two strip seals. Although the rotary type is adopted in the figure, the box motion type can be adopted.

The intermediate conveyor C has both roller shafts connected so that the rear end side drive roller c1 is rotationally transmitted from the front end side roller e2 of the carry-out conveyor E.

In the packaging machine, the rear end side driving roller a3 of the carry-in conveyor A is rotationally driven by the first servomotor 1, and
The pair of film feed rollers b4 of the packaging part B is rotationally driven by the second servo motor 2, and further, the seal / cutter rotation shaft d1 of the lateral seal / cutting means D is rotationally driven by the third servo motor 3, and Further, the rear end side drive roller e1 of the carry-out conveyor E is a variable motor 15
It is configured to be rotationally driven by.

Then, the first servo driver 4 inputs the signal of the rotary encoder 16 and the signal of the tacho-generator 17 to control the position and speed of the first servo motor 1,
Further, the second servo driver 5 inputs the signal of the rotary encoder 18 and the signal of the tacho generator 19 to control the position and speed of the second servo motor 2, and the third servo driver 4 further controls the position of the rotary encoder 20. A signal and a signal from the tachogenerator 21 are input to control the position and speed of the third servomotor 3, which is a normal feedback control.

In the controller of the packaging machine of the present invention, since the three-axis servo cannot be synchronized by the ordinary feedback control, the first to third servo drivers 4,5 to 6 are sent control signals respectively. Three servo controllers 7,
8 and 9, the main controller 10 for exchanging control signals with these three servo controllers 7, 8, 9 is provided, while the first origin sensor 12 is provided at a predetermined position of the carry-in conveyor A. Further, a registration mark sensor 14 is installed at a predetermined position of the packaging means B, and a second origin sensor 13 is installed at a predetermined position of the lateral seal / cut means 13, respectively, and first to third servos to which the respective sensor signals correspond. It is configured to be fed back to the controllers 7, 8 and 9 and synchronized with the three-axis servo.

The configuration of the control device for the packaging machine of the present invention will be described below.

The operating parameters are input to the main controller 10 from the operating parameter input setting section (keyboard) 22. To be more specific, when the data such as the packaging length and the number of packages per unit packaging cycle time is input as the operating parameters from the operating parameter input setting unit 22, the data is displayed on the operating parameter display unit 24 including the CRT via the operating parameter setting CPU 23. At the same time, it is converted into a signal of a required code by the operation parameter setting CPU 23 and input to the main controller 10. Data is also input to the main controller 10 from an external device 11 connected upstream of the packaging machine. In this case, use the rotary encoder on the final load axis of the external device 11.
25 is installed, and the signal of the rotary encoder 25 is input to the main controller 10.

The main controller 10 is composed of a microcomputer, and when its function is shown by a block circuit, a signal input from the operating parameter setting CPU 23 determines whether or not it is within proper packaging conditions, and the input signal is a packaging length. Unit packaging cycle by inputting the signal of the internal parameter processing unit 10a that outputs the required signal in binary code and the signal of the rotary encoder 25 installed in the external device 11 by determining whether it is related to the size or the number of packages. An external synchronization signal processing unit 10b for calculating a time and outputting a required signal in a binary code, a ROM 10c storing a required program which is a reference shift pattern which is a group of control signals for a unit packaging cycle, and the ROM 10a. Read the program of the standard shift pattern stored in the -1 first calculation for determining the required servo motor operation parameter signal for driving and controlling the first servo motor, and the required servo motor operation for driving and controlling the second servo motor 2 corresponding to the packaging length l A second calculation for calculating a parameter signal and a third calculation for calculating a required servo motor operation parameter signal for driving and controlling the third servo motor 3 corresponding to the packaging length 1 are performed. Internal / external signal switching and servo motor operating parameter arithmetic unit 10d for outputting each servo motor operating parameter signal to the first to third servo controllers 7, 8 and 9 each composed of a corresponding microcomputer, and the arithmetic unit 10d. The signal output time is indexed by the instruction signal from, and a fixed number of reference signals of, for example, 4000 pulses per unit packaging cycle time are generated to generate the respective first signals. To the third servo controller 7, 8 and 9, and outputs one pulse for every four pulses in response to generation of the 4000 pulse pulses.
A reference signal generator 10f for outputting a 1000-pulse reference signal from the e to the external device 11 is provided.

Then, the internal / external signal switching and the servo motor operation parameter calculation unit 10d will be described in detail. When a signal regarding the number of packages is input from the internal parameter processing unit 10a, a signal is input from the internal parameter processing unit 10a, and When there is a signal input from the external synchronization signal processing unit 10b, it has an internal / external signal automatic switching function that automatically switches to signal input so that a signal is input from the external synchronization signal processing unit 10b, and internal parameter processing is performed. When a signal relating to the packaging length l is input from the section 10a, the article to be packaged w is supplied to the intermediate position between the registration mark and the registration mark of the packaging cylinder f2, so that all the required programs of the reference shift pattern stored in the ROM 10c are included. Alternatively, the required portion is read out and multiplied by the required coefficient according to the packaging length l, and the required shift pattern for the unit packaging cycle (the object to be packaged w After decelerating and approaching the former b1, decelerating and synchronizing with the film feed speed, a group of control signals defined as a shift pattern for accommodating the register mark in the packaging cylinder f2 so as to be positioned between the register mark and the register mark) are divided. The first calculation to output is performed and output to the first servo controller 7, and then the required servo motor operating parameter signal for controlling the drive of the second servo motor 2 corresponding to the packaging length 1 (the required constant Multiple K)
The second calculation is performed to output the second servo controller 8 to the second servo controller 8, and then the whole or a required part of the required program of the reference shift pattern stored in the ROM 10c is read again to obtain the required amount according to the packaging length l. Multiply the coefficient by the required shift pattern for the unit packaging cycle (the rotation speed that is synchronized with the film feed speed so that the values in the initial range and the cycle range are at the time of sealing / cutting, and the other regions are the packaging length A third calculation is performed to calculate a group of control signals that are determined to be greater than the film speed (including stop), equal to or less than the film speed, or a rotation speed corresponding to the unit packaging cycle time). Third servo controller 9
Configured to output to.

The first servo controller 7 has RAM (addresses 0 to 3999 corresponding to generating a reference signal of 4000 pulses per unit packaging cycle time, address 0 corresponds to the origin signal, and 4 types of addresses are available for each address). (Comprising data values), a shift pattern generator 7a, an origin position comparison calculator 7b, and a synchronous position comparison calculator 7c. The shift pattern generator 7a includes a packaging length calculated by the calculator 10d. A group of control signals per unit packaging cycle corresponding to l are input and stored in advance, and a reference signal from the reference signal generator 10f is input during operation and the group of control signals is generated by one pulse of the reference signal. Are sequentially read out, and then the origin position comparison / calculation unit 7b inputs the control signal read from the shift pattern generation unit 7a and outputs it as it is when the address is other than 0, and when it is 0, the unit packaging cycle time Basis of hit No. = 4000 pulses, compare the actual origin position detection signal input to the first origin sensor 12 at that time and the reference signal actual count number counted within the input time of the previous actual origin position detection signal However, when there is no deviation, each control signal read from the shift pattern generating section 7a is output as it is, and when the reference signal actual count number is larger, the first servo motor 1 is advancing. At this time, the required number corresponding to the deviation is reduced from the control signal read from the shift pattern generating section 7a and output, and when the reference signal actual count number is smaller, the first servo
Since the motor 1 is delayed, the origin position correction for increasing and outputting the required number according to the deviation from the control signal read from the shift pattern generating section 7a at that time is performed. The synchronous position comparison / calculation unit 7c inputs the control signal from the origin position comparison / calculation unit 7b and the reference signal per unit packaging cycle time, and at the same time, the rotary installed in the first servomotor 1 or its load system. Synchronous reference position detection signal (4000
(Pulse / revolution) is always input and when there is no synchronization deviation between the reference signal and the synchronization reference position detection signal, the control signal from the origin position comparison / calculation unit 7b is directly output to the first servo driver 4. However, when a synchronization deviation occurs, the origin position correction is performed by outputting the control signal from the origin position comparison calculation unit 7b by increasing the required number according to the synchronization deviation so as to eliminate the synchronization deviation. It is configured.

The second servo controller 8 is provided with an origin position comparison / calculation unit 8a, a variable constant-magnification unit 8b, and a synchronous position comparison / calculation unit 8c. The origin position comparison / calculation unit 8a uses the reference signal from the reference signal generation unit 10f. A signal and a registration mark detection signal from the registration mark sensor 14 installed at a predetermined position of the packaging means B are input, and it is discriminated whether or not the reference signal is the origin signal (first signal) and other than the origin signal. One pulse is output for the reference signal, one pulse is output for the origin signal when the phase difference between the origin signal and the registration mark detection signal is within a certain value, and the registration mark detection signal is more When the registration mark detection signal is slower, two pulses are output when the registration mark detection signal is later. Then, in the variable constant-magnification unit 8b, the origin position comparison calculation unit 8a is output.
The pulse input from is multiplied by the required constant multiple K stored and set to increase and output the control signal. Then, in the synchronous position comparison calculation unit 8c, the output signal from the variable constant magnification unit 8b is output. , The synchronous reference position detection signal (pulse input at the reference signal time) detected by the rotary encoder 27 installed in the servo motor 2 or its load system is input and compared, and when there is no deviation, from the variable constant-magnification unit 8b Of the output signal from the variable constant-magnification unit 8b is increased / decreased as necessary so as to eliminate the deviation, and the second servo driver 5 is controlled. It is configured to output a signal.

The third servo controller 9 is RAM (corresponding to generating a reference signal of 4000 pulses per unit packaging cycle time, there are addresses 0 to 3999, and address 0 corresponds to the origin signal. A shift pattern generator 9a having a data value), an origin position comparison calculator 9b, and a synchronous position comparison calculator 9c, and the shift pattern generator 9a includes a packaging length calculated by the calculator 10d. A group of control signals per unit packaging cycle corresponding to l are input and stored in advance, and a reference signal from the reference signal generator 10f is input during operation and the group of control signals is generated by one pulse of the reference signal. Are sequentially read out, and then the origin position comparison / calculation section 9b inputs the control signal read from the shift pattern generating section 9a and outputs it as it is when the address is other than 0, and when it is 0, the unit packaging cycle time Basis of hit No. = 4000 pulses, comparing the actual origin position detection signal input to the second origin sensor 13 at that time and the reference origin actual count number counted within the input time of the previous actual origin position detection signal However, when there is no deviation, each control signal read from the shift pattern generating section 9a is output as it is, and when the reference signal actual count number is larger, the first servo motor 3 is advancing. At this time, the required number corresponding to the deviation is reduced and output from the control signal read from the shift pattern generating section 9a, and when the reference signal actual count number is smaller, the third servo motor 3 is delayed. Therefore, the origin position correction for increasing and outputting the required number according to the deviation from the control signal read from the shift pattern generating section 9a at that time is performed. 9c Then, while inputting the control signal from the origin position comparison / calculation unit 9b and the reference signal per unit packaging cycle time, the synchronization detected by the rotary encoder 28 installed in the third servomotor 3 or its load system. Reference position detection signal (4000
(Pulse / revolution) is always input, and when there is no synchronization shift between the reference signal and the synchronization reference position detection signal, the control signal from the origin position comparison / calculation unit 9b is directly output to the third servo driver 6. However, when a synchronization deviation occurs, the synchronization position correction is performed by outputting the control signal from the origin position comparison / calculation unit 9b by increasing or decreasing the required number according to the synchronization deviation so as to eliminate the synchronization deviation. Is configured.

Further, the calculation unit 10d of the main controller 10 outputs the required number of control signals according to the unit packaging cycle time to the D / A converter 29 to be converted into a motor control voltage and input to the variable speed motor driver 30, The variable speed motor driver 30 is configured to drive and control the variable motor 15 that rotationally drives the rear end side drive roller e1 of the carry-out conveyor E.

When driving, the operation parameter input setting section
When the package length l, which is one of the operating parameters, is input from 22 as data, the control unit 10d reads a group of control signals of the standard shift pattern for the unit packaging cycle stored in the ROM 10a, and the package length l is read. Corresponding to the length l, a first calculation for calculating a required servo motor operation parameter signal (a group of control signals per unit packaging cycle) for driving and controlling the first servo motor 1 and the packaging length l Corresponding to the second servo motor 2 for calculating the required servo motor operating parameter signal (required constant multiple K) for controlling the drive of the second servo motor 2 and the third corresponding to the packaging length l. And a third calculation for determining a required servo motor operation parameter signal (a group of control signals per unit packaging cycle) for driving and controlling the servo motor 3 of FIG. Then, each servo motor operation parameter signal is transmitted to the shift pattern generation unit 7a of the first servo controller 7, the variable multiplier 8b of the second servo controller 8, or the shift pattern generation of the third servo controller 9. It is stored in the unit 9a.

Further, at the time of operation, when the data of the number of packages per unit packaging cycle time, which is one of the operation parameters, is input from the operation parameter input setting unit 22, the calculation unit 10d performs the required calculation, and the reference signal generation unit. A necessary support signal is sent from the calculation unit 10d to the reference signal generation unit 10f so that a fixed number of reference signals and origin signals are always output from the unit 10f per unit packaging cycle time during operation.

Then, when the operation is performed, the reference signal generating section 10f always outputs a fixed number of reference signals and origin signals per unit packaging cycle time to the first to third servo controllers 7, 8 and 9, respectively. Then, when the first to third servo controllers 7, 8 and 9 have elapsed time, the corresponding origin sensors 12 or 13 are respectively provided at required timings during that time.
Input the actual origin position detection signal or the registration mark detection signal of the registration mark sensor 14 and the synchronous position feedback signal detected from the corresponding servo motor 1, 2, 3 or its load system respectively by feedback input. Is calculated.

Then, the first and third servo controllers 7,9
Is, every time the control signal from the reference signal generation unit 10f is input one by one, sequentially reads a group of control signals that form a predetermined shift pattern per unit packaging cycle stored in advance, and at that time, Required calculation is performed sequentially from the reference signal, the actual origin position detection signal, and the synchronous position feedback signal, and if there is a deviation, the actual origin position correction and the synchronous position correction necessary to correct the positional deviation are added, and it is necessary. Will be output to the corresponding first or third servo drivers 4 and 6, and the second servo controller 8 scales the reference signal and detects the reference signal and the registration mark at that time. Required calculation is performed sequentially from the signal and the sync position feedback signal, and if there is a deviation, the film feed correction or sync position correction necessary to correct the registration mark position deviation is added, and the necessary calculation is made. Will be output to the second servo driver 5.

Therefore, the first and third servo motors 1, 2 and 3 respectively correspond to the corresponding first to third servo drivers 4,5 and
Although the operation control is independently performed by 6, while the close synchronization of the packaging cycle is maintained without interruption,
Each of them will be operated and controlled as required. That is,
The second servo motor 2 rotationally drives the film feed roller b4 at a predetermined packaging cycle speed regardless of the packaging length to feed the film, and the first servo motor 1
Is the packaging cylinder f2 so that the transfer conveyor A is driven at a required speed to position the article to be packaged w between the registration marks.
The third servomotor 3 is a horizontal seal.
The cutting means D is driven at a required speed to match the registration mark of the packaging cylinder f2 and perform lateral sealing and cutting.

Therefore, the conveyer A can send the article to be packaged w to the packaging means B every time so that the article to be packaged w is supplied to the intermediate position between the registration mark and the registration mark of the packaging cylinder f2.

Further, the film feed roller b4 feeds the film at a constant speed that matches the predetermined packaging cycle time when there is no displacement of the registration mark, and when the registration mark is displaced, it is moved within the packaging cycle time. It can be detected quickly, and the required shift rotation is performed at the next packaging cycle time to quickly correct the positional deviation of the registration mark, and as a result,
The film is constantly fed at a constant speed that provides a predetermined packaging cycle speed.

Further, the lateral seal / cutting means D is extremely accurate so that the rotational speed and rotational position of the seal / cutter are constantly detected and necessary corrections are added to the packaging cycle time so that the rotational speed and rotational position are always proper. And as a result, whether or not the packaging length l is large or small, the packaging length l
Then, the required speed-changing rotation corresponding to the above is performed, and the lateral seal / cut is performed in conformity with the registration mark of the packaging cylinder f2.

[Effect] According to the control device for a packaging machine of the present invention described above, the transport conveyor driven by the first servo motor, the packaging means driven by the second servo motor, and the third servo motor. Horizontal seal driven by
The cutting means exchanges control signals between these three servo controllers and the first to third servo controllers that send control signals to the first to third servo drivers that drive and control each servo motor. The main controller is used for control, and the packaging operation is performed by the software servo control system in which the three axes are completely independent and perfectly synchronized, so it is possible to determine whether the packaging length and the number of packages are large or small. Even if they are combined, the object to be packaged can be housed in the packaging cylinder so that the object to be packaged is located between the registration mark and the registration mark, and the registration mark is not displaced without the registration mark being displaced. It possesses extremely accurate and flexible packaging capability that does not laterally cut or cut at a place outside.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of a control device for a packaging machine according to a preferred embodiment of the present invention. A: transport conveyor, B: packaging means, b1 ... former, b4 ... film feed roller, D ... lateral sealing / cutting means, f1 ... strip film, f2 ... packaging cylinder, f '... film Both edges, w ... Packaged object, 1 ... first servo motor, 2 ... second servo motor, 3 ... third servo motor, 4 ... first servo driver, 5 ... first Second servo driver, 6 ... Third servo driver, 7 ... First servo controller, 8 ... Second servo controller, 9 ... Third servo controller, 10 ... Main controller, 11 ... External device, 12 …… first origin sensor, 13 …… second origin sensor, 14 …… registration mark sensor,

Continuation of the front page (56) Reference JP-A-63-125109 (JP, A) JP-A-63-218008 (JP, A) JP-A-63-272609 (JP, A) JP-A-1-111636 (JP , A)

Claims (5)

[Claims] 1. A conveyer conveyor driven by a first servomotor to convey an object to be packaged at a predetermined interval, and a pair of film feeds connected to a downstream side of the conveyer conveyor and driven by a second servomotor. The film is fed by rollers to fold up the belt-shaped film into a cylinder and continuously seal the both edges of the film by welding to form a packaging cylinder, and the object to be packaged conveyed by the conveyor is passed through the former. And a wrapping means to be accommodated in the wrapping cylinder, and a sequel to the downstream side of the wrapping means, which is driven by a third servomotor and laterally welds and cuts an intermediate position between the objects to be wrapped in the wrapping cylinder. In a packaging machine having a horizontal sealing / cutting means, the first to third servo drivers for driving and controlling the first to third servomotors are provided. Each of them is provided with a first to a third servo controller that sends a control signal, and a main controller that exchanges control signals with these three servo controllers.The main controller is provided with a data input or from an external device. It is configured to input an operation parameter, perform a required calculation, and output it as a required servo motor operation parameter signal, and to always generate a fixed number of reference signals per unit packaging cycle time during packaging. The controller, as a required servo motor operation parameter signal for supplying the package to the intermediate position between the registration mark and the registration mark of the packaging cylinder, is a unit of the packaging cycle calculated according to the packaging length in the main controller. A group of control signals required for It is input and stored, and the reference signal is input as an operation parameter read signal during operation to sequentially output the required servo motor operation parameter signals, and at that time, it is installed at a predetermined position of the conveyor. The actual origin position detection signal is input from the first origin sensor, a required calculation is performed, and if there is a deviation, it is output to the first servo driver as a control signal with origin position correction added. The servo controller of, as a required servo motor operating parameter signal for feeding the film at a predetermined packaging cycle speed, previously inputs and stores the required constant multiple calculated in accordance with the packaging length in the main controller. At the time of operation, the reference signal is input and the number of signals is increased so that it becomes a number multiplied by the fixed multiple, and the number of packages is adjusted. The required number of control signals that can be used to feed the film, and at that time, the registration mark detection signal is input from the registration mark sensor installed at the predetermined position of the packaging machine to perform the required calculation, and if there is a deviation, the registration It is configured to output to the second servo driver as a control signal added with film feed correction for correcting mark misregistration. As a required servo motor operation parameter signal for sealing and cutting, a control signal of a required shift pattern for a unit packaging cycle calculated according to the packaging length in the main controller is input and stored in advance, During operation, the reference signal is input as an operation parameter read signal and the required servo motor operation parameter signals are sequentially input. When outputting, and at that time, input the actual origin position detection signal from the second origin sensor installed at the specified position of the packaging machine, perform the required calculation, and if there is a deviation, the control signal with the origin position correction added. An operation control device for a packaging machine, wherein the operation control device is configured to output to a third servo driver. 2. The operation control device for a packaging machine according to claim 1, wherein the main controller stores a ROM storing a program of a reference shift pattern, and inputs operating parameters by data input or from an external device. An arithmetic unit that reads the ROM program and performs the required calculations to output the required servo motor operating parameter signals, and a constant number of reference signals per unit packaging cycle time by inputting operating parameters through data input or from an external device. And an operation control device for a packaging machine, which has a reference signal generator that generates an origin signal. 3. The operation control device for a packaging machine according to claim 1, wherein the first and third servo controllers each store the required servo motor operation parameter signal and the parameter reading reference. The shift pattern generating portion sequentially read by the signal is compared with the origin signal in the reference signal and the origin sensor detection signal, and if there is a deviation, the read position of the signal shift pattern generating portion is changed as required. A second servo controller is provided with an origin position comparison / calculation unit for outputting a correction read reference signal, and the second servo controller stores the constant multiple and stores a variable multiple in the reference signal, and a variable constant multiple in the variable constant multiplier. Preliminarily, the origin signal in the reference signal and the registration mark sensor detection signal are input and calculated, and if there is a deviation, the required number is increased relative to the reference signal. Other packaging machine operation control apparatus characterized by comprising a home position comparison operation unit for outputting a home position correction control signal decreases. 4. The packaging machine operation control device according to claim 1, wherein the first servo controller sequentially outputs the stored servo motor operation parameter signals,
The synchronous position feedback signal detected from the first servo motor or its load system is fed back to perform the required calculation, and if there is a deviation, it is output to the first servo driver as a control signal with synchronous position correction added. The second servo controller is a synchronous position feedback signal detected from the second servo motor or its load system when the control signal is a required number capable of feeding the film in conformity with the packaging number. Field back input to perform the required calculation, and when there is a deviation, it is output to the second servo driver as a control signal with synchronous position correction added, and the third servo controller stores the memory When sequentially outputting the generated servo motor operation parameter signals,
The synchronous position feedback signal detected from the third servo motor or its load system is field-back input to perform the required calculation, and if there is a deviation, it is output to the third servo driver as a control signal with synchronous position correction added. The operation control device for the packaging machine, which is characterized in that 5. The operation control device for a packaging machine according to claim 4, wherein the first to third servo controllers are respectively placed after the shift pattern generating section and read from the shift pattern generating section. Input signal and the corresponding synchronous position feedback signal detected from the corresponding first to third servo motors or the load system thereof to perform the required calculation, and to obtain the required signal for the signal read from the shift pattern generating section. An operation control device for a packaging machine, comprising: a synchronous position correction calculation unit that outputs a synchronous position correction control signal that increases or decreases.