Control method, device and packaging system of packaging machine

Abstract

The present disclosure relates to a control method, device, and packaging system for a packaging machine, and relates to the field of automatic control technology. The method includes: determining the relationship between the tension of a pull wire and the swing angle of a swing arm in the packaging machine based on the force applied to the swing arm; obtaining attribute information corresponding to the pull wire, wherein the attribute information includes a maximum tension value that prevents the pull wire from elastically deforming; determining the swing angle of the swing arm based on the attribute information and the relationship between the tension of the pull wire and the swing angle of the swing arm; and adjusting the swing arm based on the swing angle.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a control method, device and packaging system for a packaging machine. Background Art

[0002] The drawstring on the cigarette pack is a line on the cigarette pack that makes it easier for users to open the pack. Figure 1 As shown, the draw string can be directly attached to the wrapping paper of the cigarette pack by the packaging machine.

[0003] like Figure 2 As shown, the wire reel 1 of the cigarette packaging machine is installed on the drum and driven by a servo motor to make the wire 3 ( Figure 2 The unwinding speed (indicated by the dotted line) is roughly consistent with the transport speed of the transparent paper. The wire is pulled by a pair of separation and conveying rollers 2, allowing the wire to be smoothly separated. After passing through a series of guide rollers 4, the wire is attached to the transparent paper at guide roller 5 by a one-way pressure roller 6 and then continues to be transported downward along with the transparent paper. The swing arm 7 is capable of swinging. During the transport of the wire, the guide rollers on the swing arm 7 are subjected to the upward pull of the wire and the tension of the spring. Summary of the Invention

[0004] The inventors discovered that in actual production, the drawstrings of small cigarette packs are prone to ripples. These ripples are caused by excessive tension on the drawstring during conveyance, which causes elastic deformation. When the drawstring and the transparent paper are bonded, the drawstring rebounds, creating the visual ripples. The tension on the drawstring can be adjusted by adjusting the angle of the swing arm during conveyance.

[0005] A technical problem to be solved by the present disclosure is: how to reduce the probability of wrinkles on the drawstring and improve the packaging effect.

[0006] According to some embodiments of the present disclosure, a control method for a packaging machine is provided, including: determining the relationship between the tension of a pull wire and the swing angle of the pendulum arm according to the force conditions of the pendulum arm in the packaging machine; obtaining attribute information corresponding to the pull wire, wherein the attribute information includes a maximum tension value that prevents the pull wire from elastic deformation; determining the swing angle of the pendulum arm according to the attribute information and the relationship between the tension of the pull wire and the swing angle of the pendulum arm; and adjusting the pendulum arm according to the swing angle.

[0007] In some embodiments, when the pendulum arm is subjected to the force of the pulling wire, it rotates in a first direction with the fulcrum as the center. When the pendulum arm is subjected to the force of the elastic device connected thereto, it rotates in a second direction with the fulcrum as the center. The first direction is opposite to the second direction. According to the force conditions of the pendulum arm in the packaging machine, determining the relationship between the tension of the pulling wire and the swing angle of the pendulum arm includes: establishing a mechanical model based on the force of the pulling wire on the pendulum arm and the force of the elastic device on the pendulum arm with the goal of balancing the force of the pendulum arm; and determining the relationship between the tension of the pulling wire and the swing angle of the pendulum arm based on the mechanical model.

[0008] In some embodiments, with the goal of balancing the forces on the pendulum rod, a mechanical model is established based on the force of the tension wire on the pendulum rod and the force of the elastic device on the pendulum rod, including: determining a first torque of the force of the tension wire on the pendulum rod on the fulcrum of the pendulum rod; determining a second torque of the force of the elastic device on the pendulum rod on the fulcrum of the pendulum rod; with the goal of balancing the first torque and the second torque, a mechanical model is established to balance the forces on the pendulum rod.

[0009] In some embodiments, a first guide roller and a second guide roller are sequentially arranged on the central axis of the rocker arm in a direction away from the fulcrum, and a third guide roller, a fourth guide roller and a fifth guide roller are fixedly arranged on the packaging machine in sequence along the conveying direction. During the conveying process, the pull wire passes through the third guide roller, the first guide roller, the fourth guide roller, the second guide roller and the fifth guide roller in sequence. The swing angle of the rocker arm is the angle between the rocker arm and the line connecting the fulcrum and the center point of the fifth guide roller.

[0010] In some embodiments, determining the first torque of the force of the cable on the rocker arm on the fulcrum of the rocker arm includes: obtaining a first distance from the fulcrum to the center of the first guide roller and a second distance from the fulcrum to the center of the second guide roller; determining a first angle between a line connecting the center of the third guide roller and the center of the first guide roller and the central axis of the rocker arm; determining a second angle between a line connecting the center of the fourth guide roller and the center of the first guide roller and the central axis of the rocker arm; determining a third angle between a line connecting the center of the fourth guide roller and the center of the second guide roller and the central axis of the rocker arm; determining a fourth angle between a line connecting the center of the fifth guide roller and the center of the second guide roller and the central axis of the rocker arm; and determining the first torque of the force of the cable on the rocker arm on the fulcrum of the rocker arm based on the force of the cable on the rocker arm, the first distance, the second distance, the first angle, the second angle, the third angle and the fourth angle.

[0011] In some embodiments, the first angle, the second angle, the third angle and the fourth angle are converted into swing angles according to the positional relationship between the first guide roller, the second guide roller, the third guide roller, the fourth guide roller, the fifth guide roller and the fulcrum.

[0012] In some embodiments, the elastic device is a spring, a first end of the spring is fixed, and a second end is connected to a connecting member of the rocker arm, wherein the connecting member is perpendicular to the rocker arm and rigidly connected.

[0013] In some embodiments, determining the second torque of the force of the elastic device on the rocker arm on the fulcrum of the rocker arm includes: obtaining the elastic coefficient of the spring and the unstretched length of the spring; determining the length of the spring based on the length of the connecting member, the distance from the fulcrum to the first end, and the fifth angle between the connecting member and the line from the fulcrum to the first end; determining the second torque based on the elastic coefficient of the spring, the length of the spring and the length of the connecting member.

[0014] In some embodiments, the fifth angle is converted into a swing angle according to the positional relationship among the fulcrum, the first end and the fifth guide roller.

[0015] In some embodiments, determining the swing angle of the pendulum arm based on attribute information and the relationship between the tension of the pull wire and the swing angle of the pendulum arm of the packaging machine includes: determining the reference swing angle of the pendulum arm based on the maximum tension value that prevents the pull wire from elastic deformation and the relationship between the tension of the pull wire and the swing angle of the pendulum arm of the packaging machine, wherein the greater the tension of the pull wire, the smaller the reference swing angle; determining the swing angle of the pendulum arm based on the reference swing angle and the angle adjustment range corresponding to the pendulum arm.

[0016] According to other embodiments of the present disclosure, a control device for a packaging machine is provided, comprising: an acquisition module for acquiring attribute information corresponding to a pull wire, wherein the attribute information includes a maximum pulling force value that prevents the pull wire from elastic deformation; a determination module for determining a swing angle of a rocker arm based on the attribute information and a relationship between the pulling force of the pull wire and the swing angle of the rocker arm of the packaging machine; and an adjustment module for adjusting the rocker arm according to the swing angle.

[0017] According to some further embodiments of the present disclosure, a control device for a packaging machine is provided, comprising: a processor; and a memory coupled to the processor, for storing instructions, which, when executed by the processor, causes the processor to execute a control method for a packaging machine as described in any of the aforementioned embodiments.

[0018] According to some further embodiments of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, wherein when the program is executed by a processor, the control method of the packaging machine of any of the aforementioned embodiments is implemented.

[0019] According to some further embodiments of the present disclosure, a packaging system is provided, comprising: the control device of any of the aforementioned embodiments and a packaging machine for conveying a pull line and packaging cigarette packs.

[0020] In the present disclosure, the relationship between the tension of the cable and the swing angle of the pendulum is first determined based on the stress conditions of the pendulum in the packaging machine. Furthermore, attribute information corresponding to the cable is obtained. Based on this attribute information and the relationship between the tension of the cable and the swing angle of the pendulum, the swing angle of the pendulum is determined. Finally, the pendulum is adjusted based on the swing angle. Because the attribute information corresponding to the cable includes the maximum tension value at which the cable does not undergo elastic deformation, the swing angle obtained based on this maximum tension value can minimize the probability of elastic deformation of the cable, thereby reducing the probability of wrinkles in the cable and improving the packaging effect.

[0021] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 Schematic diagram showing the pull string on a cigarette pack according to some embodiments of the present disclosure.

[0024] Figure 2 A schematic structural diagram of a packaging machine according to some embodiments of the present disclosure is shown.

[0025] Figure 3 A schematic flow chart illustrating a control method for a packaging machine according to some embodiments of the present disclosure.

[0026] Figure 4 Schematic diagrams showing partial structures of packaging machines according to other embodiments of the present disclosure.

[0027] Figure 5 A schematic diagram showing the relationship between the tension of the pull wire and the swing angle in some embodiments of the present disclosure.

[0028] Figure 6 A schematic structural diagram of a control device of a packaging machine according to some embodiments of the present disclosure is shown.

[0029] Figure 7 Schematic diagrams showing the structure of a control device of a packaging machine according to other embodiments of the present disclosure.

[0030] Figure 8 A schematic structural diagram of a control device of a packaging machine according to some further embodiments of the present disclosure is shown.

[0031] Figure 9A schematic structural diagram of a packaging machine system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0033] The present disclosure provides a control method for a packaging machine. Figure 3-4 Provide a description.

[0034] Figure 3 Flowcharts of some embodiments of the control method of the packaging machine disclosed in the present invention. Figure 3 As shown, the method of this embodiment includes steps S302 to S308.

[0035] In step S302, the relationship between the tension of the pull line and the swing angle of the swing arm is determined according to the force applied to the swing arm in the packaging machine.

[0036] In some embodiments, the swing arm rotates in a first direction about the fulcrum when subjected to a force from a tension wire, and in a second direction about the fulcrum when subjected to a force from an elastic device connected thereto, wherein the first direction is opposite to the second direction. For example, the first direction is clockwise and the second direction is counterclockwise.

[0037] In some embodiments, with the goal of balancing the force on the pendulum rod, a mechanical model is established based on the force of the pull wire on the pendulum rod and the force of the elastic device on the pendulum rod; based on the mechanical model, the relationship between the tension of the pull wire and the swing angle of the pendulum rod is determined.

[0038] Furthermore, in some embodiments, a first torque of the force of the tension wire on the pendulum rod on the fulcrum of the pendulum rod is determined; a second torque of the force of the elastic device on the pendulum rod on the fulcrum of the pendulum rod is determined; and a mechanical model is established with the goal of balancing the first torque and the second torque to balance the force on the pendulum rod.

[0039] In some embodiments, a first guide roller and a second guide roller are sequentially arranged on the central axis of the rocker arm in a direction away from the fulcrum, and a third guide roller, a fourth guide roller and a fifth guide roller are fixedly arranged on the packaging machine in sequence along the conveying direction. During the conveying process, the pull wire passes through the third guide roller, the first guide roller, the fourth guide roller, the second guide roller and the fifth guide roller in sequence. The swing angle of the rocker arm is the angle between the rocker arm and the line connecting the fulcrum and the center point of the fifth guide roller.

[0040] In some embodiments, the elastic device is a spring, a first end of the spring is fixed, and a second end is connected to a connecting member of the rocker arm, wherein the connecting member is perpendicular to the rocker arm and rigidly connected.

[0041] For example, Figure 4 For Figure 2 Schematic diagram after abstracting some of the structures. Figure 4 As shown in the figure, A is the fulcrum for the swing arm's rotation; H is the spring mounting fulcrum; B, C, D, E, and F are guide rollers. B, C, and D are fixed guide rollers (B, C, and D are the third, fourth, and fifth guide rollers, respectively), and E and F are guide rollers on the swing arm (E is the second guide roller, and F is the first guide roller), which move with the swing arm. G is the connection point between the spring and the connecting member AG of the swing arm. Connecting member AG is rigidly connected to the swing arm. X is the stretched length of the spring, i.e., the actual length. The tension wire exerts a force on the swing arm through guide rollers E and F. When subjected to the force of the tension wire, the swing arm rotates clockwise about fulcrum A. When subjected to the force of the spring, the swing arm rotates counterclockwise about fulcrum A.

[0042] For example, Figure 4 As shown, Z1 can be defined as the swing angle. The wire passes through the guide rollers B, F, C, E, and D in sequence. The wire generates a pulling force F on the swing rod through E and F. 拉 .

[0043] In some embodiments, the following method is used to determine the first torque: obtain a first distance from the fulcrum to the center of the first guide roller and a second distance from the fulcrum to the center of the second guide roller; determine a first angle between a line connecting the center of the third guide roller and the center of the first guide roller and the central axis of the rocker arm; determine a second angle between a line connecting the center of the fourth guide roller and the center of the first guide roller and the central axis of the rocker arm; determine a third angle between a line connecting the center of the fourth guide roller and the center of the second guide roller and the central axis of the rocker arm; determine a fourth angle between a line connecting the center of the fifth guide roller and the center of the second guide roller and the central axis of the rocker arm; determine a first torque of the force of the cable on the rocker arm on the fulcrum of the rocker arm based on the force of the cable on the rocker arm, the first distance, the second distance, the first angle, the second angle, the third angle and the fourth angle.

[0044] For example, Figure 4 As shown, the first distance can be expressed as L AF , the second distance can be expressed as L AE , the first angle can be expressed as Z2, the second angle can be expressed as Z3, the third angle can be expressed as Z4, and the fourth angle can be expressed as Z5.

[0045] In some embodiments, based on the first angle, the second angle, the third angle and the fourth angle, the first component, the second component, the third component and the fourth component of the force of the cable on the pendulum on the central axis of the pendulum are determined, the first component and the second component are multiplied by the first distance, the third component and the fourth component are multiplied by the second distance, and the products are added together to obtain the first torque.

[0046] For example, Figure 4 As shown, the first moment can be expressed by the following formula.

[0047] T 顺时针 =F 拉 *(sinz5+sinz4)*L AE +F 拉 *(sinz3+sinz2)*L AF (1)

[0048] In some embodiments, the first angle, the second angle, the third angle and the fourth angle are converted into swing angles according to the positional relationship between the first guide roller, the second guide roller, the third guide roller, the fourth guide roller, the fifth guide roller and the fulcrum.

[0049] For example, Figure 4 As shown, sinz2, sinz3, sinz4 and sinz5 in formula (1) can be determined using the following formula.

[0050] sinz2=sin(Z1+∠BAD)*L AB / L BF (2)

[0051]

[0052] sinz3=sin(180°-Z3)=sin(Z1+∠CAD)*L AC / L CF (4)

[0053]

[0054] sinz4=sin(Z1+∠CAD)*L AC / L CE (6)

[0055]

[0056] sinz5=sin(180°-Z5)=sinZ5*L AD / L DE , (8)

[0057]

[0058] Among them, L AB , L AC , L AD , L AE , L AF , L AG , L AH The specific value of can be obtained by obtaining the equipment parameters of the packaging machine.

[0059] In some embodiments, the second moment is determined by the following method: obtaining the elastic coefficient of the spring and the unstretched length of the spring; determining the length of the spring based on the length of the connecting member, the distance from the fulcrum to the first end, and the fifth angle between the connecting member and the line connecting the fulcrum to the first end; determining the second moment based on the elastic coefficient of the spring, the length of the spring and the length of the connecting member.

[0060] For example, Figure 4 As shown, the length of the connector can be expressed as L AG , the distance from the fulcrum A to the first end can be expressed as L AH , the fifth angle can be expressed as Z6. The second moment can be expressed by the following formula.

[0061] T 逆时针 =F 弹簧 *L AG =K(XY)*L AG (10)

[0062]

[0063] Among them, F 弹簧 represents the force of the spring on the pendulum, K represents the elastic constant of the spring, Y represents the unstretched length of the spring, and X represents the actual length of the spring.

[0064] In some embodiments, the fifth angle is converted into a swing angle according to the positional relationship among the fulcrum, the first end and the fifth guide roller.

[0065] For example, Figure 4 As shown, cosZ6 in formula (1) can be determined using the following formula.

[0066] cosZ6=cos(90°-∠HAD-Z1) (12)

[0067] According to the equality of the first moment and the second moment, the following formula can be obtained.

[0068]

[0069] Then, according to the above formulas, sinz2, sinz3, sinz4 and sinz5 are converted to be expressed using Z1, and the relationship between the force of the cable on the pendulum and the swing angle of the pendulum can be obtained.

[0070] It can be simulated by software (such as Matlab) to obtain Figure 5 As shown in the curve graph, the greater the tension of the wire, the smaller the angle of the pendulum.

[0071] In step S304, the attribute information corresponding to the pull line is obtained.

[0072] For example, the attribute information includes the maximum pulling force value that prevents the wire from elastically deforming. The maximum pulling force value that prevents the wire from elastically deforming can also be determined based on the elastic modulus of the wire, without being limited to the example given.

[0073] In step S306, the swing angle of the pendulum rod is determined according to the attribute information and the relationship between the tension of the pull wire and the swing angle of the pendulum rod.

[0074] In some embodiments, the reference swing angle of the rocker arm is determined based on the maximum pulling force value that prevents the pull wire from elastic deformation and the relationship between the pulling force of the pull wire and the swing angle of the rocker arm of the packaging machine, wherein the greater the pulling force of the pull wire, the smaller the reference swing angle; the swing angle of the rocker arm is determined based on the reference swing angle and the angle adjustment range corresponding to the rocker arm.

[0075] According to the above formulas, the relationship between the force of the wire on the pendulum and the swing angle of the pendulum can be obtained. The reference swing angle can be obtained by substituting the maximum tension value into the relationship. Then, the reference swing angle is compared with the angle adjustment interval corresponding to the pendulum. If the reference swing angle is less than the minimum value in the angle adjustment interval, the minimum value in the angle adjustment interval is used as the swing angle of the pendulum. If the reference swing angle is greater than the minimum value in the angle adjustment interval, the reference swing angle is used as the swing angle of the pendulum. For example, the reference swing angle is 30° and the angle adjustment interval is [20°, 40°]. It can be determined that the swing angle of the pendulum is 30°. Since the inventors found that the smaller the swing angle, the more stable the wire conveying, the above method is used to determine the swing angle, which can improve the stability of the wire conveying.

[0076] In step S308, the swing rod is adjusted according to the swing angle.

[0077] In fact, the swing angle of the swing arm can be adjusted by controlling the operating parameters of the packaging machine. For example, the swing arm can be adjusted to a certain swing angle by adjusting the pull line exchange amount.

[0078] In the above embodiment, the relationship between the tension of the cable and the swing angle of the swing arm is first determined based on the force applied to the swing arm in the packaging machine. Furthermore, attribute information corresponding to the cable is obtained. Based on this attribute information and the relationship between the tension of the cable and the swing angle of the swing arm, the swing angle of the swing arm is determined. Finally, the swing arm is adjusted based on the swing angle. Because the attribute information corresponding to the cable includes the maximum tension value at which the cable does not elastically deform, the swing angle determined based on this maximum tension value can minimize the probability of elastic deformation of the cable, thereby reducing the probability of wrinkles in the cable and improving the packaging effect.

[0079] In addition, by establishing a mechanical model to determine the relationship between the tension of the wire and the swing angle of the pendulum, in practice, the swing angle of the pendulum can be determined based on the maximum tension of the wire provided by the manufacturer without elastic deformation, thereby improving accuracy.

[0080] The present disclosure also provides a control device for a packaging machine. Figure 6 Provide a description.

[0081] Figure 6 FIG. 1 is a structural diagram of some embodiments of the packaging machine disclosed in the present invention. Figure 6 As shown, the device 60 of this embodiment includes: a relationship determination module 610 , an acquisition module 620 , a swing angle determination module 630 , and an adjustment module 640 .

[0082] The relationship determination module 610 is used to determine the relationship between the tension of the pull line and the swing angle of the swing arm according to the force applied to the swing arm in the packaging machine. The relationship determination module 610 can be used to execute the method related to step S302 in the above embodiment, and will not be repeated here.

[0083] The acquisition module 620 is used to acquire the property information corresponding to the cable, wherein the property information includes the maximum tension value that prevents the cable from elastically deforming. The acquisition module 620 can be used to execute the method related to step S304 in the above embodiment, which will not be repeated here.

[0084] The swing angle determination module 630 is used to determine the swing angle of the swing rod based on the attribute information and the relationship between the tension of the pull line and the swing angle of the swing rod. The swing angle determination module 630 can be used to execute the method related to step S306 in the above embodiment, which will not be repeated here.

[0085] The adjustment module 640 is used to adjust the swing rod according to the swing angle. The adjustment module 640 can be used to execute the method related to step S308 in the above embodiment, which will not be described in detail here.

[0086] The control device of the packaging machine in the embodiment of the present disclosure can be implemented by various computing devices or computer systems. Figure 7 as well as Figure 8 Provide a description.

[0087] Figure 7 Figure 1 is a structural diagram of some embodiments of the control device of the packaging machine disclosed in the present invention. Figure 7 As shown, the apparatus 70 of this embodiment includes: a memory 710 and a processor 720 coupled to the memory 710 , wherein the processor 720 is configured to execute the control method of the packaging machine in any of the embodiments of the present disclosure based on instructions stored in the memory 710 .

[0088] The memory 710 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, a database, and other programs.

[0089] Figure 8 FIG. 1 is a structural diagram of some other embodiments of the control device of the packaging machine disclosed in the present invention. Figure 8 As shown, the device 80 of this embodiment includes: a memory 810 and a processor 820, which are similar to the memory 710 and the processor 720, respectively. It may also include an input / output interface 830, a network interface 840, a storage interface 850, etc. These interfaces 830, 840, 850 and the memory 810 and the processor 820 can be connected, for example, via a bus 860. Among them, the input / output interface 830 provides a connection interface for input / output devices such as a display, mouse, keyboard, and touch screen. The network interface 840 provides a connection interface for various networked devices, such as a database server or a cloud storage server. The storage interface 850 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0090] The present disclosure also provides a packaging system, Figure 9 Provide a description.

[0091] Figure 9 Figure 1 is a structural diagram of some embodiments of the packaging system disclosed herein. Figure 9 As shown, the system 9 of this embodiment includes: the control device 60 / 70 / 80 of the packaging machine of any of the above embodiments, and the packaging machine 92. The packaging machine 92 is used to convey the pull line and pack the cigarette packs. The structure of the conveying pull line part of the packaging machine 92 can be referred to Figure 2 , I will not go into details here.

[0092] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0096] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method for a packaging machine, comprising: Determining the relationship between the tension of the pull wire and the swing angle of the swing rod according to the force applied to the swing rod in the packaging machine, including: establishing a mechanical model based on the force applied to the swing rod by the pull wire and the force applied to the swing rod by the elastic device, with the goal of balancing the force applied to the swing rod, and determining the relationship between the tension of the pull wire and the swing angle of the swing rod according to the mechanical model, wherein the swing rod rotates in a first direction with a fulcrum as the center when subjected to the force of the pull wire, and rotates in a second direction with a fulcrum as the center when subjected to the force of the elastic device connected thereto, the first direction being opposite to the second direction; Acquiring attribute information corresponding to the pull line, wherein the attribute information includes a maximum pulling force value that prevents the pull line from elastic deformation; determining the swing angle of the pendulum rod according to the attribute information and a relationship between the tension of the pull wire and the swing angle of the pendulum rod; The swing rod is adjusted according to the swing angle.

2. The control method according to claim 1, wherein: The aim of the invention is to establish a mechanical model based on the force of the pull wire on the pendulum and the force of the elastic device on the pendulum, which includes: determining a first moment of the force of the cable on the pendulum rod relative to a fulcrum of the pendulum rod; determining a second moment of the force of the elastic device on the pendulum rod with respect to the fulcrum of the pendulum rod; The mechanical model is established with the goal of balancing the first torque and the second torque so that the force on the pendulum is balanced.

3. The control method according to claim 2, wherein: The first guide roller and the second guide roller are sequentially arranged on the central axis of the rocker arm in a direction away from the fulcrum. The third guide roller, the fourth guide roller and the fifth guide roller are fixedly arranged on the packaging machine in sequence along the conveying direction. The pulling wire passes through the third guide roller, the first guide roller, the fourth guide roller, the second guide roller and the fifth guide roller in sequence during the conveying process. The swing angle of the rocker arm is the angle between the rocker arm and the line connecting the center point of the fulcrum and the fifth guide roller.

4. The control method according to claim 3, wherein: Determining a first moment of the force of the cable on the pendulum rod relative to the fulcrum of the pendulum rod comprises: Obtaining a first distance from the fulcrum to the center of the first guide roller and a second distance from the fulcrum to the center of the second guide roller; Determining a first angle between a line connecting the center of the third guide roller and the center of the first guide roller and a central axis of the rocker; Determining a second angle between a line connecting the center of the fourth guide roller and the center of the first guide roller and the central axis of the rocker; Determining a third angle between a line connecting the center of the fourth guide roller and the center of the second guide roller and the central axis of the rocker; Determining a fourth angle between a line connecting the center of the fifth guide roller and the center of the second guide roller and the central axis of the rocker; A first moment of the force of the pull wire on the pendulum rod on the fulcrum of the pendulum rod is determined based on the force of the pull wire on the pendulum rod, the first distance, the second distance, the first angle, the second angle, the third angle and the fourth angle.

5. The control method according to claim 4, wherein: The first angle, the second angle, the third angle and the fourth angle are converted into the swing angle according to the positional relationship between the first guide roller, the second guide roller, the third guide roller, the fourth guide roller, the fifth guide roller and the fulcrum.

6. The control method according to claim 3, wherein: The elastic device is a spring, a first end of the spring is fixed, and a second end is connected to a connecting piece of the rocker arm, wherein the connecting piece is perpendicular to the rocker arm and rigidly connected.

7. The control method according to claim 6, wherein: Determining the second moment of the force of the elastic device on the swing rod relative to the fulcrum of the swing rod includes: Obtaining the elastic coefficient of the spring and the unstretched length of the spring; Determine the length of the spring according to the length of the connecting member, the distance from the fulcrum to the first end, and a fifth angle between the connecting member and a line connecting the fulcrum to the first end; The second moment is determined according to the elastic coefficient of the spring, the length of the spring, and the length of the connecting member.

8. The control method according to claim 7, wherein: The fifth angle is converted into the swing angle according to the positional relationship among the fulcrum, the first end and the fifth guide roller.

9. The control method according to claim 1, wherein: Determining the swing angle of the swing arm according to the attribute information and the relationship between the tension of the pull wire and the swing angle of the swing arm of the packaging machine includes: Determining a reference swing angle of the swing arm according to a maximum pulling force that prevents the pull wire from elastically deforming and a relationship between the pulling force of the pull wire and a swing angle of a swing arm of the packaging machine, wherein the greater the pulling force of the pull wire, the smaller the reference swing angle; The swing angle of the swing rod is determined according to the reference swing angle and the angle adjustment interval corresponding to the swing rod.

10. A control device for a packaging machine, comprising: a relationship determination module, configured to determine a relationship between a tension force of a pull wire and a swing angle of a swing arm in a packaging machine based on a force applied to the swing arm, comprising: establishing a mechanical model based on a force applied to the swing arm by the pull wire and a force applied to the swing arm by an elastic device, with the goal of balancing the forces applied to the swing arm; and determining, based on the mechanical model, a relationship between the tension force of the pull wire and the swing angle of the swing arm, wherein the swing arm rotates in a first direction with a fulcrum as a center when subjected to the force of the pull wire, and rotates in a second direction with a fulcrum as a center when subjected to a force applied to the elastic device connected thereto, wherein the first direction is opposite to the second direction; An acquisition module, configured to acquire attribute information corresponding to the pull line, wherein the attribute information includes a maximum pulling force value that prevents the pull line from elastic deformation; a swing angle determination module, configured to determine the swing angle of the swing rod according to the attribute information and a relationship between the tension of the pull wire and the swing angle of the swing rod; An adjustment module is used to adjust the swing arm according to the swing angle.

11. A control device for a packaging machine, comprising: processor; as well as A memory coupled to the processor is used to store instructions, and when the instructions are executed by the processor, the processor executes the control method of the packaging machine according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A packaging system comprising: The control device according to claim 10 or 11; as well as The packaging machine is used to convey the draw wire and package the cigarette packets.

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