Double servo type inner wrapper paper conveying system based on electronic cam and flexible manufacturing method

Abstract

The present invention provides a double-servo inner frame paper conveying system and a flexible manufacturing method based on an electronic cam, including: a control system; a paper conveying mechanism, which includes a conveying servo driver communicatively connected to a central processor, a conveying servo motor communicatively connected to the conveying servo driver, and a paper conveying roller drivingly connected to the conveying servo motor, and the paper conveying roller is arranged on the inner frame paper conveying line; a paper cutting mechanism, which includes a scoring servo driver communicatively connected to the central processor, a scoring servo motor communicatively connected to the scoring servo driver, and a paper cutting roller drivingly connected to the scoring servo motor, and the paper cutting roller is arranged on the inner frame paper conveying line; a position calibration system, which includes a first color mark sensor communicatively connected to the central processor. The present invention can achieve flexible manufacturing and intelligent manufacturing in a cigarette factory through the coordinated control of two servo motors and based on a cyclic electronic cam algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motion of tobacco packaging machines, and particularly to a double-servo inner frame paper conveying system based on an electronic cam and a flexible manufacturing method. Background Art

[0002] At present, there are two common inner frame paper conveying systems on tobacco packaging machines, namely a mechanical transmission mechanism and a single-servo paper conveying mechanism. Most tobacco factories use a mechanical transmission mechanism similar to a gear structure, and a small number of tobacco factories have improved the mechanical transmission mechanism and use a single-servo motor paper conveying mechanism that combines a mechanical transmission mechanism and a servo motor.

[0003] Using a traditional mechanical gear structure to convey inner frame paper has the following three disadvantages: First, due to the limitations of the mechanical gear structure, it is very difficult to change the specification size of the conveyed inner frame paper, and it is necessary to redesign the mechanical gear structure to modify the conveying specification size, with low efficiency and great difficulty in change; Second, since the machining accuracy of the mechanical gear structure cannot reach the theoretical requirements, when conveying inner frame paper with patterns, a cumulative error will be formed, resulting in the inability to keep the inner frame paper patterns consistent; Third, if the mechanical gear structure conveys inner frame paper with patterns, when splicing between two adjacent paper rolls of the inner frame paper, it is necessary to stop the machine and re-align the color marks for positioning, so as to ensure the consistency of the inner frame paper patterns. Stopping the machine affects the output of the tobacco factory and thus the operating efficiency of the unit.

[0004] Although the single-servo conveying structure can compensate through the conveying motor and maintain the consistency of the color marks, it cannot change the specification size of the inner frame paper, and the flexibility is still insufficient; at the same time, the splicing of the single-servo motor conveying structure also requires stopping the machine, affecting the operating efficiency of the unit. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the technical problem to be solved by the present invention is to provide a double-servo inner frame paper conveying system based on an electronic cam and a flexible manufacturing method. Through the coordinated control of two servo motors, based on the cyclic electronic cam algorithm, it can effectively solve the disadvantages that the inner frame paper with pattern lines cannot be conveyed and the specification size of the inner frame paper cannot be changed due to the shortcomings of conventional mechanical gear coupling, and realize the flexible manufacturing and intelligent manufacturing of cigarette factories.

[0006] To solve the above technical problem, the present invention provides a double-servo inner frame paper conveying system based on an electronic cam, including:

[0007] A control system, which includes a central processor and a main encoder connected by communication;

[0008] Inner frame paper conveying line, which extends along a preset laying track to sequentially convey the inner frame paper to be cut to a preset station. The surface of the inner frame paper has color marking numbers;

[0009] Paper feeding mechanism, which includes a conveying servo driver communicatively connected to the central processor, a conveying servo motor communicatively connected to the conveying servo driver, and a paper feeding roller drivably connected to the conveying servo motor. The paper feeding roller is arranged on the inner frame paper conveying line;

[0010] Paper cutting mechanism, which includes a scoring servo driver communicatively connected to the central processor, a scoring servo motor communicatively connected to the scoring servo driver, and a paper cutting roller drivably connected to the scoring servo motor. The paper cutting roller is arranged on the inner frame paper conveying line;

[0011] Position calibration system, which includes a first color mark sensor communicatively connected to the central processor;

[0012] The operating state of the main encoder constitutes the main shaft of the electronic cam, and the operating states of the paper feeding roller and the paper cutting roller both constitute the slave shafts of the electronic cam. The first color mark sensor collects the position information of the color marking numbers in real time, and the central processor converts the position information of the color marking numbers into the phase information of the main shaft; the conveying servo driver switches the cam table of the paper feeding roller according to the specification size of the inner frame paper or compensates the cam table of the paper feeding roller according to the phase deviation of the main shaft; the scoring servo driver switches the cam table of the paper cutting roller according to the specification size of the inner frame paper.

[0013] Preferably, the dual-servo type inner frame paper conveying system based on an electronic cam further includes a mechanical cutting device for cutting the inner frame paper into a preset shape. The mechanical cutting device is communicatively connected to the central processor and is located downstream of the paper feeding roller; the first color mark sensor is located between the mechanical cutting device and the paper feeding roller.

[0014] Preferably, the dual-servo type inner frame paper conveying system based on an electronic cam further includes a paper roll unwinding mechanism for spreading the roll-shaped inner frame paper onto the inner frame paper conveying line. The paper roll unwinding mechanism is communicatively connected to the central processor.

[0015] Preferably, the paper roll unwinding mechanism includes a pre-unwinding motor communicatively connected to the central processor and a pre-unwinding roller drivably connected to the pre-unwinding motor. The pre-unwinding roller is used to keep the inner frame paper located upstream of the paper feeding roller in a non-tensioned state; the position calibration system further includes a second color mark sensor communicatively connected to the central processor, and the second color mark sensor is located near the pre-unwinding roller.

[0016] Preferably, the paper feeding roller and the paper cutting roller rotate 60 degrees when the main shaft phase interval is in [50, 250].

[0017] Preferably, the electronic-cam-based dual-servo inner box paper conveying system further includes an intelligent host computer for setting the cam tables of the paper conveying roller and the paper cutting roller, and the intelligent host computer is communicatively connected to the central processing unit.

[0018] The present invention also provides a flexible manufacturing method for the electronic-cam-based dual-servo inner box paper conveying system, including the following steps:

[0019] Construct an electronic cam algorithm model for associating the main encoder, the paper conveying roller, and the paper cutting roller;

[0020] Select the cam tables of the paper conveying roller and the paper cutting roller respectively according to the specification dimensions of the inner box paper;

[0021] When conveying and cutting the inner box paper, the current position information of the color mark number of the inner box paper is collected in real time by the first color mark sensor, and the central processing unit analyzes the current position information of the color mark number to judge whether there is a deviation phase of the main shaft. If so, the conveying servo driver dynamically compensates the cam table of the paper conveying roller according to the deviation phase of the main shaft.

[0022] Preferably, the step of collecting the current position information of the color mark number of the inner box paper in real time by the first color mark sensor when processing the inner box paper, analyzing the current position information of the color mark number by the central processing unit to judge whether there is a deviation phase of the main shaft, and if so, the conveying servo driver dynamically compensating the cam table of the paper conveying roller according to the deviation phase of the main shaft includes: when the inner box paper is standard paper, the conveying servo driver latches the phase of the main shaft, and calculates the first slave shaft phase of the slave shaft according to the basic cam table of the paper conveying roller; when processing the inner box paper, the conveying servo driver updates the latched phase of the main shaft in real time, and calculates the second slave shaft phase of the slave shaft according to the basic cam table, and the difference between the first slave shaft phase and the second slave shaft phase is the compensation value of the paper conveying roller.

[0023] Preferably, the step of collecting the current position information of the color mark number of the inner box paper in real time by the first color mark sensor when processing the inner box paper, analyzing the current position information of the color mark number by the central processing unit to judge whether there is a deviation phase of the main shaft, and if so, the conveying servo driver dynamically compensating the cam table of the paper conveying roller according to the deviation phase of the main shaft further includes: when the paper conveying roller needs compensation, the compensation value is written in real time within the phase range of the basic cam table of the paper conveying roller; when the paper conveying roller does not need compensation, the value written within the phase range of the basic cam table of the paper conveying roller is zero.

[0024] Preferably, the flexible manufacturing method further includes:

[0025] When splicing the inner frame paper, the second color mark sensor of the position calibration system is activated to collect the position information of the color mark number on the inner frame paper. The central processor converts the position information of the color mark number into the current position of the pre-unwinding motor of the paper roll unwinding mechanism. When the pre-unwinding motor runs a preset distance, the central processor sends a splicing instruction to the automatic splicing device of the paper roll unwinding mechanism.

[0026] As described above, the dual-servo inner frame paper conveying system and flexible manufacturing method based on an electronic cam of the present invention have the following beneficial effects: The control system includes a central processor and a main encoder connected by communication. The central processor can be a PLC, and the main encoder collects the phase information of the motion system of the dual-servo inner frame paper conveying system. The surface of the inner frame paper has color mark numbers, and the number of color mark numbers on the inner frame paper is multiple and linearly arrayed along the length direction of the inner frame paper. The position information of the color mark numbers can be used as the reference information of the main encoder. The paper feeding mechanism includes a conveying servo driver communicatively connected to the central processor, a conveying servo motor communicatively connected to the conveying servo driver, and a paper feeding roller drivingly connected to the conveying servo motor. The conveying servo driver can interact with the central processor, and the paper feeding roller can hold the inner frame paper and convey the inner frame paper to the downstream station. The paper cutting mechanism includes a scoring servo driver communicatively connected to the central processor, a scoring servo motor communicatively connected to the scoring servo driver, and a paper cutting roller drivingly connected to the scoring servo motor. The paper cutting roller is arranged on the inner frame paper conveying line. The scoring servo driver can interact with the central processor, and the paper cutting roller processes at least one of the above U-shaped cuts, dotted line scores, and indentations on the inner frame paper. The position calibration system includes a first color mark sensor communicatively connected to the central processor, and the detection end of the first color mark sensor is vertically oriented towards the inner frame paper. The main innovation point of the present invention is that both the paper feeding roller and the paper cutting roller adopt a servo drive mode and an electronic cam control mode. The operating state of the main encoder constitutes the main shaft of the electronic cam, and the operating states of the paper feeding roller and the paper cutting roller both constitute the slave shafts of the electronic cam. The first color mark sensor real-time collects the position information of the above color mark numbers, and the central processor converts the position information of the color mark numbers into the phase information of the main shaft. The above conveying servo driver switches the cam table of the paper feeding roller according to the specification size of the inner frame paper without changing the mechanical structure, or compensates the cam table of the paper feeding roller according to the phase deviation of the main shaft to track and position the color mark numbers, and sequentially controls and corrects the motion state of the conveying servo motor through the central processor and the conveying servo driver to correct the motion state of the paper feeding roller. The above scoring servo driver switches the cam table of the paper cutting roller according to the specification size of the inner frame paper without changing the mechanical structure. Therefore, the dual-servo inner frame paper conveying system based on an electronic cam of the present invention can effectively solve the disadvantages of not being able to convey inner frame paper with belt pattern lines and not being able to change the specification size of the inner frame paper due to the shortcomings of conventional mechanical gear coupling through the coordinated control of two servo motors, and realizes the flexible manufacturing and intelligent manufacturing of cigarette factories. Description of the Drawings

[0027] Figure 1 Shows an open schematic view of a hard cigarette pack in the prior art;

[0028] Figure 2 Shows an unfolded schematic view of a processed inner frame paper;

[0029] Figure 3 Shows a schematic view of the dual-servo inner frame paper conveying system based on an electronic cam according to the present invention;

[0030] Figure 4 Shows a cam curve graph of the present invention;

[0031] Figure 5 Shows a motion curve graph of the paper conveying roller and the paper cutting roller.

[0032] Description of Component Labels

[0033] 01 Outer carton

[0034] 02 Sheet-like inner frame paper

[0035] 03 U-shaped cut

[0036] 04 Dotted line score

[0037] 05 Score

[0038] 1 Control system

[0039] 11 Central processing unit

[0040] 12 Main encoder

[0041] 2 Inner frame paper conveying line

[0042] 3 Inner frame paper

[0043] 4 Paper conveying mechanism

[0044] 41 Conveying servo driver

[0045] 42 Conveying servo motor

[0046] 43 Paper conveying roller

[0047] 5 Paper cutting mechanism

[0048] 51 Scoring servo driver

[0049] 52 Scoring servo motor

[0050] 53 Paper cutting roller

[0051] 6 Position calibration system

[0052] 61 First color mark sensor

[0053] 62 Second color mark sensor

[0054] 7 Mechanical cutting device

[0055] 8 Paper roll unfolding mechanism

[0056] 81 Pre-unfolding motor

[0057] 82 Pre-unfolding roller

[0058] 83 Pre-unfolding servo driver

[0059] 84 Inner frame paper commutation structure

[0060] 9 Intelligent host computer Specific embodiments

[0061] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0062] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have technical substantive meanings. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear description and are not used to limit the implementation scope of the present invention. The change or adjustment of their relative relationships, without substantial change of the technical content, should also be regarded as the scope where the present invention can be implemented.

[0063] As Figure 1 shown, the existing hard cigarette package includes an outer paper box 01 and a sheet-shaped inner frame paper 02. The sheet-shaped inner frame paper 02 is bent at a right angle and disposed inside the outer paper box 01. As Figure 2 shown, the sheet-shaped inner frame paper 02 is in an unbent state. The sheet-shaped inner frame paper 02 has a U-shaped cut 03, a dotted line score 04, and a crease 05.

[0064] As Figure 3 shown, the present invention provides a double-servo inner frame paper conveying system based on an electronic cam, including:

[0065] A control system 1, and the control system 1 includes a central processor 11 and a main encoder 12 that are communicatively connected;

[0066] Inner frame paper conveyor line 2 extends along a preset laying track to sequentially convey the inner frame paper 3 to be cut to a preset station. The surface of the inner frame paper 3 has color marking numbers;

[0067] Paper feeding mechanism 4, which includes a conveying servo driver 41 communicatively connected to the central processing unit 11, a conveying servo motor 42 communicatively connected to the conveying servo driver 41, and a paper feeding roller 43 drivingly connected to the conveying servo motor 42. The paper feeding roller 43 is arranged on the inner frame paper conveyor line 2;

[0068] Paper cutting mechanism 5, which includes a scoring servo driver 51 communicatively connected to the central processing unit 11, a scoring servo motor 52 communicatively connected to the scoring servo driver 51, and a paper cutting roller 53 drivingly connected to the scoring servo motor 52. The paper cutting roller 53 is arranged on the inner frame paper conveyor line 2;

[0069] Position calibration system 6, which includes a first color mark sensor 61 communicatively connected to the central processing unit 11;

[0070] The operating state of the main encoder 12 constitutes the main shaft of the electronic cam, and the operating states of the paper feeding roller 43 and the paper cutting roller 53 both constitute the slave shafts of the electronic cam. The first color mark sensor 61 real-time collects the position information of the above color marking numbers, and the central processing unit 11 converts the position information of the color marking numbers into the phase information of the main shaft. The above conveying servo driver 41 switches the cam table of the paper feeding roller 43 according to the specification size of the inner frame paper 3 or compensates the cam table of the paper feeding roller 43 according to the phase deviation of the main shaft. The above scoring servo driver 51 switches the cam table of the paper cutting roller 53 according to the specification size of the inner frame paper 3.

[0071] The present invention relates to a tobacco packaging machine, which includes a dual-servo inner frame paper conveying system based on an electronic cam. This dual-servo inner frame paper conveying system applies a cyclic electronic cam algorithm, can switch the processing mode according to the specification size of the inner frame paper 3, solves the problem that it is difficult to adjust the production specification of the existing tobacco packaging machine, or dynamically corrects the inner frame paper 3 in real time, and solves the problem of conveying the inner frame paper 3 with pattern lines.

[0072] Specifically, the control system 1 includes a central processor 11 and a main encoder 12 that are communicatively connected. The central processor 11 can be a PLC, and the main encoder 12 collects the phase information of the motion system of the double-servo inner box paper conveying system. The surface of the inner box paper 3 has color marking numbers. The number of color marking numbers on the inner box paper 3 is multiple and is linearly arrayed along the length direction of the inner box paper 3. The position information of the color marking numbers can be used as the reference information of the main encoder 12. The paper feeding mechanism 4 includes a conveying servo driver 41 communicatively connected to the central processor 11, a conveying servo motor 42 communicatively connected to the conveying servo driver 41, and a paper feeding roller 43 drivingly connected to the conveying servo motor 42. The conveying servo driver 41 can interact with the central processor 11 in terms of information. The paper feeding roller 43 can clamp the inner box paper 3 and convey the inner box paper 3 to the downstream station. The paper cutting mechanism 5 includes a scoring servo driver 51 communicatively connected to the central processor 11, a scoring servo motor 52 communicatively connected to the scoring servo driver 51, and a paper cutting roller 53 drivingly connected to the scoring servo motor 52. The paper cutting roller 53 is arranged on the inner box paper conveying line 2. The scoring servo driver 51 can interact with the central processor 11 in terms of information. The paper cutting roller 53 processes at least one of the above U-shaped cuts 03, dotted line scores 04, and indentations 05 on the inner box paper 3. The position calibration system 6 includes a first color mark sensor 61 communicatively connected to the central processor 11. The detection end of the first color mark sensor 61 is vertically oriented towards the inner box paper 3. The main innovation of the present invention lies in that: both the paper feeding roller 43 and the paper cutting roller 53 adopt a servo drive mode and an electronic cam control mode. The operating state of the main encoder 12 constitutes the main shaft of the electronic cam, and the operating states of the paper feeding roller 43 and the paper cutting roller 53 both constitute the slave shafts of the electronic cam. The first color mark sensor 61 real-time collects the position information of the above color marking numbers, and the central processor 11 converts the position information of the color marking numbers into the phase information of the main shaft; the above conveying servo driver 41 switches the cam table of the paper feeding roller 43 according to the specification size of the inner box paper 3 without changing the mechanical structure, or compensates the cam table of the paper feeding roller 43 according to the phase deviation of the main shaft to perform tracking and positioning of the color marking numbers, and sequentially controls and corrects the motion state of the conveying servo motor 42 through the central processor 11 and the conveying servo driver 41 to correct the motion state of the paper feeding roller 43; the above scoring servo driver 51 switches the cam table of the paper cutting roller 53 according to the specification size of the inner box paper 3 without changing the mechanical structure.

[0073] Therefore, the double-servo inner box paper conveying system based on the electronic cam of the present invention can effectively solve the disadvantages that the inner box paper 3 with belt pattern lines cannot be conveyed and the specification size of the inner box paper 3 cannot be changed due to the shortcomings of conventional mechanical gear coupling through the coordinated control of two servo motors, and realizes the flexible manufacturing and intelligent manufacturing of the cigarette factory based on the cyclic electronic cam algorithm.

[0074] In order to cut the inner frame paper 3 into the sheet inner frame paper 02, the electronic cam-based dual servo inner frame paper conveying system further includes a mechanical cutting device 7 for cutting the inner frame paper 3 into a preset shape, the mechanical cutting device 7 is communicatively connected to the central processor 11 and is located downstream of the paper feed roller 43; the first color mark sensor 61 is located between the mechanical cutting device 7 and the paper feed roller 43. The first color mark sensor 61 is located near the cutter of the mechanical cutting device 7, which helps to improve the cutting accuracy. In addition, the mechanical cutting device 7 obtains power through mechanical gear coupling.

[0075] In order to supply the inner frame paper 3 in an unfolded state, the above-mentioned dual-servo inner frame paper conveying system based on electronic cam also includes a paper roll unfolding mechanism 8 that spreads the roll-shaped inner frame paper 3 to the inner frame paper conveying line 2, and the paper roll unfolding mechanism 8 is communicatively connected to the central processor 11.

[0076] In order to ensure that the inner frame paper 3 can be smoothly conveyed, the above-mentioned paper roll unwinding mechanism 8 includes a pre-unwinding motor 81 connected to the central processor 11 in communication and a pre-unwinding roller 82 connected to the pre-unwinding motor 81 in transmission. The pre-unwinding roller 82 is used to keep the inner frame paper 3 located upstream of the paper feeding roller 43 in a non-pulling state at all times; the above-mentioned position calibration system 6 also includes a second color mark sensor 62 connected to the central processor 11 in communication, and the second color mark sensor 62 is located near the pre-unwinding roller 82. The second color mark sensor 62 collects the color mark of the inner frame paper 3 in real time, so that the central processor 11 can obtain the motion state of the pre-unwinding motor 81 in real time. The paper roll unwinding mechanism 8 also includes a pre-unwinding servo driver 83, and the pre-unwinding motor 81 is also a servo motor. The pre-unwinding motor 81 is connected to the central processor 11 through the pre-unwinding servo driver 83. With this arrangement, the inner frame paper 3 can be controlled to be in a surplus state through the pre-unwinding roller 82. In addition, the above-mentioned paper roll unwinding mechanism 8 also includes an inner frame paper reversing structure 84, which is used to change the conveying direction of the inner frame paper 3.

[0077] The above-mentioned paper roll unwinding mechanism 8 also includes an automatic splicing device for the inner frame paper 3. The second color mark sensor 62 collects the color mark number of the inner frame paper 3 in real time, which is also helpful to determine the triggering time of the automatic splicing device more accurately, so that the dual-servo inner frame paper conveying system can accurately splice the inner frame paper 3 without stopping the machine. The original automatic splicing device without color mark positioning needs to remove at least 15 sheets of inner frame paper 02 after splicing. After the second color mark sensor 62 is installed, the operation efficiency of the unit is improved. At the same time, the spacing of the color mark number on the inner frame paper 3 is not changed during splicing. Only 2 to 3 sheets of inner frame paper 02 need to be removed, which solves the problem of removing waste during splicing. Therefore, this solves the problem of splicing waste and stopping operation, greatly improving the operation efficiency of the tobacco factory.

[0078] like Figure 4As shown, the phase range of the main shaft is [0, 360], and the phase range of the slave shaft is also [0, 360]. To meet the production requirements, the above-mentioned paper feeding roller 43 and paper cutting roller 53 rotate 60 degrees when the main shaft phase interval is in [50, 250].

[0079] To facilitate the modification of the cam tables of the above-mentioned paper feeding roller 43 and paper cutting roller 53, the above-mentioned electronic cam-based dual-servo inner frame paper conveying system further includes an intelligent host computer 9 for setting the cam tables of the paper feeding roller 43 and paper cutting roller 53. The intelligent host computer 9 is communicatively connected to the central processing unit 11. With such a setting, it is possible to change the conveying specifications of the inner frame paper 3 without modifying the mechanical structure, and further achieve the flexible manufacturing of the cigarette factory.

[0080] The present invention also provides a flexible manufacturing method for the above-mentioned electronic cam-based dual-servo inner frame paper conveying system, including the following steps:

[0081] Construct an electronic cam algorithm model for associating the main encoder 12, paper feeding roller 43, and paper cutting roller 53;

[0082] According to the specification dimensions of the inner frame paper 3, select the cam tables of the paper feeding roller 43 and paper cutting roller 53 respectively;

[0083] When conveying and cutting the inner frame paper 3, the current position information of the color mark number of the inner frame paper 3 is collected in real time through the first color mark sensor 61. The central processing unit 11 analyzes the current position information of the color mark number to judge whether there is a deviation phase of the main shaft. If so, the conveying servo driver 41 dynamically compensates the cam table of the paper feeding roller 43 according to the deviation phase of the main shaft.

[0084] In the flexible manufacturing method of the present invention, due to the limitation of the mechanical structure of the paper cutting mechanism 5, during compensation, it can only be applied to the paper feeding roller 43, and the paper cutting roller 53 cannot perform compensation operations. The specific method is: superimpose a compensation cam table on the original basic cam table of the paper feeding roller 43, and apply the CamAdd function block in the existing motion control library to Figure 4 superimpose a compensation cam table on the shown basic cam table. The maximum value of the compensation cam table is the required compensation value. Superimposing this compensation cam table on the phase interval of the basic cam table can make the compensation smoother.

[0085] Figure 5 is the motion curve graph of the monitored paper feeding roller 43 and paper cutting roller 53, obtained from the software interface; the upper area represents the follow-up error curves of the paper feeding roller 43 and paper cutting roller 53, the middle area represents the speed curve of the paper feeding roller 43, and the lower area represents the speed curve of the paper cutting roller 53. Curve X1 is the set speed curve of the paper feeding roller 43, curve X2 is the actual speed curve of the paper feeding roller 43; curve Y1 is the set speed curve of the paper cutting roller 53, curve Y2 is the actual speed curve of the paper cutting roller 53. ByFigure 5 It can be seen that the following error reaches below 0.5 degrees, fully meeting the error requirements of the cigarette factory.

[0086] The above steps of dynamically compensating the cam table of the paper feeding roller 43 by the conveying servo driver 41 according to the deviation phase of the main shaft by collecting the current position information of the color mark number of the inner frame paper 3 in real time through the first color mark sensor 61 when processing the inner frame paper 3, and analyzing the current position information of the color mark number by the central processing unit 11 to judge whether there is a deviation phase of the main shaft include: when the inner frame paper 3 is standard paper, the conveying servo driver 41 latches the main shaft phase, and calculates the first slave shaft phase of the slave shaft according to the basic cam table of the paper feeding roller 43; when processing the inner frame paper 3, the conveying servo driver 41 updates and latches the main shaft phase in real time, and calculates the second slave shaft phase of the slave shaft according to the basic cam table, and the difference between the first slave shaft phase and the second slave shaft phase is the compensation value of the paper feeding roller 43. However, in the actual operation process, the calculated compensation value cannot be directly compensated, because there is a U-shaped knife in the paper cutting roller 53 in the mechanical structure, and making a large compensation will cut the inner frame paper 3, and in serious cases, the inner frame paper 3 will be pulled off. Therefore, it is necessary to reasonably process the error, which can be compensated without allowing the U-shaped knife to cut the inner frame paper 3. After testing, it is more appropriate to compensate up to 0.5 mm each time to ensure that the U-shaped knife is not pulled and damaged. Therefore, a proportional gain Kp needs to be set for the compensation value to ensure the integrity of the paper during the dynamic deviation correction process.

[0087] The above steps of dynamically compensating the cam table of the paper feeding roller 43 by the conveying servo driver 41 according to the deviation phase of the main shaft by collecting the current position information of the color mark number of the inner frame paper 3 in real time through the first color mark sensor 61 when processing the inner frame paper 3, and analyzing the current position information of the color mark number by the central processing unit 11 to judge whether there is a deviation phase of the main shaft further include: when the paper feeding roller 43 needs compensation, the compensation value is written in real time within the phase interval of the basic cam table of the paper feeding roller 43; when the paper feeding roller 43 does not need compensation, the value written within the phase interval of the basic cam table of the paper feeding roller 43 is zero. In this way, the superimposed compensation cam table can be cyclically superimposed on the basic cam table, without repeatedly adding and deleting cams, improving the simplicity of the algorithm and also simplifying the program code.

[0088] The above flexible manufacturing method further includes: when splicing the inner frame paper 3, the second color mark sensor 62 of the position calibration system 6 is activated to collect the position information of the color mark number on the inner frame paper 3, and the central processor 11 converts the position information of the color mark number into the current position of the pre-unwinding motor 81 of the paper roll unwinding mechanism 8. When the pre-unwinding motor 81 runs a preset distance, the central processor 11 sends a splicing instruction to the automatic splicing device of the paper roll unwinding mechanism 8. Specifically, when the double-servo inner frame paper conveying system enters the splicing program, when the second color mark sensor 62 is triggered for the first time, the position of the pre-unwinding motor 81 at this time is recorded. When the pre-unwinding motor 81 travels the preset distance, the splicing action is triggered, so that the color mark spacing can be fixed after each splicing. Taking the preset distance as an adjustable parameter, as long as the preset distance is continuously adjusted, it can be ensured that the color mark spacing after each splicing is the same as the original paper color mark spacing. In this way, only 2 to 3 sheets of paper need to be removed after splicing, greatly saving raw materials and realizing non-stop operation.

[0089] In summary, through the coordinated control of two servo motors, the present invention can effectively solve the drawbacks that the inner frame paper with conveyor belt pattern lines cannot be used and the specification size of the inner frame paper cannot be changed due to the shortcomings of conventional mechanical gear coupling based on the cyclic electronic cam algorithm, and realizes the flexible manufacturing and intelligent manufacturing of cigarette factories. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0090] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A double-servo inner box paper conveying system based on an electronic cam, characterized in that Including: A control system (1), the control system (1) includes a central processing unit (11) and a main encoder (12) connected by communication; An inner frame paper conveying line (2), the inner frame paper conveying line (2) extends along a preset laying track to sequentially convey the inner frame paper (3) to be cut to a preset station, and the surface of the inner frame paper (3) has color marking numbers; A paper feeding mechanism (4), the paper feeding mechanism (4) includes a conveying servo driver (41) communicatively connected to the central processing unit (11), a conveying servo motor (42) communicatively connected to the conveying servo driver (41), and a paper feeding roller (43) drivingly connected to the conveying servo motor (42), and the paper feeding roller (43) is arranged on the inner frame paper conveying line (2); A paper cutting mechanism (5), the paper cutting mechanism (5) includes a scoring servo driver (51) communicatively connected to the central processing unit (11), a scoring servo motor (52) communicatively connected to the scoring servo driver (51), and a paper cutting roller (53) drivingly connected to the scoring servo motor (52), and the paper cutting roller (53) is arranged on the inner frame paper conveying line (2); A position calibration system (6), the position calibration system (6) includes a first color mark sensor (61) communicatively connected to the central processing unit (11); The operating state of the main encoder (12) constitutes the main shaft of the electronic cam, and the operating states of the paper feeding roller (43) and the paper cutting roller (53) both constitute the slave shafts of the electronic cam. The first color mark sensor (61) collects the position information of the color marking numbers in real time, and the central processing unit (11) converts the position information of the color marking numbers into the phase information of the main shaft; the conveying servo driver (41) switches the cam table of the paper feeding roller (43) according to the specification size of the inner frame paper (3) or compensates the cam table of the paper feeding roller (43) according to the phase deviation of the main shaft; the scoring servo driver (51) switches the cam table of the paper cutting roller (53) according to the specification size of the inner frame paper (3).

2. The double servo type inner frame paper conveying system based on an electronic cam according to claim 1, wherein: The double-servo inner frame paper conveying system based on an electronic cam further includes a mechanical cutting device (7) for cutting the inner frame paper (3) into a preset shape. The mechanical cutting device (7) is communicatively connected to the central processing unit (11) and is located downstream of the paper feeding roller (43); the first color mark sensor (61) is located between the mechanical cutting device (7) and the paper feeding roller (43).

3. The double servo type inner box paper conveying system based on an electronic cam according to claim 1, wherein: The double-servo inner frame paper conveying system based on an electronic cam further includes a paper roll unfolding mechanism (8) for spreading the roll-shaped inner frame paper (3) onto the inner frame paper conveying line (2). The paper roll unfolding mechanism (8) is communicatively connected to the central processing unit (11).

4. The double servo type inner frame paper conveying system based on an electronic cam according to claim 3, wherein: The paper roll unfolding mechanism (8) includes a pre-unfolding motor (81) communicatively connected to the central processing unit (11) and a pre-unfolding roller (82) drivingly connected to the pre-unfolding motor (81). The pre-unfolding roller (82) is used to keep the inner frame paper (3) located upstream of the paper feeding roller (43) in a non-tensioned state; the position calibration system (6) further includes a second color mark sensor (62) communicatively connected to the central processing unit (11), and the second color mark sensor (62) is located near the pre-unfolding roller (82).

5. The double-servo inner box paper conveying system based on an electronic cam according to claim 1, wherein: When the paper feed roller (43) and the paper cutting roller (53) are within the spindle phase range of [50, 250], they rotate 60 degrees.

6. The double servo inner frame paper conveying system based on an electronic cam according to claim 1, characterized in that: The double-servo inner frame paper conveying system based on an electronic cam further includes an intelligent host computer (9) for setting the cam tables of the paper feed roller (43) and the paper cutting roller (53). The intelligent host computer (9) is communicatively connected to the central processing unit (11).

7. A flexible manufacturing method for an electronic cam-based dual servo inner box paper conveying system according to any one of claims 1 to 6, characterized in that, It includes the following steps: Construct an electronic cam algorithm model for associating the main encoder (12), the paper feed roller (43), and the paper cutting roller (53); According to the specification dimensions of the inner frame paper (3), select the cam tables of the paper feed roller (43) and the paper cutting roller (53) respectively; When conveying and cutting the inner frame paper (3), the current position information of the color mark number of the inner frame paper (3) is collected in real time by the first color mark sensor (61). The central processing unit (11) analyzes the current position information of the color mark number to determine whether there is a deviation phase of the main shaft. If so, the conveying servo driver (41) dynamically compensates the cam table of the paper feed roller (43) according to the deviation phase of the main shaft.

8. The flexible manufacturing method according to claim 7, wherein: The step of, when conveying and cutting the inner frame paper (3), collecting the current position information of the color mark number of the inner frame paper (3) in real time by the first color mark sensor (61), analyzing the current position information of the color mark number by the central processing unit (11) to determine whether there is a deviation phase of the main shaft, and if so, the conveying servo driver (41) dynamically compensating the cam table of the paper feed roller (43) according to the deviation phase of the main shaft includes: when the inner frame paper (3) is standard paper, the conveying servo driver (41) latches the main shaft phase, and calculates the first slave shaft phase of the slave shaft according to the basic cam table of the paper feed roller (43); when processing the inner frame paper (3), the conveying servo driver (41) updates the latched main shaft phase in real time, and calculates the second slave shaft phase of the slave shaft according to the basic cam table. The difference between the first slave shaft phase and the second slave shaft phase is the compensation value of the paper feed roller (43).

9. The flexible manufacturing method according to claim 8, wherein: The step of, when conveying and cutting the inner frame paper (3), collecting the current position information of the color mark number of the inner frame paper (3) in real time by the first color mark sensor (61), analyzing the current position information of the color mark number by the central processing unit (11) to determine whether there is a deviation phase of the main shaft, and if so, the conveying servo driver (41) dynamically compensating the cam table of the paper feed roller (43) according to the deviation phase of the main shaft further includes: when the paper feed roller (43) needs compensation, the compensation value is written in real time within the phase range of the basic cam table of the paper feed roller (43); when the paper feed roller (43) does not need compensation, the value written within the phase range of the basic cam table of the paper feed roller (43) is zero.

10. The flexible manufacturing method according to claim 7, characterized in that, The flexible manufacturing method further includes: when splicing the inner frame paper (3), the second color mark sensor (62) of the position calibration system (6) is activated to collect the position information of the color mark number of the inner frame paper (3). The central processing unit (11) converts the position information of the color mark number into the current position of the pre-unwinding motor (81) of the paper roll unwinding mechanism (8). When the pre-unwinding motor (81) runs a preset distance, the central processing unit (11) sends a splicing instruction to the automatic splicing device of the paper roll unwinding mechanism (8).

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