Automatic tracking feeding system and method thereof

Abstract

The present invention discloses an automatic tracking feeding system, comprising a feeding loading unit for allowing materials to enter a feeding point, a clamping mechanism for clamping the materials at the feeding point and moving horizontally, the clamping mechanism comprising front clamping teeth and rear clamping teeth that can move forward and backward and lift along the conveying direction, the front clamping teeth are provided with a first detection module and a second detection module along the material conveying direction for detecting the conveying position of the materials on the material conveying belt; the present invention also discloses an automatic tracking feeding method, which realizes stable and uniform feeding, reduces material jamming, and improves feeding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic tracking feeding system and method thereof. Background Art

[0002] The common HW400 cartoning machine is a high-speed cartoning machine. For this high-speed equipment, feeding is a major difficulty, especially for book-like instructions, which need to be fed vertically and fed horizontally into the blister. In addition, the thickness of the instructions is 5mm, which limits the length of the conveyor belt and makes it impossible to load more instructions. To solve this problem, the common solution is to change the feeding method and the container for the instructions, such as using packaged strip instructions and loading them manually. However, the feeding rate is unstable, making it difficult to follow the high-speed feeding, prone to errors, and affecting efficiency. In addition, the thickness of the instructions will cause an extrusion force when feeding, causing the instructions to deform, and eventually the machine will jam when the instructions are fed. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] Based on the above problems, the present invention provides an automatic tracking feeding system and method thereof to solve the feeding problem of instructions on a cartoning machine, especially capable of following high-speed feeding, with a stable feeding rate, and improving feeding efficiency.

[0005] (II) Technical solution

[0006] Based on the above technical problems, the present invention provides an automatic tracking loading system, including a feed loading unit for allowing materials to enter a material picking point, and a clamping mechanism for clamping the material at the material picking point and moving horizontally, which is arranged on one side of a material conveyor belt. The clamping mechanism includes front clamping teeth and rear clamping teeth that can move forward and backward and lift along the conveying direction. The front clamping teeth are provided with a first detection module and a second detection module along the material conveying direction for detecting the conveying position of the material on the material conveyor belt.

[0007] Furthermore, the distance between the first detection module and the second detection module in the conveying direction is adjustable.

[0008] Furthermore, the system also includes a crossbar module on the material conveyor belt for applying a thrust behind the material to play a fixing role.

[0009] Furthermore, the system also includes an arrival detection module for detecting whether the material has arrived at the material picking point; the feed loading unit includes a feed material detection module for detecting whether there is material to be loaded in the feed loading area, and a feed drive module for pushing the material to be loaded to the material picking point.

[0010] Furthermore, the system also includes a driving module and a control unit for controlling the driving module, the driving module includes a driving module 1 for driving the horizontal movement of the clamping mechanism, a driving module 2 for driving the front clamping teeth and the rear clamping teeth to move forward and backward and lift along the conveying direction, and a driving module 3 for controlling the pushing and returning of the cross bar module, and the control unit is electrically connected to the first detection module, the second detection module, the in-place detection module, the feeding material detection module, the driving module, and the feeding drive module, respectively.

[0011] Furthermore, the driving module one includes a servo driver and a servo motor; the driving module two includes a front clamping cylinder for controlling the front clamping teeth to move forward or backward along the conveying direction, a front lifting cylinder for rising or falling, and a rear clamping cylinder for controlling the rear clamping teeth to move forward or backward along the conveying direction, and a rear lifting cylinder for rising or falling; the driving module three includes a cross bar cylinder for applying thrust to the cross bar module, and a long push cylinder for making the cross bar module return to the rear clamping teeth position again.

[0012] The present invention also discloses an automatic tracking feeding method for automatically tracking the operation of a feeding system, the method comprising the following steps:

[0013] S1, initial state: the zero point coordinate point and the maximum stroke position of the clamping mechanism are calibrated, and the control unit calculates the following speed and the following range of the clamping mechanism according to the zero point coordinate point and the maximum stroke position;

[0014] S2, start feeding: after the transmission unloading device starts feeding, when the feeding material detection module detects that there is material to be loaded in the feeding loading area, the feeding driving module makes the material arrive at the material picking point; when the arrival detection module detects that the material is in place at the material picking point, the control unit gives a signal to prepare for clamping, gives the position of the material by calculation, and gives a follow-up feeding instruction;

[0015] S3, automatic tracking: the clamping mechanism clamps the material according to the position of the material, lifts and maintains the clamping state, so that the material moves horizontally above the conveyor belt along the material conveying direction, and the first detection module and the second detection module search for the current conveying position of the material;

[0016] S4, follow-up feeding: the second detection module reads the real-time conveying position of the calculated material in real time to determine whether the clamping mechanism has reached the followable range. If not, it continues to follow; if it has reached, the clamping mechanism completely puts down the material, returns to the material picking point, and returns to step S2.

[0017] Furthermore, step S3 further includes the following steps:

[0018] S3.1, fast tracking: the clamping mechanism clamps the material and initially moves horizontally along the material conveying direction at a speed of one, and the first detection module searches for the real-time conveying position of the material;

[0019] S3.2, slow tracking: when the first detection module detects the material for the first time, the speed of the clamping mechanism is reduced, and the material is moved horizontally along the material conveying direction at speed 2, and the second detection module searches for the real-time conveying position of the material.

[0020] Furthermore, step S3 further includes the following steps:

[0021] S3.3, Calibration tracking: When the second detection module detects the real-time conveying position of the material, the required tracking speed of the clamping mechanism is determined by calculation, and the displacement of the clamping mechanism tracking is calibrated by the preset material thickness parameters.

[0022] Furthermore, in step S6, when the clamping mechanism has not reached the following range, the front clamping teeth are lowered, and the crossbar module applies a stable thrust to the rear of the material; when the clamping mechanism reaches the following range, the rear clamping teeth of the clamping mechanism are lowered.

[0023] (III) Beneficial effects

[0024] The above technical solution of the present invention has the following advantages:

[0025] (1) The present invention adopts a material clamping mechanism to track the material being transported, thereby realizing fully automatic tracking and feeding. Regardless of whether the material moves slowly or at high speed along the conveyor belt, feeding can be realized, and the feeding is kept stable and at a uniform speed, thereby improving the feeding efficiency;

[0026] (2) The present invention searches for materials on the conveyor belt through the first detection module and the second detection module, adjusts the tracking speed of the clamping mechanism twice, first fast and then slow, and calibrates the displacement of the clamping mechanism tracking according to the material thickness parameter, which helps to control the precise tracking and feeding of the material, so that the extrusion pressure on the material is consistent, avoiding deformation caused by the extrusion pressure, and effectively reducing system jams;

[0027] (3) The present invention also calibrates the displacement of the clamping mechanism according to the material thickness parameter, which is also helpful to control the material to accurately track the feeding, so that the extrusion force generated on the material is consistent, avoiding deformation caused by the extrusion force, and effectively reducing system jams;

[0028] (4) The present invention also provides a stable thrust to the material through the crossbar module to prevent the material from tilting, thereby effectively avoiding deformation during tracking and feeding, thereby reducing system jams and material damage;

[0029] (5) The present invention reduces the number of manpower, consumes less time overall, and ensures overall efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of the structure of an automatic tracking feeding system according to an embodiment of the present invention Figure 1 ;

[0032] Figure 2 A schematic diagram of the structure of an automatic tracking feeding system according to an embodiment of the present invention Figure 2 ;

[0033] Figure 3 This is a schematic diagram of electrical connections of an automatic tracking feeding system according to an embodiment of the present invention;

[0034] Figure 4 A schematic flow chart of an automatic tracking and feeding method according to an embodiment of the present invention;

[0035] Figure 5 A simplified flow chart of an automatic tracking and feeding method according to an embodiment of the present invention;

[0036] In the figure: 1: clamping mechanism; 2: material; 3: material conveyor belt; 5: feed loading unit; 11: front clamping teeth; 12: rear clamping teeth; 41: first detection module; 42: second detection module; 43: in-place detection module; 44: feeding material detection module; 51: front lifting cylinder; 52: rear lifting cylinder; 61: front clamping cylinder; 62: rear clamping cylinder; 7: feed driving module; 8: long push cylinder. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038] The present invention is an automatic tracking feeding system, and the embodiment is an independent operation system mounted on a high-speed cartoning machine, such as Figure 1 and Figure 2As shown, it includes a feed loading unit 5 for allowing the material 2 to enter the material fetching point, a clamping mechanism 1 for clamping the material 2 at the material fetching point and moving horizontally, and arranged on one side of the material conveyor belt 3, the clamping mechanism includes a front clamping tooth 11 and a rear clamping tooth 12 that can move forward and backward and lift along the conveying direction, and the front clamping tooth 11 is provided with a first detection module 41 and a second detection module 42 along the material conveying direction, which are used to detect the conveying position of the material 2 on the material conveyor belt 3; the system also includes an in-place detection module 43 for detecting whether the material 2 has reached the fetching point, a driving module 1 for driving the clamping mechanism 1 to move horizontally, and a driving module 2 for driving the front clamping tooth 11 and the rear clamping tooth 12 to move forward and backward and lift along the conveying direction, the feed loading unit 5 includes a feeding material detection module 44 for detecting whether there is material 2 to be loaded in the feed loading area, and a feed driving module 7 for pushing the material 2 to be loaded to the fetching point;

[0039] As a preferred embodiment, in this embodiment, the spacing between the first detection module 41 and the second detection module 42 in the conveying direction is adjustable, and the first detection module 41 is located in front of the second detection module 42. By finding the transmission position of the detected material 2, the horizontal moving speed of the clamping mechanism 1 is adjusted so that the material 2 clamped by the clamping mechanism 1 first quickly tracks the conveyed material 2, and then slows down to track the material 2 more smoothly, so as to avoid the extrusion force generated during the addition of materials causing deformation of the instruction manual.

[0040] As a preferred embodiment, in this embodiment, the system also includes a cross bar module on the material conveyor belt 3 for applying a thrust behind the material 2 to play a fixing role, and a driving module three for controlling the pushing and returning of the cross bar module. The cross bar module is used to prevent the material 2 from tilting from the silo and plays a fixing role. By applying a thrust behind the material 2, it can effectively avoid deformation caused by the tilt of the instruction manual during feeding.

[0041] As a preferred embodiment, in this embodiment, each driving module includes but is not limited to the form of a cylinder, and the driving module one includes a servo drive and a servo motor; the driving module two includes a front clamping cylinder 61 for controlling the front clamping teeth 11 to move forward or backward along the conveying direction, and a front lifting cylinder 51 for rising or falling, and a rear clamping cylinder 62 for controlling the rear clamping teeth 12 to move forward or backward along the conveying direction, and a rear lifting cylinder 52 for rising or falling; the driving module three includes a cross bar cylinder for applying thrust to the cross bar module, and a long push cylinder 8 for making the cross bar module return to the position of the rear clamping teeth 12 again; the feeding drive module 7 includes a cross push cylinder for pushing the tray with loaded material 2 to the material picking point.

[0042] The first detection module 41 , the second detection module 42 , the arrival detection module 43 , and the added material detection module 44 are all but not limited to photoelectric detection modules.

[0043] like Figure 3 As shown, in this embodiment, the system also includes a control unit, which includes but is not limited to a PLC; the first detection module 41, the second detection module 42, the in-place detection module 43, and the feeding material detection module 44 are respectively connected to the network port of the control unit through the IO input and output module; the drive module 1, the drive module 2, the drive module 3, and the feed drive module 7 are respectively electrically connected to the control unit, and the servo motor is connected to the network port of the PLC through the servo driver. The control unit generates a control instruction according to the detection signal of each detection module and sends it to each drive module to realize the system's tracking and feeding function.

[0044] Figure 4 A preferred automatic tracking feeding method of the present invention comprises the following steps:

[0045] S1, initial state: determine the initial state position of each module of the automatic tracking feeding system, calibrate the zero coordinate point and the maximum stroke position of the clamping mechanism 1; the material conveyor belt 3 starts running, and the control unit calculates the following speed and the following range of the clamping mechanism 1 according to the calibrated zero coordinate point and the maximum stroke position;

[0046] S2, start feeding: after the feeding is started by the transmission unloading device, when the feeding material detection module 44 detects that there is material 2 to be loaded in the feeding loading area, the feeding driving module 7 makes the material 2 arrive at the material taking point; when the arrival detection module 43 detects that the material 2 is in place at the material taking point, the control unit gives a signal to prepare for clamping, calculates the position of the material 2, and gives a follow-up feeding instruction;

[0047] In this embodiment, the material 2 to be loaded is loaded on a pallet, and the pallet loaded with the material 2 to be loaded is pushed to the material taking point by the feeding drive module 7.

[0048] S3, automatic tracking: the clamping mechanism 1 clamps the material 2 according to the position of the material 2, lifts and maintains the clamping state, so that the material 2 moves horizontally along the material conveying direction above the conveyor belt, and the first detection module 41 and the second detection module 42 search for the current conveying position of the material 2; the process includes the following steps:

[0049] S3.1, fast tracking: the clamping mechanism 1 clamps the material 2 and initially moves horizontally along the material conveying direction at a speed of one, and the first detection module 41 searches for the real-time conveying position of the material 2;

[0050] In this embodiment, after the clamping mechanism clamps the material 2, the servo motor returns to the zero-point clamping position, the front clamping cylinder 61 and the rear clamping cylinder 62 are opened, the front lifting cylinder 51 and the rear lifting cylinder 52 are in the retracted position, so that the front clamping teeth and the rear clamping teeth are lowered and opened, and the crossbar module is extended to prevent the specification from tilting. At this time, after receiving the ready-in-place clamping signal, the front lifting cylinder 51 and the rear lifting cylinder 52 are extended, the front clamping cylinder 61 and the rear clamping cylinder 62 are closed, so that the front clamping teeth 11 and the rear clamping teeth 12 clamp the material 2 and lift it, the crossbar module is retracted, and the clamping mechanism 1 clamps the material 2 and moves rapidly along the material conveying direction. At the same time, the first detection module 41 is always in action to find the current conveying position of the material 2;

[0051] S3.2, slow tracking: when the first detection module 41 detects the material 2 for the first time, the speed of the clamping mechanism 1 is reduced, and the material is moved horizontally along the material conveying direction at speed 2, and the second detection module 42 searches for the real-time transmission position of the material 2;

[0052] S3.3, Calibration tracking: When the second detection module 42 detects the real-time transmission position of the material 2, the required tracking speed of the clamping mechanism 1 is determined by calculation, and the tracking displacement of the clamping mechanism 1 is calibrated by the preset material thickness parameters.

[0053] S4, follow-up feeding: the driving device drives the clamping mechanism 1 to perform the follow-up feeding action, and the second detection module 42 reads the real-time transmission position of the material 2 at all times to determine whether the clamping mechanism 1 has reached the followable range. If not, it continues to follow. During the process of not reaching, the front clamping teeth 11 are put down, and the cross bar module gives a stable thrust to the rear of the material 2. If it reaches, the front clamping teeth 11 and the rear clamping teeth 12 of the clamping mechanism 1 are put down, and the clamping mechanism 1 returns to the material picking point and returns to step S2.

[0054] In this embodiment, when the clamping mechanism 1 has not reached the following range and continues to follow, the front lifting cylinder 51 retracts and the cross block module retracts. After retracting into place, the long push cylinder 8 extends. After extending into place, the long push cylinder 8 retracts, so that the cross block module extends out to block the rear of the material 2 again, giving the instruction manual a stable thrust; after the clamping mechanism 1 reaches the following range, the rear lifting cylinder 52 retracts, the clamping mechanism 1 returns to the material picking point, and the feeding is restarted from step S2.

[0055] The automatic tracking feeding method is as follows Figure 5 As shown, the T1 stage such as step S2 is to start feeding of material 2, the T2 stage such as step S3 is to find the transmission position of material 2 and automatically track it, and the T3 stage such as step S4 is to follow and feed before reaching the followable range.

[0056] In summary, the above-mentioned automatic tracking feeding system and method have the following advantages:

[0057] (1) The present invention adopts a material clamping mechanism to track the material being transported, thereby realizing fully automatic tracking and feeding. Regardless of whether the material moves slowly or at high speed along the conveyor belt, feeding can be realized, and the feeding is kept stable and at a uniform speed, thereby improving the feeding efficiency;

[0058] (2) The present invention searches for materials on the conveyor belt through the first detection module and the second detection module, adjusts the tracking speed of the clamping mechanism twice, first fast and then slow, and calibrates the displacement of the clamping mechanism tracking according to the material thickness parameter, which helps to control the precise tracking and feeding of the material, so that the extrusion pressure on the material is consistent, avoiding deformation caused by the extrusion pressure, and effectively reducing system jams;

[0059] (3) The present invention also calibrates the displacement of the clamping mechanism according to the material thickness parameter, which is also helpful to control the material to accurately track the feeding, so that the extrusion force generated on the material is consistent, avoiding deformation caused by the extrusion force, and effectively reducing system jams;

[0060] (4) The present invention also provides a stable thrust to the material through the crossbar module to prevent the material from tilting, thereby effectively avoiding deformation during tracking and feeding, thereby reducing system jams and material damage;

[0061] (5) The present invention reduces the number of manpower, consumes less time overall, and ensures overall efficiency.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. An automatic tracking feeding system, characterized in that: The invention comprises a feeding loading unit (5) for allowing a material (2) to enter a material taking point, a clamping mechanism (1) for clamping the material (2) at the material taking point and moving horizontally, and arranged on one side of a material conveyor belt (3), the clamping mechanism (1) comprising a front clamping tooth (11) and a rear clamping tooth (12) capable of moving forward and backward and lifting in a conveying direction, the front clamping tooth (11) being provided with a first detection module (41) and a second detection module (42) along the material conveying direction, the first detection module (41) and the second detection module (42) being used to detect the conveying position of the material (2) on the material conveyor belt (3), the first detection module (41) being used to find the real-time conveying position of the material (2) moving at a speed of one, and the second detection module (42) being used to detect the conveying position of the material (2) on the material conveyor belt (3), the first detection module (41) being used to find the real-time conveying position of the material (2) moving at a speed of one, and the second detection module (42) being used to detect the conveying position of the material (2) moving at a speed of one. Finding the real-time conveying position of the material (2) moving at speed 2; the clamping mechanism (1) is used to clamp the material (2) according to the position of the material (2), lift and maintain the clamping state, so that the material (2) moves horizontally along the material conveying direction above the material conveyor belt (3), and moves horizontally along the material conveying direction at speed 1. When the first detection module (41) detects the material (2), the speed of the clamping mechanism (1) is reduced, and the material moves horizontally along the material conveying direction at speed 2. When the second detection module (42) detects the real-time conveying position of the material (2), the speed required for the clamping mechanism (1) to track is determined by calculation, and the displacement tracked by the clamping mechanism (1) is calibrated by a preset material thickness parameter.

2. The automatic tracking feeding system according to claim 1, characterized in that: The distance between the first detection module (41) and the second detection module (42) in the conveying direction is adjustable.

3. The automatic tracking feeding system according to claim 1, characterized in that: The system further comprises a crossbar module on the material conveyor belt (3) for applying a thrust behind the material (2) to perform a fixing function.

4. The automatic tracking feeding system according to claim 3, characterized in that: The system further comprises an arrival detection module (43) for detecting whether the material (2) has arrived at a material collection point; the feed loading unit (5) comprises a feed material detection module (44) for detecting whether there is material (2) to be loaded in the feed loading area, and a feed drive module (7) for pushing the material (2) to be loaded to the material collection point.

5. The automatic tracking feeding system according to claim 4, characterized in that: The system further comprises a driving module and a control unit for controlling the driving module, wherein the driving module comprises a driving module 1 for driving the clamping mechanism (1) to move horizontally, a driving module 2 for driving the front clamping teeth (11) and the rear clamping teeth (12) to move forward and backward and to lift and lower along a conveying direction, and a driving module 3 for controlling the pushing and returning of the crossbar module, and the control unit is electrically connected to the first detection module (41), the second detection module (42), the in-place detection module (43), the feeding material detection module (44), the driving module, and the feeding drive module (7), respectively.

6. The automatic tracking feeding system according to claim 5, characterized in that: The driving module 1 comprises a servo driver and a servo motor; the driving module 2 comprises a front clamping cylinder (61) for controlling the front clamping teeth (11) to move forward or backward along the conveying direction, a front lifting cylinder (51) for ascending or descending, and a rear clamping cylinder (62) for controlling the rear clamping teeth (12) to move forward or backward along the conveying direction, and a rear lifting cylinder (52) for ascending or descending; the driving module 3 comprises a crossbar cylinder for applying a thrust to the crossbar module, and a long push cylinder (8) for returning the crossbar module to the position of the rear clamping teeth (12) again.

7. An automatic tracking and feeding method according to any one of claims 5-6, characterized in that: The method comprises the following steps: S1, initial state: the zero point coordinate point and the maximum stroke position of the clamping mechanism (1) are calibrated, and the control unit calculates the following speed and the following range of the clamping mechanism (1) according to the zero point coordinate point and the maximum stroke position; S2, start feeding: after starting feeding, when the feeding material detection module (44) detects that there is material (2) to be loaded in the feeding loading area, the feeding driving module (7) makes the material (2) arrive at the material picking point; when the arrival detection module (43) detects that the material (2) is in place at the material picking point, the control unit gives a signal to prepare for clamping, gives the position of the material (2) by calculation, and gives a follow-up feeding instruction; S3, automatic tracking: the clamping mechanism (1) clamps the material (2) according to the position of the material (2), lifts and maintains the clamping state, so that the material (2) moves horizontally above the material conveyor belt (3) along the material conveying direction, and the first detection module (41) and the second detection module (42) search for the current conveying position of the material (2); S3.1, fast tracking: the clamping mechanism (1) clamps the material (2) and initially moves horizontally at a speed of one along the material conveying direction, and the first detection module (41) searches for the real-time conveying position of the material (2); S3.2, slow tracking: when the first detection module (41) detects the material (2) for the first time, the speed of the clamping mechanism (1) is reduced, and the material is moved horizontally along the material conveying direction at speed 2, and the second detection module (42) searches for the real-time conveying position of the material (2); S3.3, calibration tracking: when the second detection module (42) detects the real-time conveying position of the material (2), the required tracking speed of the clamping mechanism (1) is determined by calculation, and the tracking displacement of the clamping mechanism (1) is calibrated by a preset material thickness parameter; S4, follow-up feeding: the second detection module (42) reads the real-time conveying position of the calculated material (2) in real time to determine whether the clamping mechanism (1) has reached the followable range. If not, it continues to follow. If it has reached, the clamping mechanism (1) completely puts down the material (2), and the clamping mechanism (1) returns to the material picking point, and returns to step S2.

8. The automatic tracking feeding method according to claim 7, characterized in that: In step S4, when the clamping mechanism (1) has not yet reached the followable range, the front clamping teeth (11) are lowered, and the crossbar module applies a stable thrust to the rear of the material (2); when the clamping mechanism (1) reaches the followable range, the rear clamping teeth (12) of the clamping mechanism (1) are lowered.

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