A machine for dispensing and a method of controlling the same

Abstract

This invention relates to the field of packaging equipment technology, specifically proposing a feeding machine and its control method. The device includes: a support device, a power device, a paper loading device, a paper suction device, a swinging device, a paper pressing device, an output device, and a control module. The control module is electrically connected to a power wheel, a transmission cylinder, a locking block, and an adjusting connecting rod. The control device includes a data acquisition unit, an adjustment unit, and a judgment unit. This device improves the automation of dispensing instructions in packaging technology, reduces reliance on operators, thereby lowering labor costs, accelerating the packaging process, and increasing production efficiency.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology, and more specifically, to a dispensing machine and its control method. Background Technology

[0002] In the pharmaceutical and food packaging industries, packaging materials often need to be packed together with product instructions or labels into boxes to ensure product safety and integrity. However, a common challenge in domestic packaging machinery is that large instructions or labels cannot often be directly folded and boxed on packaging machines. Operators typically need to manually fold these large instructions. Due to the inherent uncertainty of manual operation, each operator's folding and adjustment methods may differ, leading to inconsistencies in product packaging. Furthermore, prolonged repetitive tasks cause operator fatigue and increase the risk of errors. Additionally, operators spend a significant amount of time processing large instructions, limiting production line speed and increasing production costs.

[0003] Therefore, it is necessary to design a dispensing machine and its control method to solve the problems existing in current packaging technology. Summary of the Invention

[0004] In view of this, the present invention proposes a dispensing machine and its control method, aiming to solve the problem that the dispensing of instruction manuals in current packaging technology relies on manual labor, resulting in slow production speed, fatigue risk, and increased production costs.

[0005] In one aspect, the present invention provides a dispensing machine comprising:

[0006] Support device;

[0007] A power unit is mounted on the support device. The power unit includes a power wheel, a transmission cylinder, a transmission shaft, a transmission gear, and a pressure wheel. The pressure wheel is mounted on the transmission shaft and rotates with the transmission shaft. The pressure wheel is used to press the pre-folded instruction manual.

[0008] A paper loading device is used to hold the pre-folded instruction manual. The paper loading device includes a locking block, a positioning block, guide wheels, and a movable frame. The locking block is used to lock the pre-folded instruction manual after it has been placed.

[0009] A paper suction device is fixed to one side of the paper loading device. The paper suction device is used to feed a single pre-folded instruction manual to the paper pressing device. The paper suction device includes a paper suction cup, a paper suction transmission rod, an adjustable connecting rod, and a cam transmission plate. The paper suction cup is connected to the transmission cylinder through a rubber tube. The cam transmission plate is connected to the transmission gear through a transmission belt so that the cam transmission plate rotates with the transmission gear.

[0010] The swinging device includes a swing arm, a first swing link, a second swing link, a third swing link, and a swing gear. The swing gear is connected to the transmission gear via the transmission belt, so that the swing gear rotates following the transmission gear.

[0011] A paper pressing device is fixedly installed on one side of the pressing wheel, and the paper pressing device includes a fixed connecting rod and a pressing driven wheel;

[0012] The output device includes a first output roller and a second output roller. The first output roller is connected to the pressure wheel via a first belt, and the second output roller is connected to the pressure driven wheel via a second belt.

[0013] The control module is electrically connected to the drive wheel, transmission cylinder, locking block, and adjusting rod; the control module includes:

[0014] The acquisition unit is configured to acquire the total mass of the pre-folded instruction manual contained in the paper loading device, and determine the locking force of the locking block based on the total mass;

[0015] The acquisition unit is also configured to acquire the size data of a single pre-folded instruction manual, and determine the initial suction force of the suction cup and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the suction rod, respectively, based on the size data.

[0016] The adjustment unit is configured to collect the surface roughness of the pre-folded instruction manual, adjust the initial adsorption force according to the surface roughness, and obtain the adjusted adsorption force.

[0017] The adjustment unit is also configured to collect the contact temperature of the paper suction cup when it contacts the pre-folded instruction manual, and determine whether to make a secondary adjustment to the adjusted suction force based on the contact temperature.

[0018] The judgment unit is configured to, after determining whether the adjustment unit has made a secondary adjustment to the adjusted adsorption force, collect the separation time of the pre-folded instruction manual from the paper suction cup when it contacts the pressure wheel, and determine whether to correct the adjusted adsorption force based on the separation time;

[0019] The judgment unit is further configured to acquire image data of the pre-folded instruction manual after it passes through the output device, determine whether the pre-folded instruction manual is fully folded based on the image data, and when it is determined that the pre-folded instruction manual is not fully folded, acquire the hardness data of the pre-folded instruction manual, correct the rotational speed of the drive wheel based on the hardness data, and control the drive wheel to continue running at the corrected rotational speed.

[0020] Furthermore, the acquisition unit determines the locking force of the locking block based on the total mass, including:

[0021] A first preset mass G1, a second preset mass G2, and a third preset mass G3 are preset, and G1 < G2 < G3; a first preset locking force N1, a second preset locking force N2, and a third preset locking force N3 are preset, and N1 < N2 < N3; the acquisition unit determines the locking force of the locking block according to the relationship between the total mass G0 and each preset mass.

[0022] When G1≤G0<G2, the acquisition unit determines that the locking force of the locking block is N3;

[0023] When G2≤G0<G3, the acquisition unit determines that the locking force of the locking block is N2;

[0024] When G3≤G0, the acquisition unit determines that the locking force of the locking block is N1.

[0025] Furthermore, the acquisition unit determines the initial suction force of the paper suction cup and the distance data between the adjustable connecting rod and the connection points of the cam drive plate and the paper suction drive rod, respectively, based on the size data, including:

[0026] A first preset size Q1, a second preset size Q2, and a third preset size Q3 are preset, where Q1 < Q2 < Q3; a first preset suction force W1, a second preset suction force W2, and a third preset suction force W3 are preset, where W1 < W2 < W3; a first preset distance L1, a second preset distance L2, and a third preset distance L3 are preset, where L1 < L2 < L3; the acquisition unit determines the initial suction force of the paper suction cup and the distance data at the connection points of the adjustable distance connecting rod with the cam drive plate and the paper suction drive rod, respectively, based on the size relationship between the size data Q0 and each preset size.

[0027] When Q1≤Q0<Q2, the acquisition unit determines the initial adsorption force F=W1 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L1;

[0028] When Q2≤Q0<Q3, the acquisition unit determines the initial adsorption force F=W2 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L2;

[0029] When Q3≤Q0, the acquisition unit determines the initial adsorption force F=W2 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L3.

[0030] Furthermore, when the acquisition unit determines the initial suction force F = Wi of the suction cup, and the distance data at the connection points of the adjusting connecting rod with the cam drive disk and the suction drive rod are respectively Li, i = 1, 2, 3, the adjustment unit acquires the surface roughness of the pre-folded instruction manual, adjusts the initial suction force according to the surface roughness, and obtains the adjusted suction force, including:

[0031] The adjustment unit is further configured to pre-set a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, wherein Ra1 < Ra2 < Ra3; pre-set a first preset adjustment coefficient A1, a second preset adjustment coefficient A2, and a third preset adjustment coefficient A3, wherein A1 < A2 < A3; and select the adjustment coefficients according to the relationship between the surface roughness Ra0 and each preset roughness to adjust the initial adsorption force F = Wi, thereby obtaining the adjusted adsorption force.

[0032] When Ra1≤Ra0<Ra2, the adjustment unit selects the first preset adjustment coefficient A1 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A1;

[0033] When Ra2≤Ra0<Ra3, the adjustment unit selects the second preset adjustment coefficient A2 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A2;

[0034] When Ra3≤Ra0, the adjustment unit selects the third preset adjustment coefficient A3 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A3.

[0035] Furthermore, the adjustment unit is also configured to collect the contact temperature of the suction cup when it contacts the pre-folded instruction manual, and determine whether to perform a secondary adjustment to the adjusted suction force based on the contact temperature, including:

[0036] A temperature threshold Tmax is preset, and the adjustment unit determines whether to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai based on the relationship between the contact temperature T0 and the temperature threshold Tmax.

[0037] When T0≥Tmax, the adjustment unit determines to perform a secondary adjustment on the adjusted adsorption force ΔF=Wi*Ai;

[0038] When T0 < Tmax, the adjustment unit determines that it will not perform a secondary adjustment on the adjusted adsorption force ΔF = Wi * Ai.

[0039] Furthermore, when the adjustment unit determines to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai, the adjustment unit is also configured to preset a first preset contact temperature T1 and a second preset contact temperature T2, where T1max < T1 < T2; and to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai according to the relationship between the contact temperature T0 and each preset temperature, including:

[0040] When Tmax≤T0<T1, the adjustment unit selects the first preset adjustment coefficient A1 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A1;

[0041] When T1≤T0<T2, the adjustment unit selects the second preset adjustment coefficient A2 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A2;

[0042] When T2≤T0, the adjustment unit selects the third preset adjustment coefficient A3 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A3.

[0043] Furthermore, after determining whether the adjustment unit has performed a secondary adjustment on the adjusted adsorption force, the judgment unit collects the separation time of the pre-folded instruction manual from the paper suction cup when it contacts the pressure wheel, and determines whether to correct the adjusted adsorption force based on the separation time, including:

[0044] A pre-set detachment time threshold Smax is used. The judgment unit determines whether to correct the adjusted adsorption force based on the relationship between the detachment time S0 and the detachment time Smax. If the adsorption force is adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai * Ai is corrected. If the adsorption force is not adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai is corrected, where i = 1, 2, 3.

[0045] When S0≥Smax, the judgment unit determines to correct the adjusted adsorption force F;

[0046] When S0 < Smax, the judgment unit determines that the adjusted adsorption force F should not be corrected.

[0047] Furthermore, when the determination unit determines to correct the adjusted adsorption force ΔF, it includes:

[0048] A first preset separation time S1 and a second preset separation time S2 are preset, and Smax < S1 < S2; a first preset correction coefficient B1, a second preset correction coefficient B2 and a third preset correction coefficient B3 are preset, and B1 < B2 < B3; based on the relationship between the separation time S0 and each preset separation time, the correction coefficient is selected to correct the adjusted adsorption force ΔF, and the corrected adsorption force is obtained.

[0049] When Smax≤S0<S1, the third preset correction coefficient B3 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B3 is obtained.

[0050] When S1≤S0<S2, the second preset correction coefficient B2 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B2 is obtained.

[0051] When S2≤S0, the first preset correction coefficient B1 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B1 is obtained.

[0052] Furthermore, the judgment unit is also configured to acquire the hardness data of the pre-folded instruction manual, correct the rotational speed of the drive wheel based on the hardness data, and control the drive wheel to continue running at the corrected rotational speed, including:

[0053] The real-time rotational speed Z0 of the drive wheel is collected, and a first preset correction coefficient C1, a second preset correction coefficient C2, and a third preset correction coefficient C3 are preset, where C1 < C2 < C3; a first preset hardness D1, a second preset hardness D2, and a third preset hardness D3 are preset; the real-time rotational speed Z0 is corrected according to the relationship between the hardness data D0 of the pre-folded instruction manual and each preset hardness, and the corrected rotational speed is obtained.

[0054] When D1≤D0<D2, the third preset correction coefficient C3 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C3 is obtained.

[0055] When D2≤D0<D3, the second preset correction coefficient C2 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C2 is obtained.

[0056] When D3≤D0, the first preset correction coefficient C1 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C1 is obtained.

[0057] Compared with existing technologies, the advantages of this invention are as follows: By setting an adjustable connecting rod in the paper suction device and intelligently controlling the suction force of the suction cup, it is possible to grasp instruction manuals of different sizes, ensuring that the instruction manuals can be smoothly detached from the paper loading device and enter the paper pressing device; by setting a swing device, the instruction manuals are effectively pressed onto the pressing roller, ensuring that the instruction manuals can be pressed and conveyed smoothly. With the support of the swing device, even with large and thick instruction manual openings, the paper can still be suctioned and conveyed at high speed, reducing the possibility of device operation errors. Furthermore, the swing device moves synchronously with the transmission gear via a belt, improving the synchronization of device operation; the control module automatically adjusts the suction force and other parameters according to different situations, adapting to different instruction manuals and packaging requirements, improving the adaptability and controllability of the machine; it detects whether the instruction manual is fully folded and corrects the rotation speed of the power wheel based on the hardness data, ensuring high-quality folding and dispensing; this device improves the automation of instruction manual dispensing in packaging technology, reduces reliance on operators, thereby reducing labor costs, accelerating the packaging process, and improving production efficiency.

[0058] On the other hand, the present invention also proposes a control method for a dispensing machine, comprising:

[0059] Obtain the total mass of the pre-folded instruction manuals contained in the paper loading device, and determine the locking force of the locking block based on the total mass;

[0060] Collect the size data of a single pre-folded instruction manual, and determine the initial suction force of the suction cup and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the suction rod, respectively, based on the size data;

[0061] The surface roughness of the pre-folded instruction manual is collected, and the initial adsorption force is adjusted according to the surface roughness to obtain the adjusted adsorption force;

[0062] The contact temperature of the suction cup when it comes into contact with the pre-folded instruction manual is collected, and the need to make a secondary adjustment to the adjusted suction force is determined based on the contact temperature.

[0063] Once it is determined whether the adjusted adsorption force needs to be adjusted a second time, the time it takes for the pre-folded instruction manual to detach from the paper suction cup when it contacts the pressure wheel is collected, and the time is used to determine whether the adjusted adsorption force needs to be corrected.

[0064] The image data of the pre-folded instruction manual after passing through the output device is collected. Based on the image data, it is determined whether the pre-folded instruction manual is fully folded. If it is determined that the pre-folded instruction manual is not fully folded, the hardness data of the pre-folded instruction manual is obtained. Based on the hardness data, the rotational speed of the drive wheel is corrected, and the drive wheel is controlled to continue running at the corrected rotational speed.

[0065] It is understandable that the above-mentioned dispensing machine and control method have the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0066] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0067] Figure 1 A perspective view of the dispensing machine provided in an embodiment of the present invention;

[0068] Figure 2 A perspective view of the dispenser from another direction provided in an embodiment of the present invention;

[0069] Figure 3 This is a front view of the dispensing machine provided in an embodiment of the present invention;

[0070] Figure 4 for Figure 3 A sectional view along direction A.

[0071] Figure 5 This is a structural view of the power unit in the dispenser provided in an embodiment of the present invention;

[0072] Figure 6 This is a structural view of the paper loading device in the paper feeder provided in an embodiment of the present invention;

[0073] Figure 7 This is a structural view of the paper suction device in the dispensing machine provided in an embodiment of the present invention;

[0074] Figure 8 This is a structural view of the swinging device in the dispensing machine provided in an embodiment of the present invention;

[0075] Figure 9 This is a structural view of the paper pressing device in the feeding machine provided in an embodiment of the present invention;

[0076] Figure 10 This is a structural block diagram of the control module in the dispensing machine provided in an embodiment of the present invention;

[0077] Figure 11 A flowchart of a control method for a dispensing machine provided in an embodiment of the present invention.

[0078] Among them, 110 is the support device; 120 is the power device; 121 is the power wheel; 122 is the transmission cylinder; 123 is the transmission shaft; 124 is the transmission gear; 125 is the pressure wheel; 130 is the paper loading device; 131 is the locking block; 132 is the positioning block; 133 is the guide wheel; 134 is the movable frame; 140 is the paper suction device; 141 is the paper suction cup; 142 is the paper suction transmission rod; 143 is the adjustable connecting rod; 144 is the cam transmission disc; 145 is the transmission belt; 150 is the swing device; 151 is the... 152. Swing arm; 153. First swing link; 154. Second swing link; 155. Third swing link; 156. Swing gear; 167. Paper pressing device; 168. Fixed link; 169. Pressing driven wheel; 170. Output device; 171. First output roller; 172. Second output roller; 173. First belt; 174. Second belt; 180. Control module; 181. Acquisition unit; 182. Adjustment unit; 183. Judgment unit; 200. Pre-folded instruction manual; 210. Adhesive tube. Detailed Implementation

[0079] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0080] See Figure 1-10As shown, this embodiment provides a paper dispenser, including: a support device 110, a power device 120, a paper loading device 130, a paper suction device 140, a swing device 150, a paper pressing device 160, an output device 170, and a control module 180. The control module 180 is electrically connected to a power wheel 121, a transmission cylinder 122, a locking block 131, and an adjusting connecting rod 143. The control device includes a data acquisition unit 181, an adjustment unit 182, and a judgment unit 183. The power device 120 is mounted on the support device 110 and includes a power wheel 121, a transmission cylinder 122, a transmission shaft 123, a transmission gear 124, and a pressing wheel 125. The pressing wheel 125 is mounted on the transmission shaft 123 and rotates with the transmission shaft 123. The pressing wheel 125 is used to press the pre-folded instruction manual 200. The paper loading device 130 is used to hold the pre-folded instruction manuals 200. The paper loading device 130 includes a locking block 131, a positioning block 132, a guide wheel 133, and a movable frame 134. The locking block 131 is used to lock the pre-folded instruction manuals 200 after placement. The paper suction device 140 is fixed to one side of the paper loading device 130. The paper suction device 140 is used to feed a single pre-folded instruction manual 200 to the paper pressing device 160. The paper suction device 140 includes a paper suction cup 141, a paper suction transmission rod 142, an adjustable connecting rod 143, and a cam transmission disc 144. The paper suction cup 141 is connected to the transmission cylinder 122 through a rubber tube 210. The cam transmission disc 144 is connected to the transmission gear 124 through a transmission belt 145, so that the cam transmission disc 144 rotates with the transmission gear 124. The swing device 150 includes a swing arm 151, a first swing link 152, a second swing link 153, a third swing link 154, and a swing gear 155. The swing gear 155 is connected to the transmission gear 124 via a transmission belt 145, so that the swing gear 155 rotates with the transmission gear 124. The paper pressing device 160 is fixedly mounted on one side of the pressing wheel 125. The paper pressing device 160 includes a fixed link 161 and a pressing driven wheel 162. The output device 170 includes a first output roller 171 and a second output roller 172. The first output roller 171 is connected to the pressing wheel 125 via a first belt 173, and the second output roller 172 is connected to the pressing driven wheel 162 via a second belt 174. The acquisition unit 181 is configured to acquire the total mass of the pre-folded instruction manual 200 contained in the paper loading device 130, and determine the locking force of the locking block 131 based on the total mass. The acquisition unit 181 is also configured to acquire the dimensional data of a pre-folded instruction manual 200, and determine the initial suction force of the suction cup 141 and the distance data at the connection points of the adjusting connecting rod 143 with the cam drive disk 144 and the suction drive rod 142, respectively, based on the dimensional data. The adjustment unit 182 is configured to acquire the surface roughness of the pre-folded instruction manual 200, and adjust the initial suction force based on the surface roughness to obtain the adjusted suction force.The adjustment unit 182 is also configured to collect the contact temperature of the paper suction cup 141 when it contacts the pre-folded instruction manual 200, and determine whether to perform a secondary adjustment to the adjusted suction force based on the contact temperature. The judgment unit 183 is configured to, after determining whether the adjustment unit 182 has performed a secondary adjustment to the adjusted suction force, collect the separation time of the pre-folded instruction manual 200 from the paper suction cup 141 when it contacts the pressure wheel 125, and determine whether to correct the adjusted suction force based on the separation time. The judgment unit 183 is also configured to collect image data of the pre-folded instruction manual 200 after passing through the output device 170, and determine whether the pre-folded instruction manual 200 is fully folded based on the image data, which can be determined by identifying the opening of the folded instruction manual. When it is determined that the pre-folded instruction manual 200 is not fully folded, the hardness data of the pre-folded instruction manual 200 is acquired, the rotational speed of the power wheel 121 is corrected based on the hardness data, and the power wheel 121 is controlled to continue running at the corrected rotational speed.

[0081] Specifically, the support device 110 consists of upright plates forming a frame. The drive shaft 123 of the power device 120 passes through the two upright plates. One end of the drive shaft 123 has a power wheel 121, which provides the rotational power for the device. The other end of the drive shaft 123 has a transmission gear 124. At least two pressing wheels 125 are located in the middle, used to press and convey the pre-folded instruction manuals 200. The paper loading device 130 holds the pre-folded instruction manuals 200. Before the feeder starts operating, the pre-folded instruction manuals 200 are placed into the paper loading device 130. After the feeder starts, the moving frame on the paper loading device 130 automatically adjusts according to the size of the pre-folded instruction manuals 200 to accommodate different sizes. The positioning block 132 in the paper loading device 130 is located at the bottom to prevent paper from falling, and the locking block 131 is located at the top to press the placed paper and prevent the instruction manuals at the top from scattering. The guide wheel 133 is located on the upper part of the same side as the positioning block 132 and is used to guide the paper when it moves. The cam drive disk 144 in the paper suction device 140 is connected to the transmission gear 124 in the power device 120 via a transmission belt 145. When the transmission gear 124 rotates, the cam drive disk 144 rotates. A groove is provided on the cam drive disk 144, and one end of the adjustable connecting rod 143 is slidably set in the groove, while the other end is fixedly connected to the paper suction transmission rod 142. The cam drive disk 144 and the adjustable connecting rod 143 convert rotation into oscillation, causing the paper suction cup 141 to oscillate continuously between the pre-folded instruction manual 200 and the pressure wheel 125 to achieve the paper suction and feeding operation. In the oscillation device 150, the oscillating gear 155 rotates synchronously with the transmission gear 124 via the transmission belt 145. Therefore, the transmission gear 124, cam transmission disc 144, and swing gear 155 move synchronously. When the swing gear 155 rotates, it drives the first swing linkage 152 to swing, which in turn drives the second swing linkage 153 and the third swing linkage 154 to swing, ultimately realizing the swing arm 151 swinging between the pre-folded instruction manual 200 and the pressure roller 125. The swing arm 151 is slidably mounted on the third swing linkage 154, and the swing arm 151 is used to press the instruction manual onto the pressure roller 125. Thus, the feeding machine can still transport instruction manuals of different sizes, even those with larger and thicker openings, at high speed and smoothly. The paper pressing device 160 is fixed to one side of the pressure roller 125, and the pressing driven roller 162 in the pressing device itself has no power source. The first output roller 171 of the output device 170 is connected to the pressure roller 125 through the first belt 173, and the second output roller 172 is connected to the pressing driven roller 162 through the second belt 174. When the paper is pressed against the pressure roller 125, the paper is drawn into the gap between the first belt 173 and the second belt 174 by the rotation of the pressure roller 125.The pressing wheel 125 and the driven pressing wheel 162 work together to achieve pressing, and the first belt 173 and the second belt 174 act to achieve conveying. The paper output from the output device 170 is the folded instruction manual, which can be directly transported to the packaging box for rapid packaging via the conveyor belt. The dispensing machine also includes a control module 180, which is electrically connected to the power wheel 121, the transmission cylinder 122, the locking block 131, and the adjustable distance connecting rod 143 to control the operation of the dispensing machine. The control module 180 includes a data acquisition unit 181, an adjustment unit 182, and a judgment unit 183. The data acquisition unit 181 is responsible for acquiring the total mass of the pre-folded instruction manual 200, and then determining the locking force of the locking block 131 based on the total mass. Then, the data acquisition unit 181 also acquires the size data of a single instruction manual to determine the initial suction force of the suction cup 141 and the distance data between the two ends of the adjustable distance connecting rod 143. The adjustment unit 182 is responsible for adjusting the suction force according to the surface roughness of the pre-folded instruction manual 200 to ensure accurate adhesion. It also monitors the temperature of the suction cup 141 in contact with the instruction manual and performs secondary adjustments to the suction force if necessary. The judgment unit 183 is responsible for monitoring the time it takes for the suction cup 141 to detach from the instruction manual after contact to determine if the suction force needs correction. Furthermore, it detects the image data of the instruction manual after passing through the output device 170 to determine if the instruction manual is fully folded. If it is not fully folded, it acquires stiffness data and adjusts the rotation speed of the drive wheel 121 accordingly to ensure the instruction manual can continue to fold correctly.

[0082] Understandably, the coordinated operation of the support device 110, paper loading device 130, paper suction device 140, and control module 180 enables efficient and accurate folding and packing of large-size instruction manuals. This improves production efficiency, reduces packaging inconsistencies, avoids operator fatigue risks, reduces error risks, accommodates instruction manuals of different sizes and thicknesses, lowers production costs, and improves packaging quality and efficiency.

[0083] In some embodiments of this application, the acquisition unit 181 determines the locking force of the locking block 131 based on the total mass, including: pre-setting a first preset mass G1, a second preset mass G2, and a third preset mass G3, where G1 < G2 < G3. Pre-setting a first preset locking force N1, a second preset locking force N2, and a third preset locking force N3, where N1 < N2 < N3. The acquisition unit 181 determines the locking force of the locking block 131 based on the relationship between the total mass G0 and each preset mass. When G1 ≤ G0 < G2, the acquisition unit 181 determines the locking force of the locking block 131 to be N3. When G2 ≤ ​​G0 < G3, the acquisition unit 181 determines the locking force of the locking block 131 to be N2. When G3 ≤ G0, the acquisition unit 181 determines the locking force of the locking block 131 to be N1.

[0084] Specifically, when the paper loading device 130 loads papers of different total weights, if the total weight is low, the paper is relatively light and easily scattered due to environmental disturbances. Therefore, a larger locking force is required to hold the paper in place. When the total weight is high, the locking force should be appropriately reduced due to the paper's weight to avoid excessive force that could cause the paper to overshoot the positioning block 132 and scatter.

[0085] Understandably, the locking force of the locking block 131 is intelligently adjusted based on preset weight and locking force levels to adapt to instruction manuals of different total weights. This allows for the automatic achievement of optimal locking force when handling instruction manuals of different sizes or materials, ensuring the quality and stability of the packaging.

[0086] In some embodiments of this application, the acquisition unit 181 determines the initial suction force of the suction cup 141 and the distance data at the connection points of the adjustable connecting rod 143 with the cam drive disk 144 and the suction rod 142, respectively, based on size data. This includes: presetting a first preset size Q1, a second preset size Q2, and a third preset size Q3, where Q1 < Q2 < Q3; presetting a first preset suction force W1, a second preset suction force W2, and a third preset suction force W3, where W1 < W2 < W3; and presetting a first preset distance L1, a second preset distance L2, and a third preset distance L3, where L1 < L2 < L3. The acquisition unit 181 determines the initial suction force of the suction cup 141 and the distance data at the connection points of the adjustable connecting rod 143 with the cam drive disk 144 and the suction rod 142, respectively, based on the size relationship between the size data Q0 and each preset size. When Q1 ≤ Q0 < Q2, the acquisition unit 181 determines the initial suction force F = W1 of the suction cup 141, and the distance data at the connection points of the adjustable connecting rod 143 with the cam drive disk 144 and the suction rod 142 is L1. When Q2 ≤ Q0 < Q3, the acquisition unit 181 determines the initial suction force F = W2 of the suction cup 141, and the distance data at the connection points of the adjustable connecting rod 143 with the cam drive disk 144 and the suction rod 142 is L2. When Q3 ≤ Q0, the acquisition unit 181 determines the initial suction force F = W2 of the suction cup 141, and the distance data at the connection points of the adjustable connecting rod 143 with the cam drive disk 144 and the suction rod 142 is L3.

[0087] Specifically, by setting preset size, adsorption force, and distance data, the device can intelligently adjust the adsorption force and the time for the paper suction cup 141 to adsorb the instruction manual according to different sizes of instruction manuals.

[0088] Understandably, intelligently adjusting the adsorption force and the position of the suction cup 141 ensures stable adsorption and transport of the instruction manuals. This reduces errors and damage to the manuals, improving packaging quality and efficiency. Simultaneously, the automated adjustment process reduces the need for manual intervention, lowers the risk of operational errors, and increases production line reliability, thereby reducing production costs.

[0089] In some embodiments of this application, when the acquisition unit 181 determines the initial adsorption force F = Wi of the suction cup 141, and the distance data at the connection points of the adjusting connecting rod 143 with the cam drive disk 144 and the suction drive rod 142 are respectively Li, i = 1, 2, 3, the adjustment unit 182 acquires the surface roughness of the pre-folded instruction manual 200, and adjusts the initial adsorption force according to the surface roughness to obtain the adjusted adsorption force. This includes: the adjustment unit 182 is also configured to preset a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, where Ra1 < Ra2 < Ra3. A first preset adjustment coefficient A1, a second preset adjustment coefficient A2, and a third preset adjustment coefficient A3 are preset, where A1 < A2 < A3. The adjustment coefficient is selected according to the relationship between the surface roughness Ra0 and each preset roughness to adjust the initial adsorption force F = Wi, thereby obtaining the adjusted adsorption force. When Ra1≤Ra0<Ra2, the adjustment unit 182 selects a first preset adjustment coefficient A1 to adjust the initial adsorption force Wi, obtaining the adjusted adsorption force ΔF=Wi*A1. When Ra2≤Ra0<Ra3, the adjustment unit 182 selects a second preset adjustment coefficient A2 to adjust the initial adsorption force Wi, obtaining the adjusted adsorption force ΔF=Wi*A2. When Ra3≤Ra0, the adjustment unit 182 selects a third preset adjustment coefficient A3 to adjust the initial adsorption force Wi, obtaining the adjusted adsorption force ΔF=Wi*A3.

[0090] Specifically, based on adjusting the adsorption force and position according to dimensional data, surface roughness is considered to further optimize the adsorption force adjustment. By setting preset roughness and adjustment coefficients, different adjustment coefficients are selected according to different ranges of surface roughness to precisely adjust the initial adsorption force. Different materials or materials have different surface roughnesses, depending on their manufacturing process and material properties. Some materials may have smooth surfaces, while others may have rougher surfaces. If the adsorption force is not adjusted according to roughness, it may lead to insufficient or excessive adsorption, thus affecting stable conveying and processing. Stable adsorption force can reduce interruptions and stagnation in the processing process, improving the efficiency of the production line. Regardless of whether the materials being processed have smooth or rough surfaces, the device can adapt and continue to operate efficiently without frequent manual adjustments or downtime.

[0091] Understandably, adjusting the adsorption force based on surface roughness helps ensure the stability of the folding and dispensing process, the quality of the final packaging, and production efficiency. This allows the device to adapt to materials with different surface properties, reducing the need for manual intervention and improving the reliability and efficiency of the entire packaging process.

[0092] In some embodiments of this application, the adjustment unit 182 is further configured to collect the contact temperature of the suction cup 141 when it contacts the pre-folded instruction manual 200, and determine whether to perform a secondary adjustment on the adjusted adsorption force based on the contact temperature. This includes: pre-setting a temperature threshold Tmax, and the adjustment unit 182 determining whether to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai based on the relationship between the contact temperature T0 and the temperature threshold Tmax. When T0 ≥ Tmax, the adjustment unit 182 determines to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai. When T0 < Tmax, the adjustment unit 182 determines not to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai.

[0093] In some embodiments of this application, when the adjustment unit 182 determines that the adjusted adsorption force △F=Wi*Ai is to be adjusted a second time, the adjustment unit 182 is also configured to preset a first preset contact temperature T1 and a second preset contact temperature T2, and T1max<T1<T2. The adjusted adsorption force ΔF = Wi*Ai is adjusted a second time based on the relationship between the contact temperature T0 and each preset temperature. This includes: when Tmax ≤ T0 < T1, the adjustment unit 182 selects a first preset adjustment coefficient A1 to adjust the adjusted adsorption force ΔF = Wi*Ai a second time, obtaining the second adjusted adsorption force ΔF = Wi*Ai*A1; when T1 ≤ T0 < T2, the adjustment unit 182 selects a second preset adjustment coefficient A2 to adjust the adjusted adsorption force ΔF = Wi*Ai a second time, obtaining the second adjusted adsorption force ΔF = Wi*Ai*A2; when T2 ≤ T0, the adjustment unit 182 selects a third preset adjustment coefficient A3 to adjust the adjusted adsorption force ΔF = Wi*Ai a second time, obtaining the second adjusted adsorption force ΔF = Wi*Ai*A3.

[0094] Specifically, the decision to perform secondary adsorption force adjustment is based on the relationship between the contact temperature, a preset temperature threshold, and a preset adjustment coefficient. When secondary adsorption force adjustment is performed, the adjusted adsorption force ΔF = Wi * Ai * Ai; when no secondary adjustment is performed, the adjusted adsorption force ΔF = Wi * Ai, where i = 1, 2, 3. Temperature is a measure of the kinetic energy of molecules within a substance. At high temperatures, molecules have higher average kinetic energy and move at higher speeds. This affects the adsorption force, as it is primarily caused by intermolecular interactions on the surface of the substance. When molecules have higher kinetic energy, they are more likely to overcome these interactions, thus reducing the adsorption force. Therefore, the relationship between contact temperature and adsorption force is considered to further optimize the adjustment of the adsorption force.

[0095] Understandably, adjusting the adsorption force based on temperature helps ensure stable and reliable adsorption under different temperature conditions, avoiding instability in adsorption force and improving packaging quality and efficiency. This allows the device to adapt to different temperature conditions, maintain a stable packaging process, reduce the risk of detachment, damage, and packaging instability, thereby improving the reliability and performance of the entire packaging process.

[0096] In some embodiments of this application, after determining whether the adjustment unit 182 performs a secondary adjustment on the adjusted adsorption force, the judgment unit 183 collects the separation time of the pre-folded instruction manual 200 from the paper suction cup 141 when it contacts the pressing wheel 125, and determines whether to correct the adjusted adsorption force based on the separation time. This includes: pre-setting a separation time threshold Smax, and the judgment unit 183 determining whether to correct the adjusted adsorption force based on the relationship between the separation time S0 and the separation time Smax. Wherein, if the adsorption force is adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai * Ai is corrected. If the adsorption force is not adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai is corrected, where i = 1, 2, 3. When S0 ≥ Smax, the judgment unit 183 determines that the adjusted adsorption force F is corrected. When S0 < Smax, the judgment unit 183 determines that the adjusted adsorption force F is not corrected.

[0097] In some embodiments of this application, when the judgment unit 183 determines to correct the adjusted adsorption force ΔF, the process includes: pre-setting a first preset detachment time S1 and a second preset detachment time S2, where Smax < S1 < S2. Pre-setting a first preset correction coefficient B1, a second preset correction coefficient B2, and a third preset correction coefficient B3, where B1 < B2 < B3. Based on the relationship between the detachment time S0 and each preset detachment time, a correction coefficient is selected to correct the adjusted adsorption force ΔF, obtaining the corrected adsorption force. When Smax ≤ S0 < S1, the third preset correction coefficient B3 is selected to correct the adjusted adsorption force ΔF, obtaining the corrected adsorption force ΔF*B3. When S1 ≤ S0 < S2, the second preset correction coefficient B2 is selected to correct the adjusted adsorption force ΔF, obtaining the corrected adsorption force ΔF*B2. When S2 ≤ S0, the first preset correction coefficient B1 is selected to correct the adjusted adsorption force ΔF, obtaining the corrected adsorption force ΔF*B1.

[0098] Specifically, using the adjusted suction force to hold the instruction manual in place ensures that it will not fall during the movement of the paper suction device 140. However, if the suction force is too strong, the instruction manual may break when it is pressed down by the swing device 150 and the pressure roller 125. Therefore, by collecting the detachment time and adjusting the suction force accordingly, the risk of product damage can be reduced.

[0099] Understandably, the main purpose of correcting the adsorption force based on the detachment time is to ensure that the product can be stably adsorbed and processed under different production conditions, while reducing the risk of product damage. This improves production efficiency and product quality, and reduces problems and costs in the production process.

[0100] In some embodiments of this application, the judgment unit 183 is further configured to acquire the hardness data of the pre-folded instruction manual 200, correct the rotational speed of the drive wheel 121 based on the hardness data, and control the drive wheel 121 to continue running at the corrected rotational speed. This includes: acquiring the real-time rotational speed Z0 of the drive wheel 121; pre-setting a first preset correction coefficient C1, a second preset correction coefficient C2, and a third preset correction coefficient C3, where C1 < C2 < C3; pre-setting a first preset hardness D1, a second preset hardness D2, and a third preset hardness D3; selecting correction coefficients to correct the real-time rotational speed Z0 based on the relationship between the hardness data D0 of the pre-folded instruction manual 200 and each preset hardness, and acquiring the corrected rotational speed. When D1 ≤ D0 < D2, the third preset correction coefficient C3 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C3 is acquired. When D2 ≤ D0 < D3, the second preset correction coefficient C2 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C2 is acquired. When D3≤D0, the first preset correction coefficient C1 is selected to correct the real-time speed Z0, and the corrected speed Z0*C1 is obtained.

[0101] Understandably, when the instruction manual is stiff, the time required for the paper-pressing device 160 and the pressure roller 125 to press the manual fully folded will increase. Therefore, the rotational speed of the power roller 121 needs to be adjusted based on whether the manual has been fully folded, thus correcting the pressing time. This ensures that instruction manuals of different stiffnesses can be handled appropriately, thereby improving product consistency and quality.

[0102] The operation process of the dispenser in this application is as follows:

[0103] The pre-folded instruction manual 200 is placed into the paper loading device 130. The pre-folded instruction manual 200 is the prepared instruction manual that needs to be pressed, folded, and then dispensed. After the instruction manual is placed, the movable frame 134 in the paper loading device 130 automatically recognizes the size and adjusts the frame to fit the actual size of the instruction manual. The locking block 131 locks the inserted instruction manual. When the dispenser is running, the power wheel 121 of the power unit 120 rotates, driving the transmission shaft 123, transmission gear 124, and pressing wheel 125 to rotate. At the same time, the transmission cylinder 122 provides suction to the suction cup 141 through the rubber tube 210. When the transmission shaft 123 rotates, it drives the cam transmission disk 144 to rotate through the transmission belt 145, thereby causing the suction cup 141 to swing. Before the suction cup 141 contacts the instruction manual, the size data is obtained. Based on the size data, the power of the transmission cylinder 122 is determined to determine the initial suction force of the suction cup 141. The time for the suction cup 141 to absorb the instruction manual is determined by adjusting the distance data of the adjusting connecting rod 143. When the suction cup 141 contacts the instruction manual, the initial suction force is adjusted based on the roughness to ensure sufficient adsorption. The suction cup 141 moves the adsorbed instruction manual towards the pressure roller 125. At this time, since the swing gear 155 moves synchronously with the cam drive plate 144 through the transmission belt 145, the swing arm 151 also presses against the instruction manual as it moves towards the pressure roller 125, pressing it against the pressure roller 125. This ensures that instruction manuals of different sizes and openings can be pressed smoothly. When the instruction manual contacts the pressure roller 125, the time it takes for the manual to detach is recorded, and the suction force is adjusted again based on the detachment time to ensure that the instruction manual is not damaged due to excessive suction. After the instruction manual detaches, it enters the output device 170 under the rotation of the pressure roller 125 and the conveying of the first belt 173 and the second belt 174. When the instruction manual flows out, image data of the manual is collected to determine whether it is fully folded. If it is not fully folded, the rotation speed is corrected based on real-time rotation speed and hardness data to ensure that the instruction manual is fully folded. The folded instruction manual enters a conveyor belt (not shown in the diagram). After being transported by the conveyor belt, it directly enters the packaging process, automating the folding and dispensing of the instruction manual.

[0104] In the above embodiments, the adjustable connecting rod 143 in the paper suction device 140 and the intelligent control of the suction force of the paper suction cup 141 enable the gripping of instruction manuals of different sizes, ensuring that the instruction manuals can be smoothly detached from the paper loading device 130 and enter the paper pressing device 160. The swing device 150 effectively presses the instruction manuals onto the pressing roller 125, ensuring that the instruction manuals can be pressed and conveyed smoothly. With the support of this device, even when the instruction manual opening is large and thick, it can still be suctioned and conveyed at high speed, reducing the possibility of device operation errors. Furthermore, the swing device 150 moves synchronously with the transmission gear 124 via a belt, improving the synchronization of device operation. This device improves the automation of instruction manual dispensing in packaging technology, reduces reliance on operators, and thus reduces labor costs. The control module 180 automatically adjusts the suction force and other parameters according to different situations, adapting to different instruction manuals and packaging requirements, improving the adaptability and controllability of the machine. It detects whether the instruction manual is fully folded and corrects the rotation speed of the power wheel 121 based on the hardness data, ensuring high-quality folding and dispensing, accelerating the packaging process, and improving production efficiency.

[0105] In another preferred embodiment based on the above embodiments, see [reference] Figure 11 As shown, this embodiment provides a control method for a dispensing machine, including:

[0106] S100: Obtain the total mass of the pre-folded instruction manuals contained in the paper loading device, and determine the locking force of the locking block based on the total mass;

[0107] S200: Collect the size data of a single pre-folded instruction manual, and determine the initial suction force of the suction cup and the distance data between the adjustable connecting rod and the cam drive plate and the suction rod respectively based on the size data;

[0108] S300: Collect the surface roughness of the pre-folded instruction manual, adjust the initial adsorption force based on the surface roughness, and obtain the adjusted adsorption force;

[0109] S400: Collects the contact temperature of the suction cup when it comes into contact with the pre-folded instruction manual, and determines whether the suction force needs to be adjusted again based on the contact temperature.

[0110] S500: After determining whether to make a second adjustment to the adjusted adsorption force, collect the separation time of the pre-folded instruction manual from the paper suction cup when it contacts the pressure wheel, and judge whether to correct the adjusted adsorption force based on the separation time.

[0111] S600: Collects image data of the pre-folded instruction manual after it passes through the output device, determines whether the pre-folded instruction manual is fully folded based on the image data, and obtains the hardness data of the pre-folded instruction manual based on the hardness data, corrects the speed of the drive wheel based on the hardness data, and controls the drive wheel to continue running at the corrected speed.

[0112] It is understandable that the above-mentioned dispensing machine and control method have the same beneficial effects, and will not be elaborated further here.

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A dispensing machine, characterized in that, include: Support device; A power unit is mounted on the support device. The power unit includes a power wheel, a transmission cylinder, a transmission shaft, a transmission gear, and a pressure wheel. The pressure wheel is mounted on the transmission shaft and rotates with the transmission shaft. The pressure wheel is used to press the pre-folded instruction manual. A paper loading device is used to hold the pre-folded instruction manual. The paper loading device includes a locking block, a positioning block, guide wheels, and a movable frame. The locking block is used to lock the pre-folded instruction manual after it has been placed. A paper suction device is fixed to one side of the paper loading device. The paper suction device is used to feed a single pre-folded instruction manual to the paper pressing device. The paper suction device includes a paper suction cup, a paper suction transmission rod, an adjustable connecting rod, and a cam transmission plate. The paper suction cup is connected to the transmission cylinder through a rubber tube. The cam transmission plate is connected to the transmission gear through a transmission belt so that the cam transmission plate rotates with the transmission gear. The swinging device includes a swing arm, a first swing link, a second swing link, a third swing link, and a swing gear. The swing gear is connected to the transmission gear via the transmission belt, so that the swing gear rotates following the transmission gear. A paper pressing device is fixedly installed on one side of the pressing wheel, and the paper pressing device includes a fixed connecting rod and a pressing driven wheel; The output device includes a first output roller and a second output roller. The first output roller is connected to the pressure wheel via a first belt, and the second output roller is connected to the pressure driven wheel via a second belt. The control module is electrically connected to the drive wheel, transmission cylinder, locking block, and adjusting rod; the control module includes: The acquisition unit is configured to acquire the total mass of the pre-folded instruction manual contained in the paper loading device, and determine the locking force of the locking block based on the total mass; The acquisition unit is also configured to acquire the size data of a single pre-folded instruction manual, and determine the initial suction force of the suction cup and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the suction rod, respectively, based on the size data. The adjustment unit is configured to collect the surface roughness of the pre-folded instruction manual, adjust the initial adsorption force according to the surface roughness, and obtain the adjusted adsorption force. The adjustment unit is also configured to collect the contact temperature of the paper suction cup when it contacts the pre-folded instruction manual, and determine whether to make a secondary adjustment to the adjusted suction force based on the contact temperature. The judgment unit is configured to, after determining whether the adjustment unit has made a secondary adjustment to the adjusted adsorption force, collect the separation time of the pre-folded instruction manual from the paper suction cup when it contacts the pressure wheel, and determine whether to correct the adjusted adsorption force based on the separation time; The judgment unit is further configured to acquire image data of the pre-folded instruction manual after it passes through the output device, determine whether the pre-folded instruction manual is fully folded based on the image data, and when it is determined that the pre-folded instruction manual is not fully folded, acquire the hardness data of the pre-folded instruction manual, correct the rotational speed of the drive wheel based on the hardness data, and control the drive wheel to continue running at the corrected rotational speed.

2. The dispensing machine according to claim 1, characterized in that, The acquisition unit determines the locking force of the locking block based on the total mass, including: A first preset mass G1, a second preset mass G2, and a third preset mass G3 are preset, and G1 < G2 < G3; a first preset locking force N1, a second preset locking force N2, and a third preset locking force N3 are preset, and N1 < N2 < N3; the acquisition unit determines the locking force of the locking block according to the relationship between the total mass G0 and each preset mass. When G1≤G0<G2, the acquisition unit determines that the locking force of the locking block is N3; When G2≤G0<G3, the acquisition unit determines that the locking force of the locking block is N2; When G3≤G0, the acquisition unit determines that the locking force of the locking block is N1.

3. The dispensing machine according to claim 1, characterized in that, The acquisition unit determines the initial suction force of the paper suction cup and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the paper suction drive rod, respectively, based on the size data, including: A first preset size Q1, a second preset size Q2, and a third preset size Q3 are preset, where Q1 < Q2 < Q3; a first preset suction force W1, a second preset suction force W2, and a third preset suction force W3 are preset, where W1 < W2 < W3; a first preset distance L1, a second preset distance L2, and a third preset distance L3 are preset, where L1 < L2 < L3; the acquisition unit determines the initial suction force of the paper suction cup and the distance data at the connection points of the adjustable distance connecting rod with the cam drive plate and the paper suction drive rod, respectively, based on the size relationship between the size data Q0 and each preset size. When Q1≤Q0<Q2, the acquisition unit determines the initial adsorption force F=W1 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L1; When Q2≤Q0<Q3, the acquisition unit determines the initial adsorption force F=W2 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L2; When Q3≤Q0, the acquisition unit determines the initial adsorption force F=W2 of the paper suction cup, and the distance data of the connection points of the adjustable connecting rod with the cam transmission disk and the paper suction transmission rod respectively is L3.

4. The dispensing machine according to claim 3, characterized in that, When the acquisition unit determines the initial suction force F = Wi of the suction cup, and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the suction drive rod are respectively Li, i = 1, 2, 3, the adjustment unit acquires the surface roughness of the pre-folded instruction manual, adjusts the initial suction force according to the surface roughness, and obtains the adjusted suction force, including: The adjustment unit is further configured to pre-set a first preset roughness Ra1, a second preset roughness Ra2, and a third preset roughness Ra3, wherein Ra1 < Ra2 < Ra3; pre-set a first preset adjustment coefficient A1, a second preset adjustment coefficient A2, and a third preset adjustment coefficient A3, wherein A1 < A2 < A3; and select the adjustment coefficients according to the relationship between the surface roughness Ra0 and each preset roughness to adjust the initial adsorption force F = Wi, thereby obtaining the adjusted adsorption force. When Ra1≤Ra0<Ra2, the adjustment unit selects the first preset adjustment coefficient A1 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A1; When Ra2≤Ra0<Ra3, the adjustment unit selects the second preset adjustment coefficient A2 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A2; When Ra3≤Ra0, the adjustment unit selects the third preset adjustment coefficient A3 to adjust the initial adsorption force Wi, and obtains the adjusted adsorption force △F=Wi*A3.

5. The dispensing machine according to claim 4, characterized in that, The adjustment unit is also configured to collect the contact temperature of the suction cup when it contacts the pre-folded instruction manual, and determine whether to perform a secondary adjustment to the adjusted suction force based on the contact temperature, including: A temperature threshold Tmax is preset, and the adjustment unit determines whether to perform a secondary adjustment on the adjusted adsorption force ΔF = Wi*Ai based on the relationship between the contact temperature T0 and the temperature threshold Tmax. When T0≥Tmax, the adjustment unit determines to perform a secondary adjustment on the adjusted adsorption force ΔF=Wi*Ai; When T0 < Tmax, the adjustment unit determines that it will not perform a secondary adjustment on the adjusted adsorption force ΔF = Wi * Ai.

6. The dispensing machine according to claim 5, characterized in that, When the adjustment unit determines that a secondary adjustment is needed to be made to the adjusted adsorption force ΔF = Wi*Ai, the adjustment unit is further configured to preset a first preset contact temperature T1 and a second preset contact temperature T2, where T1max < T1 < T2; and to make a secondary adjustment to the adjusted adsorption force ΔF = Wi*Ai based on the relationship between the contact temperature T0 and each preset temperature, including: When Tmax≤T0<T1, the adjustment unit selects the first preset adjustment coefficient A1 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A1; When T1≤T0<T2, the adjustment unit selects the second preset adjustment coefficient A2 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A2; When T2≤T0, the adjustment unit selects the third preset adjustment coefficient A3 to perform a second adjustment on the adjusted adsorption force △F=Wi*Ai, and obtains the second adjusted adsorption force △F=Wi*Ai*A3.

7. The dispensing machine according to claim 6, characterized in that, After determining whether the adjustment unit has made a secondary adjustment to the adjusted adsorption force, the judgment unit collects the separation time of the pre-folded instruction manual from the paper suction cup when it contacts the pressure roller, and judges whether to correct the adjusted adsorption force based on the separation time, including: A pre-set detachment time threshold Smax is used. The judgment unit determines whether to correct the adjusted adsorption force based on the relationship between the detachment time S0 and the detachment time Smax. If the adsorption force is adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai * Ai is corrected. If the adsorption force is not adjusted a second time, the adjusted adsorption force ΔF = Wi * Ai is corrected, where i = 1, 2, 3. When S0≥Smax, the judgment unit determines to correct the adjusted adsorption force F; When S0 < Smax, the judgment unit determines that the adjusted adsorption force F should not be corrected.

8. The dispensing machine according to claim 5, characterized in that, When the judgment unit determines to correct the adjusted adsorption force ΔF, it includes: A first preset separation time S1 and a second preset separation time S2 are preset, and Smax < S1 < S2; a first preset correction coefficient B1, a second preset correction coefficient B2 and a third preset correction coefficient B3 are preset, and B1 < B2 < B3; based on the relationship between the separation time S0 and each preset separation time, the correction coefficient is selected to correct the adjusted adsorption force ΔF, and the corrected adsorption force is obtained. When Smax≤S0<S1, the third preset correction coefficient B3 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B3 is obtained. When S1≤S0<S2, the second preset correction coefficient B2 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B2 is obtained. When S2≤S0, the first preset correction coefficient B1 is selected to correct the adjusted coefficient force ΔF, and the corrected adsorption force ΔF*B1 is obtained.

9. The dispensing machine according to claim 8, characterized in that, The judgment unit is further configured to acquire the hardness data of the pre-folded instruction manual, correct the rotational speed of the drive wheel based on the hardness data, and control the drive wheel to continue running at the corrected rotational speed, including: The real-time rotational speed Z0 of the drive wheel is collected, and a first preset correction coefficient C1, a second preset correction coefficient C2, and a third preset correction coefficient C3 are preset, where C1 < C2 < C3; a first preset hardness D1, a second preset hardness D2, and a third preset hardness D3 are preset; the real-time rotational speed Z0 is corrected according to the relationship between the hardness data D0 of the pre-folded instruction manual and each preset hardness, and the corrected rotational speed is obtained. When D1≤D0<D2, the third preset correction coefficient C3 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C3 is obtained. When D2≤D0<D3, the second preset correction coefficient C2 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C2 is obtained. When D3≤D0, the first preset correction coefficient C1 is selected to correct the real-time rotational speed Z0, and the corrected rotational speed Z0*C1 is obtained.

10. A control method for a dispensing machine, characterized in that, include: Obtain the total mass of the pre-folded instruction manuals contained in the paper loading device, and determine the locking force of the locking block based on the total mass; Collect the size data of a single pre-folded instruction manual, and determine the initial suction force of the suction cup and the distance data of the connection points between the adjustable connecting rod and the cam drive plate and the suction rod, respectively, based on the size data; The surface roughness of the pre-folded instruction manual is collected, and the initial adsorption force is adjusted according to the surface roughness to obtain the adjusted adsorption force; The contact temperature of the suction cup when it comes into contact with the pre-folded instruction manual is collected, and the need to make a secondary adjustment to the adjusted suction force is determined based on the contact temperature. Once it is determined whether the adjusted adsorption force needs to be adjusted a second time, the time it takes for the pre-folded instruction manual to detach from the paper suction cup when it contacts the pressure wheel is collected, and the time is used to determine whether the adjusted adsorption force needs to be corrected. The image data of the pre-folded instruction manual after passing through the output device is collected. Based on the image data, it is determined whether the pre-folded instruction manual is fully folded. If it is determined that the pre-folded instruction manual is not fully folded, the hardness data of the pre-folded instruction manual is obtained. Based on the hardness data, the rotational speed of the drive wheel is corrected, and the drive wheel is controlled to continue running at the corrected rotational speed.

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