Automatic packaging machine control system

Abstract

The invention belongs to the field of control systems, and particularly relates to an automatic packaging machine control system which comprises a packaging management system, a packaging module, an emergency stop and fault detection module, a standby module, a state display module, an electric control module and a data storage module. The emergency stop and fault detection module, the standby module, the state display module, the electric control module, the data storage module and the data storage module are connected with the packaging management system, and the data storage module is connected with the packaging management system. The packaging module comprises a bobbin paper transshipment unit, a bobbin paper transition unit, a robot stacking unit, a winding unit, an auxiliary placing unit, a conveying unit and a lifting connection unit. The automatic stacking and packaging system is reasonable in design, and bobbin paper products are automatically stacked and packaged through the working procedures of truss alignment, RGV transfer, robot vertical stacking, automatic film winding, conveying and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems, and in particular to a control system for an automatic packaging machine. Background Art

[0002] Paper trays need to be packaged during production. The patent document with authorization announcement number CN204150305U discloses an intelligent control system for an automatic packaging production line, which includes a conveyor line for products to be sorted; a visual recognition and positioning device is arranged above the conveyor line, and a plurality of sorting ports are arranged on one side of the conveyor line; a robot is arranged at each sorting port; the visual recognition and positioning device includes a camera and an industrial computer, and the industrial computer is respectively communicated with the camera and an execution control device for controlling the automatic packaging production line; the industrial computer sends the collected product barcode information and positioning information to the execution control device; the execution control device determines the sorting port and controls the robot at the sorting port to grab and sort; at the same time, the execution control device feeds back the control instructions to the industrial computer for monitoring and diagnosis of each operation status; the camera is installed above the conveyor line of products to be sorted in front of the incoming materials at the sorting port.

[0003] However, the automatic packaging machine control system has shortcomings in packaging accuracy, and deviations in the number of packages often occur. The degree of automation of traditional control systems is limited, and many operations still require manual intervention, resulting in low production efficiency and high labor costs. Therefore, we proposed an automatic packaging machine control system to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an automatic packaging machine control system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic packaging machine control system includes a packaging management system, a packaging module, an emergency stop and fault detection module, a standby module, a status display module, an electric control module and a data storage module;

[0007] The packaging module is connected to the packaging management system, the emergency stop and fault detection module is connected to the packaging management system, the standby module is connected to the packaging management system, the status display module is connected to the packaging management system, the electric control module is connected to the packaging management system, and the data storage module is connected to the packaging management system;

[0008] The packaging module includes a paper reel transfer unit, a paper reel transition unit, a robot stacking unit, a winding unit, an auxiliary placement unit, a conveying unit and a lifting and docking unit;

[0009] The paper coil transition unit is connected to the paper coil transfer unit, the robot stacking unit is connected to the paper coil transition unit, the winding unit is connected to the robot stacking unit, the conveying unit is connected to the winding unit, the lifting and docking unit is connected to the conveying unit, and the winding unit is also connected to the auxiliary material placement unit.

[0010] Preferably, the paper coil transition unit includes a truss X-direction module, a truss Z-direction module, and a truss Y-direction module; the truss X-direction module, the truss Z-direction module, and the truss Y-direction module are all connected to the paper coil transfer unit, the truss X-direction module is also connected to the paper coil trolley docking position and the truss and RGV docking position; the truss Y-direction module is also connected to the paper coil clamping module.

[0011] Preferably, the paper roll transition unit also includes a barcode scanning gun module, a positioning module and a label alignment module, and the barcode scanning gun module, the positioning module and the label alignment module are all connected to the paper roll transition unit; the positioning module is also connected to a laser ranging sensor and a corresponding photoelectric sensor.

[0012] Preferably, the paper tray transition unit includes a truss, an RGV junction, an RGV measuring module, an RGV clamping module, a paper tray moving module, a paper tray releasing module and a compensation module; the truss and the RGV junction are connected to the paper tray transition unit, the RGV measuring module is connected to the paper tray filter unit, and the RGV measuring module is also connected to the RGV clamping module, the paper tray moving module is connected to the paper tray transition unit, and the paper tray moving module is also connected to the paper tray releasing module; the compensation module is connected to the paper tray transition unit, and the compensation module is also connected to the reverse clearance compensation.

[0013] Preferably, the robot palletizing unit includes a positioning data calculation module, a robot grasping module, a code scanning camera module, a code scanning quantity verification module and a paper tray placement module; the positioning data calculation module is connected to the robot palletizing unit, the robot grasping module is connected to the robot grasping module, the code scanning camera module is connected to the robot palletizing unit, the code scanning camera module is also connected to the code scanning quantity verification module, and the paper tray placement module is connected to the robot palletizing unit.

[0014] Preferably, the robot palletizing unit also includes a pallet supply module, and the pallet supply module also includes palletizing position A and palletizing position B. The process of the auxiliary material placement unit includes that after the paper tray arrives, the auxiliary material can be placed on the pallet, and after pressing the confirmation button, the chain plate conveying can be started, and the push tray can continue to be conveyed.

[0015] Preferably, the upper crossbeam of the truss is provided with a laser straight line guide line.

[0016] Beneficial effects of the present invention:

[0017] 1. There are two positions for the truss to run in the X direction, the docking position for the paper trolley and the docking position for the RGV. There is no intermediate stop position. To adapt to the different diameters of the paper, the stop position in the Z direction of the truss is a flexible position, which needs to be flexibly adjusted according to the diameter data of the paper. The truss is equipped with a barcode scanner, which scans the barcode of the paper to obtain the paper size information, and cooperates with the laser ranging sensor and the photoelectric sensor on the truss to provide the primary and secondary positioning information for the truss to run in the Z direction, and transmits the information to the packaging line management system to provide data support for the operation and positioning of the RGV and the robot. The truss body has no Y direction operation function, but the clamping mechanism on the truss can carry the paper threading axis to move along the Y square. The paper threading axis does not need an intermediate position to run, and only needs to clamp the paper.

[0018] 2. The paper coil transfer RGV plays a connecting role. The right side docks with the paper coil transfer truss. The truss transfers the clamped paper coil to the RGV. After the RGV clamps the paper coil, the transfer truss separates from the paper coil. The first docking is completed. The RGV moves horizontally to the robot stacking workstation grabbing position, waiting for the robot's air shaft to grab the paper coil. When the robot uses the air shaft to take the paper coil away, the RGV clamping mechanism clamps the paper coil again. After clamping, the RGV moves to the right again to compensate for the distance of the paper coil taken away.

[0019] 3. The palletizing workstation robot automatically calculates the center position of the paper roll, the insertion depth of the air shaft and other operating data based on product specifications, stacking height, paper roll payment, paper roll diameter and other parameters. Based on the calculated operating data, the robot takes the paper roll out of the RGV and runs to the barcode scanning camera for barcode scanning. The workstation transmits the scanned barcode back to the packaging line management software. When the number of barcode scans is less than the number of paper rolls grabbed this time, the robot will re-execute the scanning operation until the two numbers are equal. After completing the scanning, the robot stacks the paper rolls to the corresponding stacking position;

[0020] 4. The stacked paper coils are transported to the auxiliary material placement position via the chain plate line. After reaching the pallet placement position, the paper coils will stop at this position. After the partitions, paper cores and other auxiliary materials are manually placed, the transport start button is pressed and the paper coils will be transported to the film wrapping position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A block diagram of an automatic packaging machine control system proposed by the present invention;

[0022] Figure 2 A block diagram of a packaging module of an automatic packaging machine control system proposed by the present invention;

[0023] Figure 3 A block diagram of a paper tray transfer unit of an automatic packaging machine control system proposed by the present invention;

[0024] Figure 4 A block diagram of a paper tray transition unit of an automatic packaging machine control system proposed by the present invention;

[0025] Figure 5 A block diagram of a robot palletizing unit of an automatic packaging machine control system proposed by the present invention;

[0026] Figure 6 This is a block diagram of an auxiliary material placement unit of an automatic packaging machine control system proposed by the present invention. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] Reference Figure 1-6, an automatic packaging machine control system, including a packaging management system, a packaging module, an emergency stop and fault detection module, a standby module, a status display module, an electronic control module and a data storage module, the packaging module is connected to the packaging management system, the emergency stop and fault detection module is connected to the packaging management system, the standby module is connected to the packaging management system, the status display module is connected to the packaging management system, the electronic control module is connected to the packaging management system, and the data storage module is connected to the packaging management system. The packaging module includes a paper reel transfer unit, a paper reel transition unit, a robot stacking unit, a winding unit, an auxiliary placement unit, a conveying unit and a lifting and connecting unit. The paper reel transition unit is connected to the paper reel transfer unit, the robot stacking unit is connected to the paper reel transition unit, the winding unit is connected to the robot stacking unit, the conveying unit is connected to the winding unit, the lifting and connecting unit is connected to the conveying unit, and the winding unit is also connected to the auxiliary material placement unit. After the slitting machine is completed, the whole car of paper reels is transferred to the paper reel cart, and the production operator pushes the paper reel cart into the truss working position along the guide limit device in the truss. Manually scan the barcode of the paper roll with a barcode scanner, query the barcode through the packaging line information management system, and obtain the batch number, diameter and other information of the paper roll. The system checks whether the queried information meets the production scheduling task. After confirming that it meets the requirements, the paper roll diameter information is sent to the truss, which is used as a reference value for the truss's first position. After manual confirmation of the truss operation, the truss

[0030] First, it moves horizontally to the top of the paper roll cart, and then moves downward according to the first positioning reference value. After moving to the right position, the paper roll core position is detected by the through-beam sensor on the paper roll threading shaft, and the paper core position is confirmed by the signal change of the through-beam sensor 1-0. The truss moves to the paper core, and then the square paper threading shaft is inserted into the paper core through the cylinder. After the paper threading shaft is fully in place, the truss is lifted, the paper roll is separated from the paper roll cart, and it is in a suspended state.

[0031] In this embodiment, the paper coil transition unit includes a truss X-direction module, a truss Z-direction module, and a truss Y-direction module; the truss X-direction module, the truss Z-direction module, and the truss Y-direction module are all connected to the paper coil transfer unit, and the truss X-direction module is also connected to the paper coil trolley docking position and the truss and RGV docking position; the truss Y-direction module is also connected to the paper coil clamping module. The truss X-direction operation has two positions, the paper coil trolley docking position and the RGV docking position. There is no intermediate stop position, so the cylinder drive is adopted. In order to adapt to the different diameters of the paper coil, the stop position of the truss Z direction is a flexible position, which needs to be flexibly adjusted according to the diameter data of the paper coil. The Z axis adopts V90 servo for flexible and precise positioning. The truss is equipped with a barcode scanner, which obtains the paper coil size information by scanning the barcode of the paper coil, and cooperates with the laser ranging sensor and the photoelectric sensor on the truss to provide the primary positioning and secondary positioning information of the truss Z direction operation. And transmit the information to the packaging line management system to provide data support for the operation and positioning of RGV and robots. The truss body has no Y-direction operation function, but the clamping mechanism on the truss can carry the paper threading shaft to move along the Y square; the paper threading shaft does not require an intermediate position for operation, only the paper coil needs to be clamped, so the operation in this direction is driven by a cylinder.

[0032] In this embodiment, the paper tray transition unit also includes a barcode scanning gun module, a positioning module and a label alignment module. The barcode scanning gun module, the positioning module and the label alignment module are all connected to the paper tray transition unit. The positioning module is also connected to a laser ranging sensor and a corresponding photoelectric sensor. The paper tray transition unit includes a truss, an RGV junction, an RGV measurement module, an RGV clamping module, a paper tray moving module, a paper tray release module and a compensation module. The truss and the RGV junction are connected to the paper tray transition unit, the RGV measurement module is connected to the paper tray filter unit, and the RGV measurement module is also connected to the RGV clamping module, the paper tray moving module is connected to the paper tray transition unit, and the paper tray moving module is also connected to the paper tray release module, the compensation module is connected to the paper tray transition unit, and the compensation module is also connected to the reverse gap compensation.

[0033] In this embodiment, the robot stacking unit includes a positioning data calculation module, a robot grasping module, a code scanning camera module, a code scanning quantity verification module and a paper tray placement module. The positioning data calculation module is connected to the robot stacking unit, the robot grasping module is connected to the robot grasping module, the code scanning camera module is connected to the robot stacking unit, the code scanning camera module is also connected to the code scanning quantity verification module, and the paper tray placement module is connected to the robot stacking unit. The paper tray transition RGV plays a connecting role. The right side docks the paper tray transfer truss. The truss docks with the truss and transfers the clamped paper tray to the RGV. The clamping mechanism of the RGV clamps the paper tray and then the transfer truss is separated from the paper tray to complete the first docking. The RGV moves horizontally to the grabbing position of the robot stacking workstation, waiting for the robot air shaft to grab the paper tray. When the robot uses the air shaft to take the paper tray away, the RGV clamping mechanism clamps the paper tray again. After clamping, the RGV moves to the right again to compensate for the distance of the paper roll that was grabbed (whether the RGV moves will be automatically determined according to the number of paper rolls taken away. When the distance of the paper roll to be grabbed for the second time is still within the working range of the robot after the last paper roll was taken away, the RGV does not need to move).

[0034] In this embodiment, the robot stacking unit also includes a pallet supply module, and the pallet supply module also includes stacking position A and stacking position B. The process of the auxiliary material placement unit includes that after the paper tray arrives, the auxiliary material can be placed on the pallet, the chain plate conveying can be started after the confirmation button, and the push tray can be continuously conveyed. The crossbeam on the truss is equipped with a laser straight guide line. The stacking workstation robot automatically calculates the center position of the paper tray, the insertion depth of the air expansion shaft and other operating data according to the product specifications, stacking height, paper tray payment, paper tray diameter and other parameters. According to the calculated operating data, the robot takes the paper tray out of the RGV and runs to the barcode scanning camera for barcode scanning. The workstation transmits the scanned barcode back to the packaging line management software. When the number of barcode scans is less than the number of paper trays grabbed this time, the robot will re-execute the scanning operation until the two numbers are equal. After completing the scanning, the robot stacks the paper trays to the corresponding stacking position.

[0035] In the present invention, the truss has two positions in the X direction, the paper coil trolley docking position and the RGV docking position without an intermediate stop position. To adapt to the different diameters of the paper coil, the stop position in the Z direction of the truss is a flexible position, which needs to be flexibly adjusted according to the diameter data of the paper coil. The truss is equipped with a barcode scanner, which obtains the paper coil size information by scanning the barcode of the paper coil, and cooperates with the laser ranging sensor and the photoelectric sensor on the truss to provide the primary and secondary positioning information of the truss in the Z direction, and transmits the information to the packaging line management system, providing data support for the operation and positioning of the RGV and the robot. The truss body has no Y direction operation function, but the clamping mechanism on the truss can carry the paper threading shaft to move along the Y square. The paper threading shaft does not need an intermediate position to run, and only needs to clamp the paper coil;

[0036] The coil paper transfer RGV plays a connecting role. The right side docks with the coil paper transfer truss. The truss transfers the clamped coil paper to the RGV through the docking truss. After the RGV clamping mechanism clamps the coil paper, the transfer truss separates from the coil paper to complete the first docking. The RGV moves horizontally to the robot palletizing workstation grabbing position, waiting for the robot's air shaft to grab the coil paper. When the robot uses the air shaft to take the coil paper away, the RGV clamping mechanism clamps the coil paper again. After clamping, the RGV moves to the right again to compensate for the distance of the coil paper taken away. The palletizing workstation robot automatically calculates the center position of the coil paper according to product specifications, stacking height, coil paper payment, coil paper diameter and other parameters. The robot takes the paper coil from the RGV according to the calculated operating data, runs it to the barcode scanning camera for barcode scanning, and the workstation transmits the scanned barcode back to the packaging line management software. When the number of barcode scans is less than the number of paper coils grabbed this time, the robot will re-scan until the two numbers are equal. After completing the barcode scanning, the robot stacks the paper coils at the corresponding stacking position. The stacked paper coils are transported to the auxiliary material placement position via the chain plate line. After the paper coil reaches the pallet placement position, it will stop at this position. After the partitions, paper cores and other auxiliary materials are manually placed, press the conveying start button, and the paper coil will be transported to the film wrapping position.

[0037] The above is a detailed introduction to an automatic packaging machine control system provided by the present invention. This article uses specific embodiments to explain the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An automatic packaging machine control system, characterized in that: It includes a packaging management system, a packaging module, an emergency stop and fault detection module, a standby module, a status display module, an electric control module and a data storage module; The packaging module is connected to the packaging management system, the emergency stop and fault detection module is connected to the packaging management system, the standby module is connected to the packaging management system, the status display module is connected to the packaging management system, the electric control module is connected to the packaging management system, and the data storage module is connected to the packaging management system; The packaging module includes a paper reel transfer unit, a paper reel transition unit, a robot stacking unit, a winding unit, an auxiliary placement unit, a conveying unit and a lifting and docking unit; The paper coil transition unit is connected to the paper coil transfer unit, the robot stacking unit is connected to the paper coil transition unit, the winding unit is connected to the robot stacking unit, the conveying unit is connected to the winding unit, the lifting and docking unit is connected to the conveying unit, and the winding unit is also connected to the auxiliary material placement unit.

2. The automatic packaging machine control system according to claim 1, characterized in that: The paper coil transition unit includes a truss X-direction module, a truss Z-direction module, and a truss Y-direction module; The truss X-direction module, the truss Z-direction module, and the truss Y-direction module are all connected to the paper reel transfer unit, and the truss X-direction module is also connected to the paper reel trolley docking position and the truss and RGV docking position; The truss Y-direction module is also connected to a paper tray clamping module.

3. The automatic packaging machine control system according to claim 1, characterized in that: The paper roll transition unit further includes a barcode scanning gun module, a positioning module and a label alignment module, and the barcode scanning gun module, the positioning module and the label alignment module are all connected to the paper roll transition unit; The positioning module is also connected to a laser distance measuring sensor and a through-beam photoelectric sensor.

4. The automatic packaging machine control system according to claim 1, characterized in that: The tray transition unit includes a truss, an RGV handover position, an RGV measurement module, an RGV clamping module, a tray moving module, a tray releasing module and a compensation module; The truss and RGV junction are connected to the paper tray transition unit, the RGV measurement module is connected to the paper tray filter unit, and the RGV measurement module is also connected to the RGV clamping module, the paper tray moving module is connected to the paper tray transition unit, and the paper tray moving module is also connected to the paper tray release module; The compensation module is connected to the paper tray transition unit, and the compensation module is also connected to the reverse gap compensation.

5. The automatic packaging machine control system according to claim 1, characterized in that: The robot palletizing unit includes a positioning data calculation module, a robot grasping module, a code scanning camera module, a code scanning quantity verification module and a paper tray placement module; The positioning data calculation module is connected to the robot stacking unit, the robot grasping module is connected to the robot grasping module, the code scanning camera module is connected to the robot stacking unit, the code scanning camera module is also connected to the code scanning quantity verification module, and the paper tray placement module is connected to the robot stacking unit.

6. The automatic packaging machine control system according to claim 1, characterized in that: The robot palletizing unit further includes a pallet supply module, and the pallet supply module further includes a palletizing position A and a palletizing position B.

7. The automatic packaging machine control system according to claim 1, characterized in that: The process of the auxiliary material placement unit includes: after the paper tray arrives, the auxiliary material can be placed on the tray, and after the confirmation button is pressed, the chain plate conveying can be started, and the push tray can continue to be conveyed.

8. The automatic packaging machine control system according to claim 1, characterized in that: The upper crossbeam of the truss is provided with a laser straight line guide line.

Images