Packaging quality inspection system

Abstract

The present invention discloses a packaging quality detection system. The central processing unit obtains the driving angle position, driving speed, and driving acceleration according to a certain mapping relationship based on the spindle rotation angle position, spindle speed, and spindle acceleration generated by the spindle rotation signal generating device, and sends them to the driving unit. The driving unit determines the current driving current and controls the servo motor to work. After the central control unit obtains the reference current, if the absolute value of the difference between the current working current of the servo motor and the current reference current is less than a set threshold, the corresponding package is determined to be a qualified package. The packaging quality detection system uses a servo motor to directly drive a folding mechanism to fold its outer packaging material, and determines the magnitude of the force acting on the packaging material by the magnitude of the working current of the servo motor. No additional force detection device is required, the cost is low, the mechanical structure is simple, and the processing, manufacturing, and assembly of the machine are easy.

Description

Technical Field

[0001] The invention relates to automated detection technology, and in particular to a packaging quality detection system. Background Art

[0002] Existing tobacco packaging equipment mainly uses mechanical transmission (such as cams, gears, grooved wheels, etc.) to transmit power to the end folding mechanism. Multiple mechanisms use the same power source. The force or torque applied by the folding mechanism on the packaging material cannot be detected, so it is impossible to judge the effect of the folding action on the packaging material.

[0003] During the packaging process, unqualified packaging materials will cause the torque or force of the end folding mechanism to increase and cannot be detected, which will cause the unqualified materials to flow into the next process. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a packaging quality detection system which does not require additional force detection devices, has low cost, simple mechanical structure, and low difficulty in machine processing, manufacturing and assembly.

[0005] In order to solve the above technical problems, the present invention provides a packaging quality detection system, which includes a servo motor 13, a drive unit 12, a current sampling module 2, a spindle rotation signal generating device 6, a central control unit 11, and a memory 16;

[0006] The servo motor 13, whose output shaft is directly connected to the folding mechanism 14, is used to drive the folding mechanism 14 to fold the packaging material 15;

[0007] The current sampling module 2 is used to detect the actual working current of the servo motor 13 and send it to the driving unit 12;

[0008] The driving unit 12 determines the current driving current according to the current driving angle position S2, the driving speed V2 and the driving acceleration A2, controls the servo motor 13 to work, and sends the actual working current of the servo motor 13 to the central control unit 11;

[0009] The spindle rotation signal generating device 6 is used to generate a spindle rotation signal;

[0010] The spindle rotation signal includes the spindle rotation angle position S1, the spindle speed V1 and the spindle acceleration A1;

[0011] The memory 16 stores a current data table;

[0012] The current data table has k columns and n rows, where k and n are both positive integers;

[0013] The k column of the current data table represents k consecutive different speed intervals divided equally according to the maximum speed of the spindle rotation signal;

[0014] The n rows of the current data table represent n different angle ranges equally divided by a spindle rotation angle position period of the spindle rotation signal;

[0015] Each row and column combination is calibrated with a reference current value;

[0016] The central control unit 11 quickly checks the current data table to obtain the current reference current value according to the current spindle rotation angle position S1 and the current spindle rotation V1;

[0017] The central control unit 11 includes a mapping relationship module 18;

[0018] The mapping relationship module 18 is used to map the spindle rotation angle position S1 to the driving angle position S2, map the spindle speed V1 to the driving speed V2, and map the spindle acceleration A1 to the driving acceleration A2;

[0019] The central control unit 11 sends the current driving angle position S2, driving speed V2 and driving acceleration A2 to the driving unit 12;

[0020] The central control unit 11 outputs a packaging quality failure signal if the absolute value of the difference between the current actual working current of the servo motor 13 and the current reference current exceeds a set threshold.

[0021] Preferably, the servo motor 13 sends the servo motor output shaft angle position Sa detected by its own encoder to the drive unit 12;

[0022] The driving unit 12 sends the servo motor output shaft angle position Sa and the corresponding working current Ia of the servo motor 13 to the central control unit 11;

[0023] The central control unit 11 also includes a correction module 19 and an inertia table;

[0024] The inertia table is calibrated with inertia corresponding to different angular positions of the output shaft of the servo motor 13;

[0025] The correction module 19, when the spindle acceleration A1 is not 0, obtains a correction value by multiplying the inertia corresponding to the current servo motor output shaft angle position Sa by the current drive acceleration A2;

[0026] The central control unit 11 obtains a reference current value by looking up the current data table according to the current spindle rotation angle position S1 and the current spindle speed V1, and adds the correction value to obtain the current reference current value.

[0027] Preferably, the driving unit 12 feeds back the output shaft angle position Sa of the servo motor 13 and the corresponding working current Ia of the servo motor 13 to the central control unit 11 via a high-speed bus.

[0028] Preferably, the central control unit 11 obtains the output shaft speed and the output shaft acceleration by performing differential calculation on the output shaft angle position Sa of the servo motor 13;

[0029] The central control unit 11 has a default working mode and a self-learning working mode;

[0030] When the central control unit 11 enters the self-learning working mode, it obtains the corresponding spindle rotation angle position S1 and spindle speed V1 through a mapping relationship according to the output shaft angle position Sa and output shaft speed of the servo motor 13, and updates the corresponding reference current value of the corresponding angle range and speed range in the current data table to the corresponding working current Ia of the servo motor 13 according to the spindle rotation angle position S1 and spindle speed V1 obtained by mapping.

[0031] Preferably, the mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a function expression or a mapping data table.

[0032] Preferably, the mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a cam mapping relationship or a gear mapping relationship.

[0033] Preferably, the current sampling module 2 detects and obtains the actual working current of the servo motor 13 by collecting the current on the power cable of the servo motor 13;

[0034] The spindle rotation signal generating device 6 is an incremental encoder or an absolute encoder outside the central control unit 11 , or is a virtual signal generating device provided in the central control unit 11 .

[0035] Preferably, the default calibrated current value in the current data table is obtained through simulation calculation or through actual uniform speed operation detection of the servo motor 13 .

[0036] Preferably, the memory is arranged in the central control unit 11 or in a host system communicating with the central control unit 11 .

[0037] Preferably, the package is a tobacco package.

[0038] The packaging quality detection system of the present invention adopts the servo motor 13 to directly drive the folding mechanism 14 to fold its outer packaging material according to the relationship between the actual working current of the servo motor and the motor output torque or force. The size of the force acting on the packaging material is determined by the working current of the servo motor 13. No additional force detection device is required, the cost is low, the mechanical structure is simple, and the processing, manufacturing and assembly of the machine are easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a schematic structural diagram of an embodiment of a packaging quality detection system of the present invention;

[0041] Figure 2 It is a schematic diagram of a mapping relationship module of an embodiment of a packaging quality detection system of the present invention;

[0042] Figure 3 This is a schematic diagram of current data representation of an embodiment of a packaging quality detection system of the present invention;

[0043] Figure 4 It is a schematic diagram of correcting the reference current value according to an embodiment of the packaging quality detection system of the present invention.

[0044] Description of reference numerals:

[0045] 13 servo motor; 12 drive unit; 2 current sampling module; 6 spindle rotation signal generating device; 11 central control unit; 16 memory; 14 folding mechanism; 15 packaging material; 18 mapping relationship module; 19 correction module. DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Embodiment 1

[0048] like Figure 1 As shown, the packaging quality detection system includes a servo motor 13, a drive unit 12, a current sampling module 2, a spindle rotation signal generating device 6, a central control unit 11, and a memory 16;

[0049] The servo motor 13, whose output shaft is directly connected to the folding mechanism 14, is used to drive the folding mechanism 14 to fold the packaging material 15;

[0050] The current sampling module 2 is used to detect the actual working current of the servo motor 13 and send it to the driving unit 12;

[0051] The driving unit 12 determines the current driving current according to the current driving angle position S2, the driving speed V2 and the driving acceleration A2, controls the servo motor 13 to work, and sends the actual working current of the servo motor 13 to the central control unit 11;

[0052] The spindle rotation signal generating device 6 is used to generate a spindle rotation signal;

[0053] The spindle rotation signal includes the spindle rotation angle position S1, the spindle speed V1 and the spindle acceleration A1;

[0054] The memory 16 stores a current data table;

[0055] like Figure 3 As shown, the current data table has k columns and n rows, and k and n are both positive integers;

[0056] The k column of the current data table represents k consecutive different speed intervals divided equally according to the maximum speed of the spindle rotation signal;

[0057] The n rows of the current data table represent n different angle ranges equally divided by a spindle rotation angle position period of the spindle rotation signal;

[0058] Each row and column combination is calibrated with a reference current value;

[0059] The central control unit 11 quickly checks the current data table to obtain the current reference current value according to the current spindle rotation angle position S1 and the current spindle rotation V1;

[0060] The central control unit 11 includes a mapping relationship module 18;

[0061] like Figure 2 As shown, the mapping relationship module 18 is used to map the spindle rotation angle position S1 to the driving angle position S2, map the spindle speed V1 to the driving speed V2, and map the spindle acceleration A1 to the driving acceleration A2;

[0062] The central control unit 11 sends the current driving angle position S2, driving speed V2 and driving acceleration A2 to the driving unit 12;

[0063] The central control unit 11 outputs a packaging quality failure signal if the absolute value of the difference between the current actual working current of the servo motor 13 and the current reference current exceeds a set threshold.

[0064] In the packaging quality inspection system of the first embodiment, the packaging material 15 is conveyed in the direction of the arrow. During the conveying process, the servo motor 13 is used to directly drive the folding mechanism 14 to fold the outer packaging material, so that the actual working current value of the servo motor 13 can reflect the force or torque acting on the packaging material, and the working current Ia of the servo motor 13 is fed back to the central control unit 11. Since the corresponding driving angle position S2, driving speed V2, and driving acceleration A2 of the servo motor 13 are different when following the same mapping relationship under different spindle rotation signals generated by the spindle rotation signal generating device 6, the corresponding driving current of the servo motor 13 is also different, so the current data table is divided into k sub-stages according to the maximum speed of the spindle rotation signal, and divided into n sub-stages according to a spindle rotation angle position period of the spindle rotation signal; the central control unit 11 checks the current data table according to the current spindle rotation angle position S1 and the current spindle speed V1 to obtain the current reference current value; the central processing unit 11 obtains the current reference current value according to the spindle rotation angle position S1, the spindle speed V1, and the spindle acceleration A1 generated by the spindle rotation signal generating device 6. According to a certain mapping relationship, the driving angle position S2, driving speed V2, and driving acceleration A2 are obtained and sent to the driving unit 12. The driving unit 12 determines the current driving current and controls the servo motor 13 to work according to the current driving angle position S2, driving speed V2, and driving acceleration A2. In fact, the spindle rotation signal generated by the spindle rotation signal generating device 6 determines the packaging speed of the folding mechanism 14. After the central control unit 11 obtains the reference current, if the absolute value of the difference between the current working current of the servo motor 13 and the current reference current is less than the set threshold, the corresponding package is determined to be a qualified package. If it exceeds the threshold, the cigarette package is determined to be an unqualified package and is rejected at the subsequent operation position or the packaging machine is triggered to stop. The packaging quality detection system uses the servo motor 13 to directly drive the folding mechanism 14 to fold its outer packaging material according to the relationship between the actual working current of the servo motor and the motor output torque or force. The magnitude of the force acting on the packaging material is determined by the working current of the servo motor 13. No additional force detection device is required, the cost is low, the mechanical structure is simple, and the difficulty of machine processing, manufacturing, and assembly is low.

[0065] Embodiment 2

[0066] Based on the packaging quality detection system of the first embodiment, the servo motor 13 sends the servo motor output shaft angle position Sa detected by its own encoder to the driving unit 12;

[0067] The driving unit 12 sends the servo motor output shaft angle position Sa and the corresponding working current Ia of the servo motor 13 to the central control unit 11;

[0068] The central control unit 11 also includes a correction module 19 and an inertia table;

[0069] The inertia table is calibrated with inertia corresponding to different angular positions of the output shaft of the servo motor 13;

[0070] like Figure 4 As shown, when the spindle acceleration A1 is not 0, the correction module 19 multiplies the inertia corresponding to the current servo motor output shaft angle position Sa by the current drive acceleration A2 to obtain a correction value;

[0071] The central control unit 11 obtains a reference current value by looking up the current data table according to the current spindle rotation angle position S1 and the current spindle speed V1, and adds the correction value to obtain the current reference current value.

[0072] When the spindle speed V1 generated by the spindle rotation signal generating device 6 changes, the folding and packaging speed of the folding mechanism 14 will change. When the spindle acceleration A1 generated by the spindle rotation signal generating device 6 is not 0, additional acceleration and current will be superimposed on the movement of the servo motor. In actual operation, the equivalent inertia value of the folding mechanism 14 relative to the output shaft of the servo motor changes.

[0073] Preferably, the driving unit 12 feeds back the output shaft angle position Sa of the servo motor 13 and the corresponding working current Ia of the servo motor 13 to the central control unit 11 via a high-speed bus.

[0074] In the packaging quality detection system of the second embodiment, when calculating the current correction value I2, the central control unit 11 queries the inertia table through the output shaft angle position of the servo motor 13 to obtain the instantaneous inertia value of the folding mechanism 14 at the current position. Figure 4 As shown, the current reference current value I ref It consists of a reference current value I1 and a current correction value I2. The reference current value I1 is obtained by querying the current data table according to the spindle speed V1 and the spindle rotation angle position S1 generated by the spindle rotation signal generating device 6. The current correction value I2 is the drive acceleration A2 calculated by the spindle acceleration A1 through the mapping relationship, and the current servo motor output shaft angle position S a When the servo motor 13 is accelerating or decelerating, that is, the actual spindle acceleration A1 generated by the spindle rotation signal generating device 6 is not 0, the reference current value I1 plus the correction value I2 is used as the current reference current value I ref .

[0075] Embodiment 3

[0076] Based on the packaging quality detection system of the first embodiment, the central control unit 11 obtains the output shaft speed and the output shaft acceleration by performing differential calculation on the output shaft angle position Sa of the servo motor 13;

[0077] The central control unit 11 has a default working mode and a self-learning working mode;

[0078] When the central control unit 11 enters the self-learning working mode, it obtains the corresponding spindle rotation angle position S1 and spindle speed V1 through a mapping relationship according to the output shaft angle position Sa and output shaft speed of the servo motor 13, and updates the corresponding reference current value of the corresponding angle range and speed range in the current data table to the corresponding working current Ia of the servo motor 13 according to the spindle rotation angle position S1 and spindle speed V1 obtained by mapping.

[0079] In the packaging quality detection system of the third embodiment, the central control unit 11 can perform self-learning on the current data table when entering the self-learning working mode.

[0080] Embodiment 4

[0081] Based on the packaging quality inspection system of the first embodiment, the mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a function expression or a mapping data table.

[0082] Preferably, the mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a cam mapping relationship or a gear mapping relationship.

[0083] Preferably, the current sampling module 2 detects and obtains the actual working current of the servo motor 13 by collecting the current on the power cable of the servo motor 13 .

[0084] Preferably, the spindle rotation signal generating device 6 is an incremental encoder or an absolute encoder outside the central control unit 11 , or is a virtual signal generating device provided in the central control unit 11 .

[0085] Preferably, the default calibrated current value in the current data table is obtained through simulation calculation or through actual uniform speed operation detection of the servo motor 13 .

[0086] Preferably, the memory is arranged in the central control unit 11 or in a host system communicating with the central control unit 11 .

[0087] Preferably, the package is a tobacco package.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A packaging quality inspection system, characterized in that: It comprises a servo motor (13), a drive unit (12), a current sampling module (2), a spindle rotation signal generating device (6), a central control unit (11), and a memory (16); The servo motor (13) has an output shaft directly connected to the folding mechanism (14) and is used to drive the folding mechanism (14) to fold the packaging material (15); The current sampling module (2) is used to detect the actual working current of the servo motor (13) and send it to the drive unit (12); The drive unit (12) determines the current drive current according to the current drive angle position S2, the drive speed V2 and the drive acceleration A2, controls the servo motor (13) to operate, and sends the actual operating current of the servo motor (13) to the central control unit (11); The spindle rotation signal generating device (6) is used to generate a spindle rotation signal; The spindle rotation signal includes the spindle rotation angle position S1, the spindle speed V1 and the spindle acceleration A1; The memory (16) stores a current data table; The current data table has k columns and n rows, where k and n are both positive integers; The k column of the current data table represents k consecutive different speed intervals divided equally according to the maximum speed of the spindle rotation signal; The n rows of the current data table represent n different angle ranges equally divided by a spindle rotation angle position period of the spindle rotation signal; Each row and column combination is calibrated with a reference current value; The central control unit (11) quickly checks the current data table to obtain a current reference current value according to the current spindle rotation angle position S1 and the current spindle rotation speed V1; The central control unit (11) comprises a mapping relationship module (18); The mapping relationship module (18) is used to map the spindle rotation angle position S1 to the drive angle position S2, map the spindle speed V1 to the drive speed V2, and map the spindle acceleration A1 to the drive acceleration A2; The central control unit (11) sends the current driving angle position S2, driving speed V2 and driving acceleration A2 to the driving unit (12); The central control unit (11) outputs a packaging quality failure signal if the absolute value of the difference between the current actual working current of the servo motor (13) and the current reference current exceeds a set threshold value; The servo motor (13) sends the angular position Sa of the servo motor output shaft detected by its own encoder to the drive unit (12); The drive unit (12) sends the angular position Sa of the servo motor output shaft and the corresponding working current Ia of the servo motor (13) to the central control unit (11); The central control unit (11) further includes a correction module (19) and an inertia table; The inertia table is calibrated with inertia corresponding to different angular positions of the output shaft of the servo motor (13); The correction module (19) obtains a correction value by multiplying the inertia corresponding to the current servo motor output shaft angle position Sa by the current drive acceleration A2 when the spindle acceleration A1 is not zero; The central control unit (11) uses the reference current value obtained by looking up the current data table according to the current spindle rotation angle position S1 and the current spindle speed V1, and adds the correction value to obtain the current reference current value.

2. The packaging quality inspection system according to claim 1, characterized in that: The drive unit (12) feeds back the output shaft angle position Sa of the servo motor (13) and the corresponding working current Ia of the servo motor (13) to the central control unit (11) via a high-speed bus.

3. The packaging quality inspection system according to claim 1, characterized in that: The central control unit (11) obtains the output shaft speed and the output shaft acceleration by performing differential calculation on the output shaft angle position Sa of the servo motor (13); The central control unit (11) has a default working mode and a self-learning working mode; The central control unit (11) obtains the corresponding spindle rotation angle position S1 and spindle speed V1 through a mapping relationship based on the output shaft angle position Sa and output shaft speed of the servo motor (13) when entering the self-learning working mode, and updates the corresponding reference current value of the corresponding angle range and speed interval in the current data table to the corresponding working current Ia of the servo motor (13) based on the spindle rotation angle position S1 and spindle speed V1 obtained by mapping.

4. The packaging quality inspection system according to claim 1, characterized in that: The mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a function expression or a mapping data table.

5. The packaging quality inspection system according to claim 1, characterized in that: The mapping relationship between the spindle rotation angle position S1 and the drive angle position S2, the spindle speed V1 and the drive speed V2, and the spindle acceleration A1 and the drive acceleration A2 is a cam mapping relationship or a gear mapping relationship.

6. The packaging quality inspection system according to claim 1, characterized in that: The current sampling module (2) detects and obtains the actual working current of the servo motor (13) by collecting the current on the power cable of the servo motor (13); The spindle rotation signal generating device (6) is an incremental encoder or an absolute value encoder outside the central control unit (11), or is a virtual signal generating device provided in the central control unit (11).

7. The packaging quality inspection system according to claim 1, characterized in that: The default calibrated current value in the current data table is obtained through simulation calculation or through actual uniform speed operation detection of the servo motor (13).

8. The packaging quality inspection system according to claim 1, characterized in that: The memory is arranged in the central control unit (11) or in a host system that communicates with the central control unit (11).

9. The packaging quality inspection system according to claim 1, characterized in that: The package is a tobacco package.

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