Paper shoveling frame insertion control method, device and equipment

Abstract

The invention is suitable for the field of carton production, and discloses a paper shoveling frame insertion control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a target position, and calculating the adjustment distance of the insertion time, the descending duration of a paper shoveling frame, and the jerk, the maximum acceleration, the maximum deceleration and the maximum speed of the paper shoveling frame; when the insertion time of the paper shoveling frame is reached, paper bundle separation is started, the paper shoveling frame is controlled to descend until the paper shoveling frame descends to a target position, the speed of the paper shoveling frame is gradually increased from zero to the maximum speed within the total stroke duration of the front half section of the paper shoveling frame, and the acceleration of the paper shoveling frame is gradually increased from zero to the maximum acceleration and then is gradually decreased to zero; and within the total stroke duration of the rear half section of the paper shoveling frame, the speed of the paper shoveling frame is gradually decreased from the maximum speed to stop, the deceleration of the paper shoveling frame is gradually increased from zero to the maximum deceleration and then is gradually decreased to zero, the paper shoveling frame is uniformly accelerated in the whole process, and the acceleration of the paper shoveling frame is positive in the first-end 1 / 4 time period and is negative in the middle time period.

Description

Technical Field

[0001] The present invention relates to the technical field of carton production, and in particular to a paper scooping rack insertion control method, device and equipment. Background Art

[0002] The gluer controls the insertion timing and speed of the paper shoveling frame so that the paper shoveling frame is inserted between the last carton of the previous bundle and the first carton of the next bundle, thereby separating the two paper bundles. The traditional method for controlling the insertion of the paper shoveling frame is: the control system has a preset adjustment distance parameter for the insertion timing, and the operator can adjust this variable according to the actual situation of paper bundle separation. The control system starts the insertion of the paper shoveling frame based on this parameter, and calculates and controls the speed of the paper shoveling frame when inserting according to the spacing and conveying speed of the cartons.

[0003] Although this method can basically meet the production requirements of paper bundle separation of the carton gluer, it is affected by many factors such as different machine models, mechanical structures, production modes, cardboard weights, carton lengths, number of bundles, production speeds, detection positions of counting photoelectric switches, motor performance, etc. In actual production, operators need to conduct multiple paper feeding tests and make judgments based on experience to obtain the set value of the adjustment distance for the insertion timing required under the current production state. It is not very versatile, lacks flexibility, and is difficult to operate. It not only wastes cardboard, but also requires frequent changes in working parameters when changing orders, which places high demands on the operation and experience of machine operators.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the invention

[0005] The present invention provides a paper shoveling frame insertion control method, device and equipment, which are used to accurately control the insertion timing of the paper shoveling frame and the real-time speed during the insertion process in a quantitative manner.

[0006] A first aspect of the present invention provides a paper shoveling rack insertion control method, the paper shoveling rack insertion control method comprising: obtaining a target position, calculating an adjustment distance of the insertion timing and a descent time of the paper shoveling rack, and calculating the acceleration of the paper shoveling rack according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculating the maximum acceleration and maximum deceleration of the paper shoveling rack according to the acceleration of the paper shoveling rack and the descent time of the paper shoveling rack, and then calculating the maximum speed of the paper shoveling rack according to the maximum acceleration of the paper shoveling rack and the descent time of the paper shoveling rack; judging the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and judging the insertion mode of the paper shoveling rack according to the insertion mode of the paper shoveling rack and the real-time number of cartons Whether the insertion time of the paper shoveling rack is reached is determined based on the real-time transmission distance of the carton and the paper shoveling rack; when the insertion time of the paper shoveling rack is reached, the paper bundle separation is started, and the paper shoveling rack is controlled to descend until the paper shoveling rack descends to the target position, and in the first half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack increases from zero to the maximum speed, and the acceleration of the paper shoveling rack increases from zero to the maximum acceleration and then decreases to zero; in the second half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack decreases from the maximum speed to stop, the deceleration of the paper shoveling rack increases from zero to the maximum deceleration and then decreases to zero, the paper shoveling rack maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling rack is positive in the first and last 1 / 4 periods, and negative in the middle period.

[0007] Preferably, the target position is obtained, the adjustment distance of the insertion timing and the descent time of the paper shoveling frame are calculated, and the acceleration of the paper shoveling frame is calculated according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then the maximum acceleration and maximum deceleration of the paper shoveling frame are calculated by the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and then the maximum speed of the paper shoveling frame is calculated by the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, including: obtaining the target position, the real-time number of cartons, the real-time transmission distance of the cartons, the mechanical parameters of the box gluer, the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode of the printing press, and the length of the carton. The mechanical parameters of the box gluer include the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, the detection position of the counting photoelectric switch, and the position of the lateral insertion point of the paper shoveling frame; according to the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode, and the length of the carton, the spacing between the two cartons is calculated, and according to the detection position of the counting photoelectric switch, The adjustment distance for insertion timing is calculated based on the position of the transverse insertion point, the distance between two cartons, the position of the top of the paper shoveling rack, the position above the last carton of the previous bundle and the position below the first carton of the next bundle; the conveying speed of the carton is obtained, and the time from the start of the paper shoveling rack to the delivery of the first carton of the next bundle to the transverse insertion point of the paper shoveling rack is calculated based on the detection position of the counting photoelectric switch, the adjustment distance for insertion timing, the conveying speed of the carton, the position of the transverse insertion point of the paper shoveling rack and the distance between the two cartons, and the calculated time is used as the descent time of the paper shoveling rack; the acceleration of the paper shoveling rack is calculated based on the position of the top of the paper shoveling rack, the position above the last carton of the previous bundle, the detection position of the counting photoelectric switch, the adjustment distance for insertion timing and the conveying speed of the carton, the maximum acceleration and maximum deceleration of the paper shoveling rack are calculated based on the acceleration of the paper shoveling rack and the descent time of the paper shoveling rack, and the maximum speed of the paper shoveling rack is calculated based on the maximum acceleration of the paper shoveling rack and the descent time of the paper shoveling rack.

[0008] Preferably, the adjustment distance D of the insertion timing is Interrupt It is expressed as:

[0009]

[0010] Where D Counter Indicates the detection position of the counting photoelectric switch, D Forward Indicates the position of the shovel holder horizontal insertion point, D Two Indicates the distance between two cartons, P Top Indicates the position of the top of the paper shovel holder, P Above Indicates the position above the last carton in the previous bundle, P Under Indicates the position below the first carton of the next bundle, C PrinterIndicates the circumference of the printing press cylinder, Set_Boxes_for_Sheet indicates the variable corresponding to the paper feeding mode, L Box Indicates the length of the carton.

[0011] Preferably, the paper shoveling rack descends for a period of time T Under It is expressed as:

[0012]

[0013] Where V Run Indicates the conveying speed of cartons.

[0014] Preferably, the jerk J of the paper shoveling rack is expressed as:

[0015]

[0016] Preferably, the absolute value of the maximum acceleration of the paper shoveling frame is the same as the absolute value of the maximum deceleration of the paper shoveling frame, and the maximum acceleration of the paper shoveling frame is expressed as:

[0017]

[0018] Preferably, the maximum speed of the paper shoveling rack is expressed as:

[0019]

[0020] Preferably, the insertion mode of the paper shoveling rack is judged according to the adjustment distance of the insertion timing, and whether the insertion timing of the paper shoveling rack is reached is judged according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time transmission distance of the cartons, including: when the adjustment distance of the insertion timing is equal to 0, the insertion mode of the paper shoveling rack is judged to be the standard insertion mode; when the adjustment distance of the insertion timing is less than 0, the insertion mode of the paper shoveling rack is judged to be the early insertion mode; when the adjustment distance of the insertion timing is greater than 0, the insertion mode of the paper shoveling rack is judged to be the delayed insertion mode; when the insertion mode of the paper shoveling rack is the standard insertion mode, the counting photoelectric switch detects the number of cartons, and after the counting photoelectric switch detects the last one of the previous bundle When the paper shovel rack receives a carton, it is determined that the insertion timing of the paper shoveling rack has arrived; when the insertion mode of the paper shoveling rack is the early insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and when it is detected that the distance between the detection point of the counting photoelectric switch and the last carton of the previous bundle after detection is the absolute value of the adjustment distance of the insertion timing, it is determined that the insertion timing of the paper shoveling rack has arrived; when the insertion mode of the paper shoveling rack is the delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and when it is detected that after the counting photoelectric switch has detected the last carton of the previous bundle, the last carton of the previous bundle continues to be sent out the distance of the adjustment distance of the insertion timing, it is determined that the insertion timing of the paper shoveling rack has arrived.

[0021] The second aspect of the present invention provides a paper shoveling rack insertion control device, comprising: a calculation module, which obtains a target position, calculates an adjustment distance of the insertion timing and a descending time of the paper shoveling rack, and calculates the acceleration of the paper shoveling rack according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculates the maximum acceleration and maximum deceleration of the paper shoveling rack through the acceleration of the paper shoveling rack and the descending time of the paper shoveling rack, and then calculates the maximum speed of the paper shoveling rack through the maximum acceleration of the paper shoveling rack and the descending time of the paper shoveling rack; a judgment module, which is used to judge the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the paper The real-time transmission distance of the box determines whether the insertion time of the paper shoveling rack is reached; the control module is used to start the separation of paper bundles when the insertion time of the paper shoveling rack is reached, and control the paper shoveling rack to descend until the paper shoveling rack descends to the target position, and in the first half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack increases from zero to the maximum speed, and the acceleration of the paper shoveling rack increases from zero to the maximum acceleration and then decreases to zero; in the second half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack decreases from the maximum speed to stop, the deceleration of the paper shoveling rack increases from zero to the maximum deceleration and then decreases to zero, the paper shoveling rack maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling rack is positive in the first and last 1 / 4 periods, and negative in the middle period.

[0022] A third aspect of the present invention provides a paper shoveling rack insertion control device, comprising a motion controller, a control panel, a counting photoelectric switch, a measuring encoder, an indicator light, a buzzer, a human-machine interface or a production management system, a voltage-stabilized power supply, a servo driver and a servo motor, wherein the motion controller comprises a power input interface, an input interface, an output interface, a memory, a processor, a motion control unit, a communication interface and a drive communication interface; the memory is used to store data and application programs, wherein the data comprises mechanical parameters of different machine models, order machine models, working parameters and servo parameters, the control panel, the counting photoelectric switch and the measuring encoder are respectively connected to the input interface, the indicator light and the buzzer are respectively connected to the output interface, the human-machine interface or the production management system is connected to the communication interface, the voltage-stabilized power supply is connected to the power input interface, the servo driver is respectively connected to the servo motor and the drive communication interface, the motion control unit is connected to the drive communication interface, the processor comprises a logic controller and an operator, the processor is respectively connected to the motion control unit, the memory, the input interface, the communication interface and the output interface, and the motion controller calls the application program in the memory to execute each step of the paper shoveling rack insertion control method as described above.

[0023] The technical solution provided by the present invention has strong versatility and high flexibility. Under different printing machines, box gluers, mechanical structures, production order requirements, and production speeds, the technical solution can automatically calculate the corresponding adjustment distance of the insertion timing, the descending time of the paper shoveling frame, and the jerk, maximum acceleration, maximum deceleration, and maximum speed of the paper shoveling frame, and according to these parameters, the operation of the paper shoveling frame insertion is controlled to realize the paper bundle separation of the box gluer. Moreover, it does not need to repeatedly test paper to determine the parameters, saving cardboard, manpower, and material resources. In addition, it can enable the servo motor that drives the paper shoveling frame insertion to operate under a better motion control curve, thereby improving the operation stability of the motor, reducing the failure rate of the motor, and extending the life of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A first flow chart of a paper shoveling stand insertion control method provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a curve of the acceleration of the paper shoveling frame within the total travel time of the paper shoveling frame provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of a curve of acceleration and deceleration of a paper shoveling frame within the total travel time of the paper shoveling frame provided in an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of a curve showing the speed of a paper shoveling frame within the total travel time of the paper shoveling frame provided in an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of a curve showing the travel position of a paper shoveling frame within the total travel time of the paper shoveling frame provided in an embodiment of the present invention;

[0029] Figure 6 A schematic diagram showing that the insertion mode of the paper shoveling holder provided in the embodiment of the present invention is a standard insertion mode;

[0030] Figure 7 A schematic diagram showing that the insertion mode of the paper shoveling holder provided in the embodiment of the present invention is an advance insertion mode;

[0031] Figure 8 A schematic diagram showing that the insertion mode of the paper shoveling holder provided in the embodiment of the present invention is a delayed insertion mode;

[0032] Fig. 9 An example diagram of mechanical parameters of a paper shoveling stand provided in an embodiment of the present invention;

[0033] Fig.10 A schematic diagram of the structure of a paper shoveling rack insertion control device provided in an embodiment of the present invention;

[0034] Fig.11A schematic diagram of the structure of a paper shoveling rack insertion control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 In an embodiment of the present invention, a paper shoveling rack insertion control method includes:

[0037] S101, obtaining the target position, calculating the adjustment distance of the insertion timing and the descent time of the paper shoveling frame, and calculating the acceleration of the paper shoveling frame according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculating the maximum acceleration and maximum deceleration of the paper shoveling frame by the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and then calculating the maximum speed of the paper shoveling frame by the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame;

[0038] S102, judging the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and judging whether the insertion timing of the paper shoveling rack is reached according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time transmission distance of the cartons;

[0039] S103. When the insertion timing of the paper shoveling rack is reached, the paper bundle separation is started, and the paper shoveling rack is controlled to descend until the paper shoveling rack descends to the target position, and within the first half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack increases from zero to the maximum speed, and the acceleration of the paper shoveling rack increases from zero to the maximum acceleration and then decreases to zero; within the second half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack decreases from the maximum speed to stop, the deceleration of the paper shoveling rack increases from zero to the maximum deceleration and then decreases to zero, the paper shoveling rack maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling rack is positive in the first and last 1 / 4 periods and negative in the middle period.

[0040] In this embodiment, the descent time of the paper shoveling frame refers to the time from when the paper shoveling frame starts to descend to when the first carton of the next bundle is delivered to the insertion point of the paper shoveling frame lateral movement.

[0041] The total travel time of the paper shovel holder refers to the time taken for the paper shovel holder to be inserted throughout the entire process, that is, the time taken from the start of the paper shovel holder to the time when the paper shovel holder descends to the target position.

[0042] For example, the curves of the jerk, acceleration, velocity and stroke position of the paper shoveling frame within the total stroke time of the paper shoveling frame are as follows: Figure 2-5 It should be noted that the specific data shown in the figure are only for illustration.

[0043] In this embodiment, the target position is obtained, the adjustment distance of the insertion timing and the descent time of the paper shoveling frame are calculated, and the acceleration of the paper shoveling frame is calculated according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then the maximum acceleration and maximum deceleration of the paper shoveling frame are calculated by the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and then the maximum speed of the paper shoveling frame is calculated by the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, including: obtaining the target position, the real-time number of cartons, the real-time transmission distance of the cartons, the mechanical parameters of the box gluer, the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode of the printing press, and the length of the carton. The mechanical parameters of the box gluer include the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, the detection The measuring position and the position of the lateral insertion point of the paper shoveling frame are measured; the distance between the two cartons is calculated according to the circumference of the printing press cylinder, the variable corresponding to the paper feeding mode and the length of the carton, and the adjustment distance of the insertion timing is calculated according to the detection position of the counting photoelectric switch, the position of the lateral insertion point of the paper shoveling frame, the distance between the two cartons, the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle and the position below the first carton of the next bundle; the conveying speed of the carton is obtained, and the time taken from the start of the paper shoveling frame to the delivery of the first carton of the next bundle to the lateral insertion point of the paper shoveling frame is calculated according to the detection position of the counting photoelectric switch, the adjustment distance of the insertion timing, the conveying speed of the carton, the position of the lateral insertion point of the paper shoveling frame and the distance between the two cartons, and the calculated time is used as the descent time of the paper shoveling frame;

[0044] The jerk of the paper shovel rack is calculated according to the position of the top of the paper shovel rack, the position above the last carton of the previous bundle, the detection position of the counting photoelectric switch, the adjustment distance of the insertion timing and the conveying speed of the carton. The maximum acceleration and maximum deceleration of the paper shovel rack are calculated according to the jerk of the paper shovel rack and the descent time of the paper shovel rack. The maximum speed of the paper shovel rack is calculated according to the maximum acceleration of the paper shovel rack and the descent time of the paper shovel rack.

[0045] In this embodiment, a relationship table between the size and size variables of the counting and pushing unit is obtained, the size variables of the counting and pushing unit are matched from the relationship table between the size and size variables according to the size of the counting and pushing unit, and the mechanical parameters of the box gluer are determined according to the size variables of the counting and pushing unit.

[0046] In the embodiment, the size variables of the counting and pushing unit are respectively 06, 09, 12, 16, 19, etc. Different size variables of the counting and pushing unit correspond to different values ​​of mechanical parameters of the box gluer, that is, the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, the detection position of the counting photoelectric switch and the position of the lateral insertion point of the paper shoveling frame are different.

[0047] For example, Fig. 9 As shown in the figure, when the counting and pushing unit size variable is 09, the corresponding mechanical parameters of the gluer are: the position of the top of the paper scraper rack = 490mm, the position above the last carton of the previous bundle = 450mm, the position below the first carton of the next bundle = 320mm, the detection position of the counting photoelectric switch = 613mm, and the position of the lateral insertion point of the paper scraper rack = 80mm.

[0048] In this embodiment, the size variables of the printing press are 618, 718, 821, 924, 1228, 1628, etc. Different size variables of the printing press correspond to different values ​​of the circumference of the printing press cylinder.

[0049] Exemplarily, when the size variable of the printing press is 1228, the circumference of the printing press cylinder = 1272.3 mm.

[0050] In this embodiment, the variables corresponding to the paper feeding mode are set by the customer according to the requirements of the carton production order. For example, when the alternate sheet feeding mode is selected, Set_Boxes_for_Sheet=0.5, and the printing press cylinder rotates twice to feed one cardboard; when the standard paper feeding mode is selected, Set_Boxes_for_Sheet=1, and the printing press cylinder rotates once to feed one cardboard; when the one-in-two mode is selected, Set_Boxes_for_Sheet=2, and the printing press cylinder rotates once to feed two cards; when the one-in-three mode is selected, Set_Boxes_for_Sheet=3, and the printing press cylinder rotates once to feed three cards; when the one-in-four mode is selected, Set_Boxes_for_Sheet=4, and the printing press cylinder rotates once to feed four cards.

[0051] In this embodiment, the adjustment distance D of the insertion timing Interrupt It is expressed as:

[0052]

[0053] Where D Counter Indicates the detection position of the counting photoelectric switch, D Forward Indicates the position of the shovel holder horizontal insertion point, D TwoIndicates the distance between two cartons, P Top Indicates the position of the top of the paper shovel holder, P Above Indicates the position above the last carton in the previous bundle, P Under Indicates the position below the first carton of the next bundle, C Printer Indicates the circumference of the printing press cylinder, Set_Boxes_for_Sheet indicates the variable corresponding to the paper feeding mode, L Box Indicates the length of the carton.

[0054] For example, the size variable of the printing press is 1228, the variable corresponding to the standard paper feeding mode is 1, and the distance D between two cartons is 500 mm. Two for:

[0055]

[0056] For example, when the counting and pushing unit size variable is 09, the size variable of the printing press is 1228, the variable corresponding to the standard paper feeding mode is 1, and the length of the carton is 500 mm, the adjustment distance D of the insertion timing is Interrupt It is expressed as:

[0057]

[0058] In this embodiment, the conveying speed of the carton is obtained by measuring the running speed of the main belt of the carton gluer in real time by using an encoder, that is, the running speed of the main belt of the carton gluer is the conveying speed of the carton.

[0059] In this embodiment, the paper shoveling rack descends for a period of time T Under It is expressed as:

[0060]

[0061] Where V Run Indicates the conveying speed of cartons.

[0062] For example, the variable of the counting and pushing unit size is 09, the variable of the printing press size is 1228, the variable corresponding to the standard paper feeding mode is 1, the length of the carton is 500mm, the adjustment distance of the insertion timing is -205.8676mm, the conveying speed of the carton is 4241mm / s, and the shovel rack descends for a long time T Undr for:

[0063]

[0064] In this embodiment, the jerk J of the paper shoveling rack is expressed as:

[0065]

[0066] For example, when the dimension variable of the counting and pushing unit is 09, the dimension variable of the printing press is 1228, the variable corresponding to the standard paper feeding mode is 1, the length of the carton is 500 mm, the adjustment distance of the insertion timing is -205.8676 mm, and the conveying speed of the carton is 4241 mm / s, the acceleration J of the paper shoveling rack is:

[0067]

[0068] In this embodiment, the absolute value of the maximum acceleration of the paper shoveling frame is the same as the absolute value of the maximum deceleration of the paper shoveling frame. The maximum acceleration of the paper shoveling frame is expressed as:

[0069]

[0070] For example, the counting and pushing unit size variable is 09, the size variable of the printing press is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the adjustment distance of the insertion timing is -205.8676mm, the conveying speed of the carton is 4241mm / s, the paper shoveling rack descends for 0.3940503s, and the acceleration of the paper shoveling rack is 22227.14453mm / s 3 When , the maximum acceleration of the paper shovel rack is:

[0071]

[0072] Therefore, the maximum deceleration of the paper shovel rack is -4379.3065 mm / s 2 .

[0073] In this embodiment, the maximum speed of the paper shoveling rack is expressed as:

[0074]

[0075] For example, the counting and pushing unit size variable is 09, the size variable of the printing press is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the adjustment distance of the insertion timing is -205.8676mm, the conveying speed of the carton is 4241mm / s, the paper shoveling rack descends for 0.3940503s, and the acceleration of the paper shoveling rack is 22227.14453mm / s 3 , the maximum acceleration of the paper shovel is 4379.3065mm / s 2 When the paper shovel is at the maximum speed,

[0076]

[0077] In this embodiment, the insertion mode of the paper shoveling rack is determined according to the adjustment distance of the insertion timing, and whether the insertion timing of the paper shoveling rack is reached is determined according to the insertion mode of the paper shoveling rack, the real-time number of cartons, and the real-time transmission distance of the cartons, including: when the adjustment distance of the insertion timing is equal to 0, the insertion mode of the paper shoveling rack is determined to be the standard insertion mode; when the adjustment distance of the insertion timing is less than 0, the insertion mode of the paper shoveling rack is determined to be the early insertion mode; when the adjustment distance of the insertion timing is greater than 0, the insertion mode of the paper shoveling rack is determined to be the delayed insertion mode; when the insertion mode of the paper shoveling rack is the standard insertion mode, the counting photoelectric switch detects the number of cartons, and after the counting photoelectric switch detects the last one of the previous bundle When a carton is delivered, it is determined that the insertion timing of the paper shoveling rack has arrived; when the insertion mode of the paper shoveling rack is the early insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and when it is detected that the distance between the detection point of the counting photoelectric switch and the last carton of the previous bundle is the absolute value of the adjustment distance for the insertion timing, it is determined that the insertion timing of the paper shoveling rack has arrived; when the insertion mode of the paper shoveling rack is the delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and when it is detected that after the counting photoelectric switch has detected the last carton of the previous bundle, the last carton of the previous bundle continues to be sent out the distance for the adjustment distance for the insertion timing, it is determined that the insertion timing of the paper shoveling rack has arrived.

[0078] Exemplarily, the adjustment distance of the insertion timing is -205.8676 mm, then the insertion mode of the paper shoveling rack is determined to be the early insertion mode, and when the distance between the detection point of the counting photoelectric switch and the last carton of the previous bundle is detected to be 205.8676 mm, it is determined that the insertion timing of the paper shoveling rack has been reached.

[0079] Exemplarily, the target position is 150 mm.

[0080] Exemplarily, the insertion mode of the shovel paper holder is a standard insertion mode such as Figure 6 As shown, the insertion mode of the paper shovel holder is the advance insertion mode. Figure 7 As shown, the insertion mode of the paper shovel holder is the delayed insertion mode. Figure 8 shown.

[0081] The present embodiment provides a paper shoveling frame insertion control method, which has strong versatility and high flexibility. Under different printing machines, gluers, mechanical structures, production order requirements, and production speeds, the method can automatically calculate the corresponding adjustment distance of the insertion timing, the descent time of the paper shoveling frame, and the jerk, maximum acceleration, maximum deceleration, and maximum speed of the paper shoveling frame, and according to these parameters, control the operation of the paper shoveling frame insertion to achieve paper bundle separation of the gluer. Moreover, it does not require repeated paper testing to determine parameters, saving cardboard, manpower, and material resources. In addition, it can enable the servo motor that drives the paper shoveling frame insertion to operate under a better motion control curve, thereby improving the motor's operating stability, reducing the motor's failure rate, and extending the motor's life.

[0082] The above describes the paper shoveling rack insertion control method in the embodiment of the present invention. The following describes the device in the embodiment of the present invention. Fig.10 The paper shoveling frame insertion control device in the embodiment of the present invention is used to execute the paper shoveling frame insertion control method as described above. The implementation method of the paper shoveling frame insertion control device in the embodiment of the present invention includes:

[0083] The calculation module 201 is used to obtain the target position, calculate the adjustment distance of the insertion timing and the descent time of the paper shoveling frame, and calculate the acceleration of the paper shoveling frame according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculate the maximum acceleration and maximum deceleration of the paper shoveling frame through the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and then calculate the maximum speed of the paper shoveling frame through the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame;

[0084] The judging module 202 is used to judge the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and judge whether the insertion timing of the paper shoveling rack is reached according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time transmission distance of the cartons;

[0085] The control module 203 is used to start the paper bundle separation when the insertion timing of the paper shoveling rack is reached, and control the paper shoveling rack to descend until the paper shoveling rack descends to the target position, and within the first half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack increases from zero to the maximum speed, and the acceleration of the paper shoveling rack increases from zero to the maximum acceleration and then decreases to zero; within the second half of the total stroke time of the paper shoveling rack, the speed of the paper shoveling rack decreases from the maximum speed to stop, the deceleration of the paper shoveling rack increases from zero to the maximum deceleration and then decreases to zero, the paper shoveling rack maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling rack is positive in the first and last 1 / 4 periods, and negative in the middle period.

[0086] In this embodiment, specifically, the calculation module 201 includes: an acquisition unit, which is used to acquire the target position, the real-time number of cartons, the real-time conveying distance of the cartons, the mechanical parameters of the gluer, the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode of the printing press, and the length of the carton. The mechanical parameters of the gluer include the position of the top of the paper shoveling rack, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, the detection position of the counting photoelectric switch, and the position of the lateral insertion point of the paper shoveling rack; a first calculation unit, which is used to calculate the distance between two cartons according to the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode, and the length of the carton, and calculate the distance between the two cartons according to the detection position of the counting photoelectric switch, the position of the lateral insertion point of the paper shoveling rack, the distance between the two cartons, the position of the top of the paper shoveling rack, the position above the last carton of the previous bundle, and the position below the first carton of the next bundle. The adjustment distance for insertion timing is obtained; the second calculation unit is used to obtain the conveying speed of the carton, and the time from the start of the paper shoveling frame to the delivery of the first carton of the next bundle to the lateral insertion point of the paper shoveling frame is calculated according to the detection position of the counting photoelectric switch, the adjustment distance for insertion timing, the conveying speed of the carton, the position of the lateral insertion point of the paper shoveling frame and the distance between the two cartons, and the calculated time is used as the descent time of the paper shoveling frame; the third calculation unit is used to calculate the acceleration of the paper shoveling frame according to the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle, the detection position of the counting photoelectric switch, the adjustment distance for insertion timing and the conveying speed of the carton, the maximum acceleration and maximum deceleration of the paper shoveling frame are calculated according to the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and the maximum speed of the paper shoveling frame is calculated according to the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame.

[0087] In this embodiment, under different printing machines, gluers, mechanical structures, production order requirements, and production speeds, the control device can automatically calculate the corresponding adjustment distance of the insertion timing, the descent time of the paper shoveling frame, and the acceleration, maximum acceleration, maximum deceleration, and maximum speed of the paper shoveling frame, and according to these parameters, control the operation of the paper shoveling frame insertion to achieve paper bundle separation of the gluer. Moreover, it does not require repeated paper testing to determine parameters, saving cardboard, manpower, and material resources. In addition, it can enable the servo motor that drives the paper shoveling frame insertion to operate under a better motion control curve, thereby improving the motor's operating stability, reducing the motor's failure rate, and extending the motor's life.

[0088] above Fig.10 The paper shoveling rack insertion control device in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The paper shoveling rack insertion control device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0089] Fig.113 is a schematic diagram of a paper shoveling rack insertion control device provided by an embodiment of the present invention. The device includes a motion controller 300, a control panel 340, a counting photoelectric switch 342, a measuring encoder 343, an indicator light, a buzzer, a human-machine interface or a production management system, a voltage-stabilized power supply 354, a servo driver 360 and a servo motor 361. The core of the device is the motion controller 300. The motion controller 300 may have relatively large differences due to different configurations or performances, and may include a power input interface 310, an input interface 311, an output interface 312, a memory 313, a processor 314, a motion control unit 315, a communication interface 316, and a drive communication interface 317; wherein the memory 313 is used to store data 320 and application Program 321; processor 314 includes logic controller 330 and operator 331; control panel 340, counting photoelectric switch 342 and measuring encoder 343 are respectively connected to input interface 311, indicator light and buzzer are respectively connected to output interface 312, human-machine interface or production management system is connected to communication interface 316, voltage stabilized power supply 354 is connected to power input interface 310, servo driver 360 is respectively connected to servo motor 361 and drive communication interface 317, motion control unit 315 is respectively connected to drive communication interface 317, processor 314 is respectively connected to motion control unit 315, memory 313, input interface 311, communication interface 316 and output interface 312. Motion controller 300 is a central processor for realizing the above-mentioned paper shoveling rack insertion control method, which can realize the processing of input and output signals, storage of data, storage of application programs, programming, operation, logic control, calling instructions, executing instructions, communicating with the host computer, communicating with the servo system, controlling the operation of the equipment and the like.

[0090] After the gluer supplies the specified regulated power supply 354 to the power input interface 310, the motion controller 300 is powered on and enters the working state; the input interface 311 records various input signals of the gluer, including: signals of various buttons and switches of the control panel 340, signals of various operating conditions and equipment status 341, signals of the counting photoelectric switch 342 for detecting the number and position of cartons, signals of the measuring encoder 343 for detecting the conveying speed and distance of cartons, etc. The operating conditions and equipment status 341 include sensors, encoders, circuit breakers, motor starters, contactors, safety relays, safety doors, device failures, device readiness, online signals with upstream equipment printers, etc.; the output interface 312 is used to output operating signals for controlling various indicator lights and buzzers, various operating devices 346, and the operating devices 346 include solenoid valves, frequency converters, contactors, relays, etc.; the memory 313 is used to store gluer data. The stored data 320 includes mechanical parameters 355 of different models, order models 356, all working parameters 357 and all servo parameters 358. The application programs 321 include initialization programs, logic control programs and motion control programs. The communication interface 316 is used to realize the communication between the processor 314 and the human-machine interface or production management system, various communication devices 351 and the upstream device printer 352. The communication device 351 includes a communicative inverter, a communicative encoder, etc. The drive communication interface 317 is used to realize the communication between the motion control unit 315 and the servo driver 360, including the servo driver that controls the insertion of the paper shovel rack. The motion control unit 315 is used to feedback all the states and data of the servo system to the processor 314, execute the given instructions of the processor 314, control all the servo drivers 360, and then the servo driver 360 controls the operation of the servo motor 361. The processor 314 is the main brain of the entire motion controller 300, responsible for collecting and centrally processing all signals, communications, data, operations, programs and instructions.

[0091] In this embodiment, the control device implements the process of the paper scraper insertion control method as described above as follows: (1) After the power of the gluer is turned on, the various electrical components of the gluer obtain corresponding power, and the voltage-stabilized power supply 354 supplies the specified power to the power input interface 310 of the motion controller 300, and the motion controller 300 is powered on and enters the working state; (2) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing press cylinder by executing the application program 321 in the memory 313 according to the order model 356 and the data 320 in the memory 313; (3) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing press cylinder according to the user's human input; (4) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing press cylinder according to the order model 356 and the data 320 in the memory 313; (5) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing press cylinder according to the order model 356 and the data 320 in the memory 313; (6) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing press cylinder according to the order model 356 and the data 320 in the memory 313; (7) The processor 314 of the motion controller 300 obtains the target position of the paper scraper insertion, the mechanical parameters of the gluer, and the circumference of the printing The paper feeding mode and carton length set by the machine interface or the production management system are obtained by executing the application program 321 in the memory 313 and the calculation of the application operator 331 to obtain the adjustment distance of the insertion timing of the paper shoveling rack, and the insertion mode of the paper shoveling rack is determined according to the adjustment distance of the insertion timing; (4) the processor 314 of the motion controller 300 records all input and status signals of the input interface 311, the communication interface 316, and the drive communication interface 317, and determines whether the gluer meets the operating conditions by executing the application program 321 in the memory 313, and starts the gluer by entering the start button of the control panel 340; (5) after the gluer is running, the processor 314 of the motion controller 300 314 executes the application 321 in the memory 313, and starts the corresponding operation equipment through the output interface 312, the communication interface 316, and the drive communication interface 317; (6) After the equipment is running, the processor 314 of the motion controller 300 records the signal of the measurement encoder 343 through the input interface 311, and obtains the real-time conveying speed of the carton and the descending time of the paper shoveling rack by executing the application 321 in the memory 313 and calculating the application operator 331; (7) The processor 314 of the motion controller 300 obtains the insertion acceleration, maximum acceleration, and maximum acceleration of the paper shoveling rack by executing the application 321 in the memory 313 and calculating the application operator 331. deceleration, maximum speed; (8) after starting the paper feeding of the printing press 352, the processor 314 of the motion controller 300 records the signals of the counting photoelectric switch 342 and the measuring encoder 343 in real time, and obtains the real-time number of cartons and the real-time conveying distance of the cartons by executing the application program 321 in the memory 313 and the calculation of the application operator 331, and analyzes and captures the insertion timing of the paper shoveling rack in real time according to the adjustment distance of the insertion mode and the insertion timing; (9) when the insertion timing of the paper shoveling rack is reached, the processor 314 of the motion controller 300 starts the separation of the paper bundle by executing the application program 321 in the memory 313, and sends the corresponding operation instruction to the motion control unit 315;(10) The motion control unit 315 of the motion controller 300 receives the operation instruction of the processor 314, and formulates the corresponding motion control curve according to the obtained jerk, maximum acceleration, maximum deceleration, and maximum speed of the paper shoveling rack insertion, and controls the servo driver 360 of the paper shoveling rack insertion to drive the servo motor 361 of the paper shoveling rack insertion to descend from the top of the paper shoveling rack to the target position of the paper shoveling rack insertion according to the established motion control curve, so as to complete the separation of the paper bundle. The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention. ;

Claims

1. A paper shovel holder insertion control method, characterized in that: The paper shoveling rack insertion control method comprises: Get the target position, calculate the adjustment distance of the insertion timing and the time for the paper shovel to descend, and calculate the acceleration of the paper shovel according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculate the maximum acceleration and maximum deceleration of the paper shovel by the acceleration of the paper shovel and the time for the paper shovel to descend, and then calculate the maximum speed of the paper shovel by the maximum acceleration of the paper shovel and the time for the paper shovel to descend; The insertion mode of the paper shoveling rack is determined according to the adjustment distance of the insertion timing, and whether the insertion timing of the paper shoveling rack is reached is determined according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time conveying distance of the cartons; When the insertion timing of the paper shoveling frame is reached, the paper bundle separation is started, and the paper shoveling frame is controlled to descend until the paper shoveling frame descends to the target position, and in the first half of the total stroke time of the paper shoveling frame, the speed of the paper shoveling frame increases from zero to the maximum speed, and the acceleration of the paper shoveling frame increases from zero to the maximum acceleration and then decreases to zero; in the second half of the total stroke time of the paper shoveling frame, the speed of the paper shoveling frame decreases from the maximum speed to stop, and the deceleration of the paper shoveling frame increases from zero to the maximum deceleration and then decreases to zero. The paper shoveling frame maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling frame is positive in the first and last 1 / 4 periods, and negative in the middle period.

2. The paper shovel holder insertion control method according to claim 1, characterized in that: The target position is obtained, the adjustment distance of the insertion timing and the duration of the paper shoveling frame descent are calculated, and the acceleration of the paper shoveling frame is calculated according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then the maximum acceleration and maximum deceleration of the paper shoveling frame are calculated by the acceleration of the paper shoveling frame and the duration of the descent of the paper shoveling frame, and then the maximum speed of the paper shoveling frame is calculated by the maximum acceleration of the paper shoveling frame and the duration of the descent of the paper shoveling frame, including: Obtain the target position, the real-time number of cartons, the real-time conveying distance of cartons, the mechanical parameters of the gluer, the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode of the printing press, and the length of the cartons. The mechanical parameters of the gluer include the position of the top of the shovel rack, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, the detection position of the counting photoelectric switch, and the position of the lateral insertion point of the shovel rack; The distance between two cartons is calculated according to the circumference of the printing press cylinder, the variable corresponding to the paper feeding mode and the length of the cartons, and the adjustment distance for the insertion timing is calculated according to the detection position of the counting photoelectric switch, the position of the lateral insertion point of the paper shoveling frame, the distance between the two cartons, the position of the top of the paper shoveling frame, the position above the last carton of the previous bundle and the position below the first carton of the next bundle; Obtain the conveying speed of the carton, and calculate the time from when the shovel rack starts to descend to when the first carton of the next bundle is delivered to the shovel rack lateral insertion point according to the detection position of the counting photoelectric switch, the adjustment distance of the insertion timing, the conveying speed of the carton, the position of the shovel rack lateral insertion point, and the distance between two cartons, and use the calculated time as the descent time of the shovel rack; The jerk of the paper shovel rack is calculated according to the position of the top of the paper shovel rack, the position above the last carton of the previous bundle, the detection position of the counting photoelectric switch, the adjustment distance of the insertion timing and the conveying speed of the carton. The maximum acceleration and maximum deceleration of the paper shovel rack are calculated according to the jerk of the paper shovel rack and the descent time of the paper shovel rack. The maximum speed of the paper shovel rack is calculated according to the maximum acceleration of the paper shovel rack and the descent time of the paper shovel rack.

3. The paper shovel holder insertion control method according to claim 2, characterized in that: The adjustment distance D of the insertion timing Interrupt It is expressed as: Where D Counter Indicates the detection position of the counting photoelectric switch, D Forward Indicates the position of the shovel holder horizontal insertion point, D Two Indicates the distance between two cartons, P Top Indicates the position of the top of the paper shovel holder, P Above Indicates the position above the last carton in the previous bundle, P Under Indicates the position below the first carton of the next bundle, C Printer Indicates the circumference of the printing press cylinder, Set_Boxes_for_Sheet indicates the variable corresponding to the paper feeding mode, L Box Indicates the length of the carton.

4. The paper shovel holder insertion control method according to claim 3, characterized in that: The paper shovel rack descends for a period of time T Under It is expressed as: Where V Run Indicates the conveying speed of cartons.

5. The paper shovel holder insertion control method according to claim 4, characterized in that: The jerk J of the paper shoveling rack is expressed as:

6. The paper shovel holder insertion control method according to claim 5, characterized in that: The absolute value of the maximum acceleration of the paper shoveling frame is the same as the absolute value of the maximum deceleration of the paper shoveling frame. The maximum acceleration of the paper shoveling frame is expressed as:

7. The paper shovel holder insertion control method according to claim 6, characterized in that: The maximum speed of the paper shoveling rack is expressed as:

8. The paper shovel holder insertion control method according to claim 1, characterized in that: The method of judging the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and judging whether the insertion timing of the paper shoveling rack is reached according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time transmission distance of the cartons, includes: When the adjustment distance of the insertion timing is equal to 0, the insertion mode of the paper shovel holder is determined to be the standard insertion mode; When the adjustment distance of the insertion timing is less than 0, it is determined that the insertion mode of the paper shoveling holder is the early insertion mode; When the adjustment distance of the insertion timing is greater than 0, the insertion mode of the paper shovel holder is determined to be the delayed insertion mode; When the insertion mode of the paper shoveling rack is the standard insertion mode, the counting photoelectric switch detects the number of cartons, and when the counting photoelectric switch detects the last carton of the previous bundle, it is determined that the insertion timing of the paper shoveling rack has arrived; When the insertion mode of the paper shoveling rack is the advance insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and when it is detected that the distance between the detection point of the counting photoelectric switch and the last carton of the previous bundle detected is the absolute value of the adjustment distance of the insertion timing, it is determined that the insertion timing of the paper shoveling rack has been reached; When the insertion mode of the paper shoveling rack is the delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons, and determines that the insertion timing of the paper shoveling rack is reached when it is detected that after the counting photoelectric switch detects the last carton of the previous bundle, the last carton of the previous bundle continues to be sent out the distance adjusted for the insertion timing.

9. A paper shovel holder insertion control device, characterized in that: include: The calculation module obtains the target position, calculates the adjustment distance of the insertion timing and the descent time of the paper shoveling frame, and calculates the acceleration of the paper shoveling frame according to the mechanical parameters of the box gluer and the adjustment distance of the insertion timing, and then calculates the maximum acceleration and maximum deceleration of the paper shoveling frame through the acceleration of the paper shoveling frame and the descent time of the paper shoveling frame, and then calculates the maximum speed of the paper shoveling frame through the maximum acceleration of the paper shoveling frame and the descent time of the paper shoveling frame; A judgment module is used to judge the insertion mode of the paper shoveling rack according to the adjustment distance of the insertion timing, and to judge whether the insertion timing of the paper shoveling rack is reached according to the insertion mode of the paper shoveling rack, the real-time number of cartons and the real-time transmission distance of the cartons; The control module is used for starting the paper bundle separation when the insertion timing of the paper shoveling frame is reached, and controlling the paper shoveling frame to descend until the paper shoveling frame descends to the target position, and within the first half of the total stroke time of the paper shoveling frame, the speed of the paper shoveling frame increases from zero to the maximum speed, and the acceleration of the paper shoveling frame increases from zero to the maximum acceleration and then decreases to zero; within the second half of the total stroke time of the paper shoveling frame, the speed of the paper shoveling frame decreases from the maximum speed to stop, the deceleration of the paper shoveling frame increases from zero to the maximum deceleration and then decreases to zero, the paper shoveling frame maintains uniform acceleration throughout the whole process, and the acceleration of the paper shoveling frame is positive in the first and last 1 / 4 periods, and negative in the middle period.

10. A paper shovel holder insertion control device, characterized in that: It includes a motion controller, a control panel, a counting photoelectric switch, a measuring encoder, an indicator light, a buzzer, a human-machine interface or a production management system, a voltage-stabilized power supply, a servo driver and a servo motor. The motion controller includes a power input interface, an input interface, an output interface, a memory, a processor, a motion control unit, a communication interface, and a drive communication interface; the memory is used to store data and applications, and the data includes mechanical parameters of different models, order models, working parameters and servo parameters. The control panel, the counting photoelectric switch and the measuring encoder are respectively connected to the input interface, the indicator light and the buzzer are respectively connected to the output interface, the human-machine interface or the production management system is connected to the communication interface, the voltage-stabilized power supply is connected to the power input interface, the servo driver is respectively connected to the servo motor and the drive communication interface, the motion control unit is connected to the drive communication interface, the processor includes a logic controller and an arithmetic unit, the processor is respectively connected to the motion control unit, the memory, the input interface, the communication interface and the output interface, and the motion controller calls the application in the memory to execute each step of the paper shoveling rack insertion control method according to any one of claims 1 to 8.

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