Paper scraper insertion control method, device and equipment

Abstract

This invention relates to the field of cardboard box production and discloses a method, device, equipment, and storage medium for controlling the insertion of a paper scraper. The method includes: acquiring a target position and calculating the adjustment distance for the insertion timing, the descent time of the paper scraper, the acceleration of the paper scraper, the maximum acceleration, the maximum deceleration, and the maximum speed; when the insertion timing of the paper scraper is reached, initiating paper bundle separation and controlling the descent of the paper scraper until it reaches the target position, and during the first half of the total stroke time of the paper scraper, the speed of the paper scraper increases from zero to the maximum speed, and the acceleration of the paper scraper increases from zero to the maximum acceleration and then decreases to zero; during the second half of the total stroke time of the paper scraper, the speed of the paper scraper decreases from the maximum speed to a stop, and the deceleration of the paper scraper increases from zero to the maximum deceleration and then decreases to zero, with the paper scraper maintaining uniform acceleration throughout the entire stroke, and the acceleration of the paper scraper being positive in the first and last quarters and negative in the middle.

Description

Technical Field

[0001] This invention relates to the field of cardboard box production technology, and in particular to a method, device and equipment for controlling the insertion of a paper scraper. Background Technology

[0002] The carton gluing machine separates two bundles of paper by controlling the timing and speed of the paper scraper insertion. The scraper is inserted between the last carton of the previous bundle and the first carton of the next bundle. Traditionally, the control system has a preset insertion timing adjustment parameter, which the operator can adjust based on the actual separation of the bundles. The control system then initiates the scraper insertion based on this parameter and calculates and controls the insertion speed according to the carton spacing and conveyor speed.

[0003] While this method can basically meet the production requirements of paper bundle separation in carton gluing machines, it is affected by many factors such as different machine models, mechanical structures, production modes, cardboard weight, carton length, number of bundles, production speed, detection position of the counting photoelectric switch, and motor performance. In actual production, operators need to conduct multiple paper feeding tests and rely on experience to determine the set value of the adjustment distance for the insertion timing required under the current production state. It lacks versatility and flexibility, is difficult to operate, not only wastes cardboard, but also requires frequent changes to working parameters when changing orders, and places high demands on the operation and experience of machine operators.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] This invention provides a paper scraper insertion control method, device, and equipment for precisely controlling the insertion timing and real-time speed of the paper scraper in a quantitative manner.

[0006] The first aspect of this invention provides a paper scraper insertion control method, comprising: acquiring a target position; calculating the adjustment distance for insertion timing and the descent duration of the paper scraper; calculating the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing; calculating the maximum acceleration and maximum deceleration of the paper scraper based on the jerk and the descent duration of the paper scraper; and calculating the maximum speed of the paper scraper based on the maximum acceleration and the descent duration of the paper scraper. The method also includes determining the insertion mode of the paper scraper based on the adjustment distance for insertion timing and the real-time data of the carton. The system determines whether the paper bundle insertion timing is reached based on the real-time conveying distance of the cartons and the quantity of paper. When the insertion timing is reached, the paper bundle separation is initiated, and the paper bundle is lowered until it reaches the target position. During the first half of the total travel time of the paper bundle, the speed of the paper bundle increases from zero to the maximum speed, and the acceleration of the paper bundle increases from zero to the maximum acceleration and then decreases to zero. During the second half of the total travel time of the paper bundle, the speed of the paper bundle decreases from the maximum speed to a stop, and the deceleration of the paper bundle increases from zero to the maximum deceleration and then decreases to zero. The paper bundle maintains uniform acceleration throughout the entire process, with the acceleration of the paper bundle being positive in the first and last quarters and negative in the middle quarter.

[0007] Preferably, the process involves acquiring the target position, calculating the adjustment distance for insertion and the descent time of the paper scraper, and calculating the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion. Then, the maximum acceleration and maximum deceleration of the paper scraper are calculated using the jerk and descent time. Finally, the maximum speed of the paper scraper is calculated using the maximum acceleration and descent time. This includes acquiring the target position, the real-time number of cartons, the real-time conveying distance of the cartons, the mechanical parameters of the gluing machine, the circumference of the printing press cylinder, the variables corresponding to the printing press paper feeding mode, and the length of the cartons. The mechanical parameters of the gluing machine include the position of the top of the paper scraper, 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 scraper. The distance between two cartons is calculated based on the circumference of the printing press cylinder, the variables corresponding to the paper feeding mode, and the length of the cartons. The distance is then calculated based on the detection position of the counting photoelectric switch and the jerk... The adjustment distance for the insertion timing is calculated based on the position of the horizontal insertion point, the distance between the two cartons, the position of the top of the paper scraper, 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 cartons is obtained. Based on the detection position of the counting photoelectric switch, the adjustment distance for the insertion timing, the conveying speed of the cartons, the position of the horizontal insertion point of the paper scraper, and the distance between the two cartons, the time taken from the start of the paper scraper's descent to the point where the first carton of the next bundle is delivered to the horizontal insertion point of the paper scraper is calculated, and this calculated time is taken as the descent duration of the paper scraper. The acceleration of the paper scraper is calculated based on the position of the top of the paper scraper, the position above the last carton of the previous bundle, the detection position of the counting photoelectric switch, the adjustment distance for the insertion timing, and the conveying speed of the cartons. The maximum acceleration and maximum deceleration of the paper scraper are calculated based on the acceleration and descent duration of the paper scraper. Finally, the maximum speed of the paper scraper is calculated based on the maximum acceleration and descent duration of the paper scraper.

[0008] Preferably, the adjustment distance of the insertion timing Represented as:

[0009] In the formula, Indicates the detection position of the counting photoelectric switch. This indicates the position of the insertion point for the paper scraper. This indicates the spacing between two cardboard boxes. This indicates the position of the top of the paper scraper. This indicates the position above the last carton of the previous bundle. This indicates the position below the first carton of the next bundle. This represents the circumference of the printing press cylinder, and `Set_Boxes_for_Sheet` represents the variable corresponding to the paper feeding mode. Indicates the length of the cardboard box.

[0010] Preferably, the descent time of the paper scraper is... Represented as:

[0011] In the formula, This indicates the speed at which the cardboard boxes are transported.

[0012] Preferably, the acceleration of the paper scraper... Represented as:

[0013] .

[0014] Preferably, the absolute value of the maximum acceleration of the paper scraper is the same as the absolute value of the maximum deceleration of the paper scraper, and the maximum acceleration of the paper scraper is expressed as:

[0015] .

[0016] Preferably, the maximum speed of the paper scraper is expressed as:

[0017] .

[0018] Preferably, the step of determining the insertion mode of the paper scraper based on the adjustment distance of the insertion timing, and determining whether the insertion timing of the paper scraper has been reached based on the insertion mode of the paper scraper, the real-time number of cartons, and the real-time conveying distance of the cartons, includes: when the adjustment distance of the insertion timing is equal to 0, determining that the insertion mode of the paper scraper is the standard insertion mode; when the adjustment distance of the insertion timing is less than 0, determining that the insertion mode of the paper scraper is the early insertion mode; when the adjustment distance of the insertion timing is greater than 0, determining that the insertion mode of the paper scraper is the delayed insertion mode; when the insertion mode of the paper scraper is the standard insertion mode, the counting photoelectric switch detects the number of cartons, and after the counting photoelectric switch has detected the last one of the previous bundles... When loading cartons, the insertion timing of the scraper is determined. When the scraper's insertion mode is early insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When 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 insertion timing adjustment distance, the insertion timing of the scraper is determined. When the scraper's insertion mode is delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When the last carton of the previous bundle continues to be conveyed beyond the insertion timing adjustment distance after the counting photoelectric switch has detected the last carton of the previous bundle, the insertion timing of the scraper is determined.

[0019] A second aspect of the present invention provides a paper scraper insertion control device, comprising: a calculation module for acquiring a target position, calculating the adjustment distance for insertion timing and the descent duration of the paper scraper, and calculating the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing; then calculating the maximum acceleration and maximum deceleration of the paper scraper based on the jerk and the descent duration of the paper scraper, and finally calculating the maximum speed of the paper scraper based on the maximum acceleration and the descent duration of the paper scraper; and a judgment module for judging the insertion mode of the paper scraper based on the adjustment distance for insertion timing, and judging the insertion mode of the paper scraper, the real-time quantity of cartons, and the paper... The real-time conveying distance of the box determines whether the paper scraper insertion timing has been reached; the control module is used to initiate paper bundle separation and control the paper scraper to descend when the insertion timing is reached, until the paper scraper descends to the target position. During the first half of the total travel time of the paper scraper, the speed of the paper scraper increases from zero to the maximum speed, and the acceleration of the paper scraper increases from zero to the maximum acceleration and then decreases to zero; during the second half of the total travel time of the paper scraper, the speed of the paper scraper decreases from the maximum speed to a stop, and the deceleration of the paper scraper increases from zero to the maximum deceleration and then decreases to zero. The paper scraper maintains uniform acceleration throughout the entire process, and the acceleration of the paper scraper is positive in the first and last quarters of the time period and negative in the middle period.

[0020] A third aspect of the present invention provides a paper scraper 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 production management system, a regulated 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 stores data and application programs. The data includes mechanical parameters of different models, order models, operating 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 production management system is connected to the communication interface. The regulated power supply is connected to the power input interface. The servo driver is 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 logic unit. The processor is connected to the motion control unit, the memory, the input interface, the communication interface, and the output interface. The motion controller calls the application program in the memory to execute the various steps of the paper scraper insertion control method described above.

[0021] The technical solution provided by this invention is highly versatile and flexible. Under different printing presses, gluing machines, mechanical structures, production order requirements, and production speeds, it can automatically calculate the corresponding insertion timing adjustment distance, the descent time of the paper scraper, and the acceleration, maximum acceleration, maximum deceleration, and maximum speed of the paper scraper. Based on these parameters, it controls the insertion of the paper scraper to achieve paper bundle separation in the gluing machine. Moreover, it eliminates the need for repeated paper trials to determine parameters, saving cardboard, manpower, and resources. In addition, it enables the servo motor driving the paper scraper insertion to operate under an optimal motion control curve, improving motor stability, reducing motor failure rate, and extending motor life. Attached Figure Description

[0022] Figure 1 This is a first flowchart of the paper scraper insertion control method provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the acceleration curve of the paper scraper during the total stroke time of the paper scraper provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram showing the acceleration and deceleration curves of the paper scraper during the total stroke time provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram showing the speed curve of the paper scraper during the total stroke time of the paper scraper provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram showing the travel position of the paper scraper within the total travel time of the paper scraper according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram illustrating the standard insertion mode of the paper scraper provided in this embodiment of the invention.

[0028] Figure 7 This is a schematic diagram illustrating the pre-insertion mode of the paper scraper provided in this embodiment of the invention;

[0029] Figure 8 This is a schematic diagram illustrating the delayed insertion mode of the paper scraper provided in this embodiment of the invention.

[0030] Figure 9 Example diagram of the mechanical parameters of the paper scraper provided in the embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the structure of the paper scraper insertion control device provided in an embodiment of the present invention;

[0032] Figure 11This is a schematic diagram of the paper scraper insertion control device provided in an embodiment of the present invention. Detailed Implementation

[0033] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 In this embodiment of the invention, a paper scraper insertion control method includes:

[0035] S101. Obtain the target position, calculate the adjustment distance for insertion timing and the descent time of the paper scraper, and calculate the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing. Then, calculate the maximum acceleration and maximum deceleration of the paper scraper based on the jerk of the paper scraper and the descent time of the paper scraper. Finally, calculate the maximum speed of the paper scraper based on the maximum acceleration and the descent time of the paper scraper.

[0036] S102. Determine the insertion mode of the paper scraper based on the adjustment distance of the insertion timing, and determine whether the insertion timing of the paper scraper has been reached based on the insertion mode of the paper scraper, the real-time quantity of cartons, and the real-time conveying distance of cartons.

[0037] S103. When the paper scraper is inserted, initiate the paper bundle separation and control the paper scraper to descend until it reaches the target position. During the first half of the total travel time of the paper scraper, the speed of the paper scraper increases from zero to the maximum speed, and the acceleration of the paper scraper increases from zero to the maximum acceleration and then decreases to zero. During the second half of the total travel time of the paper scraper, the speed of the paper scraper decreases from the maximum speed to a stop, and the deceleration of the paper scraper increases from zero to the maximum deceleration and then decreases to zero. The paper scraper maintains uniform acceleration throughout the entire process. The acceleration of the paper scraper is positive in the first and last quarters of the time period and negative in the middle quarter.

[0038] In this embodiment, the descent time of the scraper refers to the time from the start of the scraper's descent to the point where the first carton of the next bundle is delivered to the scraper's horizontal insertion point.

[0039] The total travel time of the paper scraper refers to the time it takes for the paper scraper to be inserted throughout its entire journey, that is, the time from when the paper scraper is started to when it descends to the target position.

[0040] For example, the curves of jerk, acceleration, velocity, and stroke position of the paper scraper during the total stroke duration are as follows: Figure 2-5 As shown in the figure. It should be noted that the specific data shown in the figure is for illustrative purposes only.

[0041] In this embodiment, the target position is obtained, the adjustment distance for insertion timing and the descent time of the paper scraper are calculated, and the jerk of the paper scraper is calculated based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing. Then, the maximum acceleration and maximum deceleration of the paper scraper are calculated using the jerk and descent time of the paper scraper, and the maximum speed of the paper scraper is calculated using the maximum acceleration and descent time of the paper scraper. This includes obtaining the target position, the real-time number of cartons, the real-time conveying distance of the cartons, the mechanical parameters of the gluing machine, the circumference of the printing press roller, the variables corresponding to the printing press paper feeding mode, and the length of the cartons. The mechanical parameters of the gluing machine include the position of the top of the paper scraper, the position above the last carton of the previous bundle, the position below the first carton of the next bundle, and the detection of the counting photoelectric switch. The system measures the position of the paper scraper and the position of its horizontal insertion point. Based on the printing press cylinder circumference, the variables corresponding to the paper feeding mode, and the carton length, it calculates the distance between two cartons. It also calculates the adjustment distance for the insertion timing based on the detection position of the counting photoelectric switch, the position of the paper scraper's horizontal insertion point, the distance between the two cartons, the position of the top of the paper scraper, the position above the last carton of the previous bundle, and the position below the first carton of the next bundle. The system obtains the carton's conveying speed and calculates the time from the start of the paper scraper's descent to when the first carton of the next bundle is delivered to the paper scraper's horizontal insertion point, based on the detection position of the counting photoelectric switch, the adjustment distance for the insertion timing, the carton's conveying speed, the position of the paper scraper's horizontal insertion point, and the distance between the two cartons. This calculated time is used as the paper scraper's descent duration.

[0042] The acceleration of the paper scraper is calculated based on the position of the top of the paper scraper, 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 scraper are calculated based on the acceleration and descent time of the paper scraper. Finally, the maximum speed of the paper scraper is calculated based on the maximum acceleration and descent time of the paper scraper.

[0043] In this embodiment, a table relating the size of the counting ejection unit to its size variables is obtained. The size variables of the counting ejection unit are then matched from the table to obtain the size variables of the counting ejection unit. Finally, the mechanical parameters of the gluing machine are determined based on the size variables of the counting ejection unit.

[0044] In the embodiments, the size variables of the counting ejection unit are 06, 09, 12, 16, 19, etc. The different size variables of the counting ejection unit correspond to different values ​​of the mechanical parameters of the gluing machine, that is, different positions of the top of the paper scraper, 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 horizontal insertion point of the paper scraper.

[0045] For example, such as Figure 9 As shown, when the size variable of the counting ejection unit is 09, the corresponding mechanical parameters of the gluing machine are as follows: the position of the top of the paper scraper = 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 horizontal insertion point of the paper scraper = 80mm.

[0046] In this embodiment, the printing press dimensions are 618, 718, 821, 924, 1228, and 1628, respectively. Different dimensions correspond to different printing press cylinder circumference values.

[0047] For example, when the size variable of the printing press is 1228, the circumference of the printing press cylinder is 1272.3 mm.

[0048] In this embodiment, the variable corresponding to the paper feeding mode is set by the customer according to the needs 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 piece of cardboard; when the standard feeding mode is selected, Set_Boxes_for_Sheet=1, and the printing press cylinder rotates once to feed one piece of cardboard; when the two-piece mode is selected, Set_Boxes_for_Sheet=2, and the printing press cylinder rotates once to feed two pieces of cardboard; when the three-piece mode is selected, Set_Boxes_for_Sheet=3, and the printing press cylinder rotates once to feed three pieces of cardboard; when the four-piece mode is selected, Set_Boxes_for_Sheet=4, and the printing press cylinder rotates once to feed four pieces of cardboard.

[0049] In this embodiment, the adjustment distance for the insertion timing Represented as:

[0050] In the formula, Indicates the detection position of the counting photoelectric switch. This indicates the position of the insertion point for the paper scraper. This indicates the spacing between two cardboard boxes. This indicates the position of the top of the paper scraper. This indicates the position above the last carton of the previous bundle. This indicates the position below the first carton of the next bundle. This represents the circumference of the printing press cylinder, and `Set_Boxes_for_Sheet` represents the variable corresponding to the paper feeding mode. Indicates the length of the cardboard box.

[0051] For example, when the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, and the carton length is 500mm, the spacing between two cartons is... for:

[0052] .

[0053] For example, when the counting ejection unit size variable is 09, the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, and the carton length is 500mm, the adjustment distance for the insertion timing is... Represented as:

[0054] .

[0055] In this embodiment, the conveying speed of the carton is obtained by measuring the running speed of the main belt of the gluing machine in real time by the encoder. That is, the running speed of the main belt of the gluing machine is the conveying speed of the carton.

[0056] In this embodiment, the descent time of the paper scraper is... Represented as:

[0057] In the formula, This indicates the speed at which the cardboard boxes are transported.

[0058] For example, when the counting ejection unit size variable is 09, the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the insertion timing adjustment distance is -205.8676mm, and the carton conveying speed is 4241mm / s, the paper scraper descent time is... for:

[0059] .

[0060] In this embodiment, the acceleration of the paper scraper Represented as:

[0061] .

[0062] For example, when the counting ejection unit size variable is 09, the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the insertion timing adjustment distance is -205.8676mm, and the carton conveying speed is 4241mm / s, the accelerator of the paper scraper is... for:

[0063] .

[0064] In this embodiment, the absolute value of the maximum acceleration of the paper scraper is the same as the absolute value of the maximum deceleration of the paper scraper. The maximum acceleration of the paper scraper is expressed as:

[0065] .

[0066] For example, when the counter ejection unit size variable is 09, the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the insertion timing adjustment distance is -205.8676mm, the carton conveying speed is 4241mm / s, the paper scraper descent time is 0.3940503s, and the paper scraper jerk is 22227.14453mm / s. 3 At that time, the maximum acceleration of the paper scraper is:

[0067] .

[0068] Therefore, the maximum deceleration of the paper scraper is -4379.3065 mm / s. 2 .

[0069] In this embodiment, the maximum speed of the paper scraper is expressed as:

[0070] .

[0071] For example, when the counter ejection unit size variable is 09, the printing press size variable is 1228, the variable corresponding to the standard paper feeding mode is 1, the carton length is 500mm, the insertion timing adjustment distance is -205.8676mm, the carton conveying speed is 4241mm / s, the paper scraper descent time is 0.3940503s, and the paper scraper jerk is 22227.14453mm / s. 3 The maximum acceleration of the paper scraper is 4379.3065 mm / s². 2 At that time, the maximum speed of the paper scraper is:

[0072] .

[0073] In this embodiment, the insertion mode of the paper scraper is determined based on the adjustment distance of the insertion timing, and whether the insertion timing of the paper scraper has been reached is determined based on the insertion mode of the paper scraper, the real-time number of cartons, and the real-time conveying distance of the cartons. This includes: when the adjustment distance of the insertion timing is equal to 0, the insertion mode of the paper scraper 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 scraper 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 scraper is determined to be the delayed insertion mode; when the insertion mode of the paper scraper is the standard insertion mode, the counting photoelectric switch detects the number of cartons, and after the counting photoelectric switch has detected the last of the previous bundle... When the number of cartons is reached, the insertion timing of the paper scraper is determined. When the insertion mode of the paper scraper is early insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When 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 insertion timing adjustment distance, the insertion timing of the paper scraper is determined. When the insertion mode of the paper scraper is delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When the last carton of the previous bundle continues to be conveyed beyond the insertion timing adjustment distance after the counting photoelectric switch has detected the last carton of the previous bundle, the insertion timing of the paper scraper is determined.

[0074] For example, if the adjustment distance for the insertion timing is -205.8676mm, then the insertion mode of the paper scraper 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 205.8676mm, the insertion timing of the paper scraper is determined to be reached.

[0075] For example, the target position is 150mm.

[0076] For example, the paper scraper's insertion mode is the standard insertion mode, such as... Figure 6 As shown, the paper scraper's insertion mode is the pre-insertion mode. Figure 7 As shown, the paper scraper's insertion mode is a delayed insertion mode. Figure 8 As shown.

[0077] This embodiment provides a paper scraper insertion control method, which is highly versatile and flexible. Under different printing presses, gluing machines, mechanical structures, production order requirements, and production speeds, it can automatically calculate the corresponding insertion timing adjustment distance, paper scraper descent time, and the paper scraper's acceleration, maximum acceleration, maximum deceleration, and maximum speed. Based on these parameters, it controls the paper scraper insertion operation to achieve paper bundle separation in the gluing machine. Moreover, it eliminates the need for repeated paper trials to determine parameters, saving cardboard, manpower, and material resources. In addition, it enables the servo motor driving the paper scraper insertion to operate under an optimal motion control curve, improving motor operation stability, reducing motor failure rate, and extending motor life.

[0078] The paper scraper insertion control method in the embodiments of the present invention has been described above. The device in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 10 In this embodiment of the invention, the paper scraper insertion control device is used to execute the paper scraper insertion control method described above. The implementation of the paper scraper insertion control device in this embodiment of the invention includes:

[0079] The calculation module 201 is used to obtain the target position, calculate the adjustment distance for the insertion timing and the descent time of the paper scraper, and calculate the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for the insertion timing. Then, it calculates the maximum acceleration and maximum deceleration of the paper scraper based on the jerk of the paper scraper and the descent time of the paper scraper, and finally calculates the maximum speed of the paper scraper based on the maximum acceleration and the descent time of the paper scraper.

[0080] The judgment module 202 is used to determine the insertion mode of the paper scraper based on the adjustment distance of the insertion timing, and to determine whether the insertion timing of the paper scraper has been reached based on the insertion mode of the paper scraper, the real-time number of cartons and the real-time conveying distance of the cartons.

[0081] The control module 203 is used to initiate paper bundle separation and control the paper scraper to descend when the insertion timing is reached, until the paper scraper reaches the target position. During the first half of the total travel time of the paper scraper, the speed of the paper scraper increases from zero to the maximum speed, and the acceleration of the paper scraper increases from zero to the maximum acceleration and then decreases to zero. During the second half of the total travel time of the paper scraper, the speed of the paper scraper decreases from the maximum speed to a stop, and the deceleration of the paper scraper increases from zero to the maximum deceleration and then decreases to zero. The paper scraper maintains uniform acceleration throughout the entire process. The acceleration of the paper scraper is positive in the first and last quarters of the time period and negative in the middle period.

[0082] In this embodiment, specifically, the calculation module 201 includes: an acquisition unit, used to acquire the target position, the real-time quantity of cartons, the real-time conveying distance of cartons, the mechanical parameters of the gluing machine, 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 gluing machine include the position of the top of the scraper, 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 scraper's horizontal movement insertion point; and a first calculation unit, used to calculate the distance between two cartons based on the printing press cylinder circumference, the variables corresponding to the paper feeding mode, and the length of the cartons, and to calculate the distance between two cartons based on the detection position of the counting photoelectric switch, the position of the scraper's horizontal movement insertion point, the distance between the two cartons, the position of the top of the scraper, the position above the last carton of the previous bundle, and the position below the first carton of the next bundle. The system has three main components: a first unit for obtaining the adjustment distance for insertion timing; a second unit for obtaining the carton conveying speed; a third unit for calculating the time from the start of the paper scraper's descent to the point where the first carton of the next bundle is delivered to the paper scraper's descent insertion point, based on the detection position of the counting photoelectric switch, the adjustment distance for insertion timing, the carton conveying speed, the position of the paper scraper's horizontal movement insertion point, and the distance between two cartons; and a fourth unit for calculating the jerk of the paper scraper based on the position of the top of the paper scraper, 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 carton conveying speed; a fifth unit for calculating the maximum acceleration and maximum deceleration of the paper scraper based on the jerk and descent duration; and a sixth unit for calculating the maximum speed of the paper scraper based on the maximum acceleration and descent duration.

[0083] In this embodiment, under different printing presses, gluing machines, mechanical structures, production order requirements, and production speeds, the control device can automatically calculate the adjustment distance for the corresponding insertion timing, the descent time of the paper scraper, and the acceleration, maximum acceleration, maximum deceleration, and maximum speed of the paper scraper. Based on these parameters, it controls the insertion of the paper scraper to achieve paper bundle separation in the gluing machine. Moreover, it eliminates the need for repeated paper trials to determine parameters, saving cardboard, manpower, and resources. Furthermore, it enables the servo motor driving the paper scraper insertion to operate under a better motion control curve, improving motor stability, reducing motor failure rate, and extending motor life.

[0084] above Figure 10 The paper scraper insertion control device in this embodiment of the invention is described in detail from the perspective of modular functional entities. The paper scraper insertion control device in this embodiment of the invention is described in detail below from the perspective of hardware processing.

[0085] Figure 11This is a schematic diagram of a paper scraper insertion control device according to 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, indicator lights, a buzzer, a human-machine interface or production management system, a regulated power supply 354, a servo driver 360, and a servo motor 361. The core of this device is the motion controller 300. The motion controller 300 can vary significantly due to different configurations or performance, 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. The memory 313 is used to store data 320 and applications. Program 321; Processor 314 includes a logic controller 330 and an arithmetic logic unit 331; the control panel 340, the counting photoelectric switch 342, and the measuring encoder 343 are respectively connected to the input interface 311; the indicator light and the buzzer are respectively connected to the output interface 312; the human-machine interface or production management system is connected to the communication interface 316; the regulated power supply 354 is connected to the power input interface 310; the servo driver 360 is respectively connected to the servo motor 361 and the drive communication interface 317; the motion control unit 315 is connected to the drive communication interface 317; the processor 314 is respectively connected to the motion control unit 315, the memory 313, the input interface 311, the communication interface 316, and the output interface 312. The motion controller 300 is the central processing unit that implements the paper scraper insertion control method described above. It can perform functions such as processing input and output signals, storing data, storing application programs, programming, calculation, logic control, calling instructions, executing instructions, communicating with the host computer, communicating with the servo system, and controlling the operation of the equipment.

[0086] After the gluing machine 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 gluing machine, including: signals from various buttons and switches on the control panel 340, signals from various operating conditions and equipment status 341, signals from the counting photoelectric switch 342 used for detecting the quantity and position of cartons, signals from the measuring encoder 343 used 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 faults, device readiness, and connection signals with the upstream printing press, etc. The output interface 312 is used to output operating signals for controlling various indicator lights and buzzers, and various operating devices 346, including solenoid valves, frequency converters, contactors, relays, etc. The memory 313 is used to store the gluing machine's operating signals. The processor 314 stores all data and applications for the printing press. Data 320 includes mechanical parameters 355 for different models, order models 356, all operating parameters 357, and all servo parameters 358. Application program 321 includes initialization program, logic control program, and motion control program. Communication interface 316 enables communication between the processor 314 and the human-machine interface or production management system, various communication devices 351, and the upstream printing press 352. Communication devices 351 include communicable frequency converters, communicable encoders, etc. Drive communication interface 317 enables communication between the motion control unit 315 and the servo drive 360, including the servo drive controlling the insertion of the paper scraper. The motion control unit 315 feeds back all status and data of the servo system to the processor 314, executes the given instructions from the processor 314, controls all servo drives 360, and then the servo drives 360 control the operation of the servo motors 361. The processor 314 is the brain of the entire motion controller 300, responsible for collecting and centrally processing all signals, communications, data, calculations, programs, and instructions.

[0087] In this embodiment, the process of the control device implementing the paper scraper insertion control method as described above is as follows: (1) After the power supply of the gluing machine is turned on, each electrical component of the gluing machine obtains the corresponding power supply. The regulated 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 gluing machine and the circumference of the printing press roller 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 gluing machine and the circumference of the printing press roller according to the user's instructions. The paper feeding mode and carton length set by the machine interface or production management system are used to calculate the insertion timing of the paper scraper by executing the application program 321 and application arithmetic unit 331 in the memory 313, and the insertion mode of the paper scraper is determined according to the insertion timing adjustment distance; (4) The processor 314 of the motion controller 300 inputs all input and status signals of the input interface 311, communication interface 316, and drive communication interface 317, and determines whether the gluing machine meets the operating conditions by executing the application program 321 in the memory 313, and starts the operation of the gluing machine by inputting the start button of the control panel 340; (5) After the gluing machine is running, the processor of the motion controller 300 314 executes the application program 321 in memory 313, and starts the corresponding running device through output interface 312, communication interface 316, and drive communication interface 317; (6) After the device is running, the processor 314 of the motion controller 300 inputs the signal of the measuring encoder 343 through input interface 311, and obtains the real-time conveying speed of the carton and the descent time of the scraper rack by executing the application program 321 in memory 313 and the calculation of the application arithmetic unit 331; (7) The processor 314 of the motion controller 300 obtains the jerk, maximum acceleration, and maximum speed of the scraper rack insertion by executing the application program 321 in memory 313 and the calculation of the application arithmetic unit 331. (8) After the printing press 352 starts feeding paper, 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. By executing the application program 321 in the memory 313 and the calculation of the application arithmetic unit 331, the real-time quantity of the carton and the real-time conveying distance of the carton are obtained. The insertion timing of the paper scraper is analyzed and captured in real time according to the adjustment distance of the insertion mode and the insertion timing. (9) When the insertion timing of the paper scraper 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 issues the corresponding running instructions to the motion control unit 315.(10) The motion control unit 315 of the motion controller 300 receives the running instruction from the processor 314, and formulates a corresponding motion control curve based on the obtained acceleration, maximum acceleration, maximum deceleration, and maximum speed of the paper scraper insertion. It then controls the servo driver 360 of the paper scraper insertion to drive the servo motor 361 of the paper scraper insertion to descend from the top position of the paper scraper to the target position of the paper scraper insertion according to the predetermined motion control curve, thus completing 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. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for controlling the insertion of a paper scraper, characterized in that, The paper scraper insertion control method includes: The target position is obtained, the adjustment distance for insertion timing and the descent time of the paper scraper are calculated, and the acceleration of the paper scraper is calculated based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing. Then, the maximum acceleration and maximum deceleration of the paper scraper are calculated based on the acceleration and descent time of the paper scraper. Finally, the maximum speed of the paper scraper is calculated based on the maximum acceleration and descent time of the paper scraper. The insertion mode of the paper scraper is determined by the adjustment distance of the insertion timing, and the insertion timing of the paper scraper is determined by the insertion mode of the paper scraper, the real-time number of cartons, and the real-time conveying distance of the cartons. When the paper scraper is inserted at the appropriate time, the paper bundle separation is initiated, and the paper scraper is controlled to descend until it reaches the target position. During the first half of the total travel time of the paper scraper, the speed of the paper scraper increases from zero to its maximum speed, and the acceleration of the paper scraper increases from zero to its maximum acceleration and then decreases to zero. During the second half of the total travel time of the paper scraper, the speed of the paper scraper decreases from its maximum speed to a stop, and the deceleration of the paper scraper increases from zero to its maximum deceleration and then decreases to zero. The paper scraper maintains uniform acceleration throughout the entire process, with the acceleration of the paper scraper being positive in the first and last quarters and negative in the middle quarter. The process of obtaining the target position, calculating the adjustment distance for insertion timing and the descent time of the scraper, calculating the jerk of the scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing, then calculating the maximum acceleration and maximum deceleration of the scraper using the jerk and descent time, and finally calculating the maximum speed of the scraper using the maximum acceleration and descent time, includes: The system acquires the target location, the real-time quantity of cartons, the real-time conveying distance of cartons, the mechanical parameters of the gluing machine, the circumference of the printing press roller, the variables corresponding to the printing press paper feeding mode, and the length of the cartons. The mechanical parameters of the gluing machine include the position of the top of the paper scraper, 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 horizontal insertion point of the paper scraper. Based on the printing press cylinder circumference, the variables corresponding to the paper feeding mode, and the carton length, calculate the distance between the two cartons. Then, based on the detection position of the counting photoelectric switch, the position of the paper scraper horizontal movement insertion point, the distance between the two cartons, the position of the top of the paper scraper, the position above the last carton of the previous bundle, and the position below the first carton of the next bundle, calculate the adjustment distance for the insertion timing. The conveying speed of the carton is obtained. Based on 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 movement insertion point, and the distance between the two cartons, the time taken from the start of the shovel rack descent to the delivery of the first carton of the next bundle to the shovel rack lateral movement insertion point is calculated, and the calculated time is used as the descent duration of the shovel rack. The acceleration of the paper scraper is calculated based on the position of the top of the paper scraper, 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 scraper are calculated based on the acceleration of the paper scraper and the descent time of the paper scraper. The maximum speed of the paper scraper is calculated based on the maximum acceleration of the paper scraper and the descent time of the paper scraper. The adjustment distance of the insertion timing Represented as: In the formula, Indicates the detection position of the counting photoelectric switch. This indicates the position of the insertion point for the horizontal movement of the paper scraper. This indicates the spacing between two cardboard boxes. This indicates the position of the top of the paper scraper. This indicates the position above the last carton of the previous bundle. This indicates the position below the first carton of the next bundle. This represents the circumference of the printing press cylinder, and `Set_Boxes_for_Sheet` represents the variable corresponding to the paper feeding mode. Indicates the length of the cardboard box.

2. The paper scraper insertion control method as described in claim 1, characterized in that, The descent time of the paper scraper Represented as: In the formula, This indicates the speed at which the cardboard boxes are transported.

3. The paper scraper insertion control method as described in claim 2, characterized in that, The acceleration of the paper scraper Represented as: 。 4. The paper scraper insertion control method as described in claim 3, characterized in that, The absolute value of the maximum acceleration of the paper scraper is the same as the absolute value of the maximum deceleration of the paper scraper. The maximum acceleration of the paper scraper is expressed as: 。 5. The paper scraper insertion control method as described in claim 4, characterized in that, The maximum speed of the paper scraper is expressed as: 。 6. The paper scraper insertion control method as described in claim 1, characterized in that, The process of determining the insertion mode of the paper scraper based on the adjustment distance at the insertion timing, and determining whether the insertion timing of the paper scraper has been reached based on the insertion mode of the paper scraper, the real-time quantity of cartons, and the real-time conveying distance of the cartons, includes: When the adjustment distance for insertion timing is equal to 0, the insertion mode of the paper scraper is determined to be the standard insertion mode; When the adjustment distance for the insertion timing is less than 0, the insertion mode of the paper scraper is determined to be the early insertion mode; When the adjustment distance for the insertion timing is greater than 0, the insertion mode of the paper scraper is determined to be the delayed insertion mode. When the paper scraper is inserted in the standard insertion mode, the counting photoelectric switch detects the number of cartons and determines that the insertion timing of the paper scraper has been reached when the counting photoelectric switch has finished detecting the last carton of the previous bundle. When the paper scraper is in the early insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When 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 scraper has been reached. When the paper scraper is in delayed insertion mode, the counting photoelectric switch detects the number of cartons and the conveying distance of the cartons. When it detects that the counting photoelectric switch has finished detecting the last carton of the previous bundle, and the last carton of the previous bundle continues to be conveyed at the adjusted distance of insertion timing, it is determined that the insertion timing of the paper scraper has been reached.

7. A paper scraper insertion control device, characterized in that, The paper scraper insertion control device is used to perform the paper scraper insertion control method as described in any one of claims 1-6, and the paper scraper insertion control device includes: The calculation module obtains the target position, calculates the adjustment distance for insertion timing and the descent time of the paper scraper, and calculates the jerk of the paper scraper based on the mechanical parameters of the gluing machine and the adjustment distance for insertion timing. Then, it calculates the maximum acceleration and maximum deceleration of the paper scraper based on the jerk and the descent time of the paper scraper, and finally calculates the maximum speed of the paper scraper based on the maximum acceleration and the descent time of the paper scraper. The judgment module is used to determine the insertion mode of the paper scraper based on the adjustment distance of the insertion timing, and to determine whether the insertion timing of the paper scraper has been reached based on the insertion mode of the paper scraper, the real-time number of cartons, and the real-time conveying distance of the cartons. The control module is used to initiate paper bundle separation and control the paper scraper to descend when the insertion timing is reached, until the paper scraper reaches the target position. During the first half of the total travel time of the paper scraper, the speed of the paper scraper increases from zero to the maximum speed, and the acceleration of the paper scraper increases from zero to the maximum acceleration and then decreases to zero. During the second half of the total travel time of the paper scraper, the speed of the paper scraper decreases from the maximum speed to a stop, and the deceleration of the paper scraper increases from zero to the maximum deceleration and then decreases to zero. The paper scraper maintains uniform acceleration throughout the entire process. The acceleration of the paper scraper is positive in the first and last quarters and negative in the middle.

8. A paper scraper insertion control device, characterized in that, The system includes a motion controller, a control panel, a counting photoelectric switch, a measuring encoder, indicator lights, a buzzer, a human-machine interface or production management system, a regulated 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 stores data and application programs. The data includes mechanical parameters of different machine models, order models, operating parameters, and servo parameters. The control panel, the counting photoelectric switch, and the measuring encoder are connected to the input interface. The indicator lights and the buzzer are connected to the output interface. The human-machine interface or production management system is connected to the communication interface. The regulated power supply is connected to the power input interface. The servo driver is 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 logic unit. The processor is connected to the motion control unit, the memory, the input interface, the communication interface, and the output interface. The motion controller calls the application program in the memory to execute the various steps of the paper scraper insertion control method as described in any one of claims 1-6.

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