Packaging film edge sealing machine and cutter control method, system and device thereof

Abstract

The invention discloses a cutter control method, system and device of a packaging film edge sealing machine and the packaging film edge sealing machine, and relates to the technical field of packaging film edge sealing machines.The control method of the packaging film edge sealing machine comprises the steps that in the film cutting operation process of a cutter, the torque value of a servo motor in a torque monitoring area is obtained; and whether the torque value meets a preset condition or not is judged, and if the torque value meets the preset condition, the servo motor is controlled to rotate by a preset angle or preset time in the direction opposite to the current running direction, so that the cutter leaves the current position. According to the control method, the change of the torque value of the servo motor in the torque monitoring area is monitored to avoid the occurrence of an alarm condition of the servo motor, so that the servo motor is further controlled to reversely rotate to realize that the cutter quickly leaves the current mistaken cutting position, damage and aggravation of an object which is mistakenly cut outside a film can be avoided, a protection effect is achieved, and the service life of the cutter is prolonged. And the cutter can return in time, so that the service life of the cutter is prevented from being shortened.

Description

Technical Field

[0001] The present application relates to the technical field of packaging film edge sealing machines, and in particular to a cutting knife control method, system, device and packaging film edge sealing machine. Background Art

[0002] Currently, high-speed packaging film edge-sealing machines often use a servo motor to drive a cam mechanism to move a high-temperature cutter up and down. That is, the cutter closes and opens by rotating the servo motor forward and reverse. This allows for fast and efficient film cutting and edge sealing. In the process of implementing the present invention, the inventors discovered at least the following problems:

[0003] When the cutter cuts objects other than packaging film, it is easy to trigger the servo motor overload alarm. This will cause the cutter driven by the servo motor to stop at the alarm point and be unable to rebound. It must wait until the alarm is cleared before it can move again. However, it takes a certain amount of time to clear the alarm, which can easily cause damage to the accidentally cut objects and shorten the service life of the cutter. Summary of the Invention

[0004] The purpose of this application is to provide a cutter control method, system, device and packaging film edge sealing machine for a packaging film edge sealing machine, which can avoid triggering a servo motor alarm, thereby protecting the cutter.

[0005] To achieve the above-mentioned object, the present application provides a cutter control method of a packaging film edge sealing machine, wherein the packaging film edge sealing machine includes a servo motor and a cutter, wherein the servo motor is connected to the cutter to control the cutter to perform film cutting operation;

[0006] Cutter control methods include:

[0007] During the film cutting operation of the cutter, the torque value of the servo motor in the torque monitoring area is obtained;

[0008] It is determined whether the torque value meets the preset conditions. If the torque value meets the preset conditions, the servo motor is controlled to rotate in a direction opposite to the current running direction for a preset angle or a preset time to move the cutter away from the current position.

[0009] In some embodiments, the step of obtaining the torque value of the servo motor in the torque monitoring area includes:

[0010] Determine the torque monitoring area;

[0011] Set the torque sampling interval;

[0012] The torque value is collected in the torque monitoring area according to the torque sampling interval.

[0013] In some embodiments, the step of determining the torque monitoring region includes:

[0014] Obtain the torque value corresponding to each position of the servo motor during the cutter and film cutting operation;

[0015] Determine the starting position of the torque to be monitored according to the torque values ​​corresponding to various positions of the servo motor during the cutter and film cutting operation;

[0016] Determine the monitoring end position of the torque that needs to be monitored according to the torque value corresponding to each position of the servo motor during the cutter and film cutting operation;

[0017] The torque monitoring area is determined according to the monitoring starting position and the monitoring end position.

[0018] In some embodiments, the step of obtaining the torque value of the servo motor in the torque monitoring area is specifically as follows:

[0019] Obtaining a number of torque values ​​that occur in chronological order during the process of the servo motor rotating from the monitoring starting position to the monitoring end position, and obtaining a torque value sequence;

[0020] The steps of determining whether the torque value meets the preset conditions include:

[0021] The torque values ​​in the torque value sequence are grouped continuously without overlap into a preset number of groups to obtain a plurality of torque value groups;

[0022] Performing median torque processing on each torque value group to obtain several torque median values;

[0023] Compare several torque median values ​​with preset values;

[0024] If the torque value meets the preset conditions, the steps of controlling the servo motor to rotate in the direction opposite to the current running direction for a preset angle or for a preset time are as follows:

[0025] If at least one of the torque medians is greater than a preset value, the servo motor is controlled to rotate in a direction opposite to the current running direction by a preset angle or for a preset time.

[0026] In some embodiments, the step of determining the starting position for monitoring the torque according to the torque values ​​corresponding to various positions of the servo motor during the cutter and film cutting operation includes:

[0027] Determining a first torque interval during the startup phase of the servo motor according to torque values ​​corresponding to various positions of the servo motor during the cutter and film cutting operation, wherein each torque value in the first torque interval is greater than a preset value;

[0028] The monitoring starting point position is determined according to the corresponding position of the servo motor after the first torque interval ends.

[0029] In some embodiments, the step of determining the end point position for monitoring the torque according to the torque values ​​corresponding to various positions of the servo motor during the cutter and film cutting operation includes:

[0030] Determining a second torque interval during the stop phase of the servo motor according to torque values ​​corresponding to various positions of the servo motor during the cutter and film cutting operation, wherein each torque value in the second torque interval is less than a preset value;

[0031] The monitoring end position is determined according to the corresponding position of the servo motor before the start of the second torque interval.

[0032] In some embodiments, the step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so that the cutter leaves the current position is specifically:

[0033] Control the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time to return the cutter to its initial position;

[0034] After the step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so that the cutter returns to the initial position, the method further includes:

[0035] Get the position information of the cutter;

[0036] Determine whether the cutter has returned to its initial position based on the position information;

[0037] If so, the servo motor is controlled to stop rotating;

[0038] If not, the servo motor is continuously controlled to rotate in the direction opposite to the current running direction until the cutter returns to the initial position.

[0039] The present application further provides a cutter control system for a packaging film edge sealing machine, which adopts any of the above-mentioned cutter control methods for a packaging film edge sealing machine, comprising:

[0040] An acquisition unit, used for acquiring a torque value of the servo motor in a torque monitoring area;

[0041] A judgment unit, used to judge whether the torque value meets the preset conditions;

[0042] The control unit is used to control the servo motor to rotate in a direction opposite to the current running direction for a preset angle or a preset time when the torque value meets the preset conditions, so as to make the cutter leave the current position.

[0043] The present application also provides a cutter control device for a packaging film edge sealing machine, comprising:

[0044] memory for storing computer programs;

[0045] A processor is configured to implement the steps of any of the above-mentioned methods for controlling a cutter of a packaging film edge sealing machine when executing a computer program.

[0046] The present application also provides a packaging film edge sealing machine, including the cutter control device of the packaging film edge sealing machine mentioned above.

[0047] With respect to the above-mentioned background technology, the embodiment of the present application provides a cutter control method for a packaging film edge sealing machine, wherein the packaging film edge sealing machine includes a servo motor and a cutter, and the servo motor is connected to the cutter to control the cutter to perform film cutting operations. The cutter control method includes: obtaining the torque value of the servo motor in the torque monitoring area during the film cutting operation of the cutter; judging whether the torque value meets the preset conditions, and if the torque value meets the preset conditions, controlling the servo motor to rotate in the direction opposite to the current running direction for a preset angle or a preset time to make the cutter leave the current position. It can be seen that the control method provided by the present application achieves the purpose of protecting the cutter by monitoring the torque value of the servo motor in the torque monitoring area, and controlling the servo motor to rotate in the direction opposite to the current running direction for a preset angle or a preset time when the torque value meets the preset conditions to make the cutter leave the current position. Compared with the traditional setting method that easily triggers the servo motor alarm after the traditional cutter makes an accidental cut, the present application avoids the occurrence of the servo motor alarm by monitoring the changes in the torque value of the servo motor in the torque monitoring area, and further controls the servo motor to rotate in the direction opposite to the current running direction to enable the cutter to quickly leave the current position where the accidental cut occurred. This can not only avoid the damage to the accidentally cut objects outside the membrane and protect the objects outside the membrane, but also enable the cutter to return to its position in time, avoiding the shortening of the cutter's service life due to being in a high temperature state for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0049] Figure 1 This is a schematic diagram of the assembly of the servo motor and cutter of the packaging film edge sealing machine in an embodiment of the present application;

[0050] Figure 2 This is a flow chart of a control method for a packaging film edge sealing machine in an embodiment of the present application;

[0051] Figure 3 This is a connection block diagram of the control system of the packaging film edge sealing machine in an embodiment of the present application.

[0052] in:

[0053] 1-Servo motor, 2-Upper cutter, 3-Lower cutter, 4-Slide, 5-Fixed rod, 6-Fixed table, 7-Cam, 8-Connecting rod;

[0054] 100 - acquisition unit, 200 - judgment unit, 300 - control unit. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0057] It should be noted that the directional terms such as "upper end, lower end, left side, right side" described below are all defined based on the drawings in the specification.

[0058] The cutter control method of the packaging film edge sealing machine provided in the embodiment of the present application solves the problem that the cutter stops at the alarm position and cannot return / rebound due to the overload alarm of the servo motor 1 being triggered when the cutter cuts the object outside the film.

[0059] See also Figure 1 The packaging film edge sealing machine in this embodiment includes a servo motor 1, which is connected to a cutter to control the cutter's film cutting operation. Specifically, there can be two cutters, namely an upper cutter 2 and a lower cutter 3. The upper cutter 2 and the lower cutter 3 are respectively slidably connected to two fixed rods 5 via a slide 4. The two fixed rods 5 are fixed to a fixed platform 6 at the bottom. The packaging film edge sealing machine also includes a cam 7 connected to the servo motor 1. The cam 7 is connected to two connecting rods 8, one of which is connected to the upper cutter 2 and the other is connected to the lower cutter 3. When the servo motor 1 drives the cam 7 to rotate, the upper cutter 2 and the lower cutter 3 will close and cut the material.

[0060] For example, when cutting film, the servo motor 1 rotates forward, and the cam 7 drives the upper cutter 2 and the lower cutter 3 to close to perform the film cutting operation. After the film cutting is completed, the servo motor 1 rotates reversely, and the cam 7 drives the upper cutter 2 and the lower cutter 3 to open and leave the film cutting position.

[0061] Please also refer to Figure 2 , the cutter control method of the packaging film edge sealing machine includes:

[0062] S1: During the film cutting operation of the cutter, the torque value of the servo motor 1 in the torque monitoring area is obtained;

[0063] S2: Determine whether the torque value meets the preset conditions. If the torque value meets the preset conditions, control the servo motor 1 to rotate in the direction opposite to the current running direction for a preset angle or a preset time to move the cutter away from the current position.

[0064] It can be seen that the cutter control method provided in the present application monitors the torque value of the servo motor 1 in the torque monitoring area, and controls the servo motor 1 to rotate in the direction opposite to the current running direction for a preset angle or a preset time when the torque value meets the preset conditions, so as to make the cutter leave the current position and achieve the purpose of protecting the cutter.

[0065] In some embodiments, when the torque value meets a preset condition, the steps of controlling the servo motor 1 to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so that the cutter leaves the current position are specifically as follows:

[0066] The servo motor is controlled to rotate in a direction opposite to the current running direction for a preset angle or a preset time to return the cutter to its initial position.

[0067] In this way, the cutter is returned to its initial position after an error cut occurs, thereby achieving the purpose of protecting the cutter.

[0068] Furthermore, after the step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so as to return the cutter to the initial position, the step further includes:

[0069] Get the position information of the cutter;

[0070] Determine whether the cutter has returned to its initial position based on the position information;

[0071] If so, the servo motor is controlled to stop rotating;

[0072] If not, the servo motor is continuously controlled to rotate in the direction opposite to the current running direction until the cutter returns to the initial position.

[0073] For example, a limit switch or photoelectric sensor can be set at the initial position of the cutter. When the cutter returns to the initial position, the limit switch or photoelectric sensor is triggered to send a cutter in-position signal, and the system controls the servo motor to stop rotating. If the cutter has not returned to the initial position, the servo motor continues to be controlled to rotate in the direction opposite to the current running direction until the limit switch or photoelectric sensor is triggered to send a cutter in-position signal.

[0074] Compared with the traditional setting method that easily triggers the servo motor 1 alarm, the present application avoids the occurrence of the servo motor 1 alarm by monitoring the torque value changes of the servo motor 1 in the torque monitoring area, and further controls the servo motor 1 to rotate in the direction opposite to the current running direction to enable the cutter to quickly leave the current miscut position or return directly to its position. This can not only avoid the damage of miscut objects outside the membrane and protect the objects outside the membrane, but also enable the cutter to return to its position in time, avoiding the cutter from being in a high temperature state for a long time and shortening its service life.

[0075] In addition, it can also effectively protect the operator from serious consequences of knife injuries caused by operating errors, and minimize the damage to the injured person.

[0076] Based on the traditional servo motor 1, the present application changes the pulse servo driver to support the EtherCat bus servo driver, and monitors the torque change of the servo motor 1 through bus communication.

[0077] In S1, the step of obtaining the torque value of the servo motor 1 in the torque monitoring area includes:

[0078] Determine the torque monitoring area;

[0079] Set the torque sampling interval;

[0080] The torque value is collected in the torque monitoring area according to the torque sampling interval.

[0081] It should be noted that the torque monitoring area in this embodiment is primarily selected based on the torque values ​​corresponding to various positions of the servo motor 1 during the film cutting operation. Preferably, considering that the torque value during the startup phase of the servo motor 1 is very high, while the torque value during the stop phase of the servo motor 1 is very low, monitoring is not very meaningful. Therefore, this embodiment selects the torque value from the end of the servo motor 1 startup phase to the beginning of the servo motor 1 stop phase for monitoring.

[0082] In this way, the characteristic that the torque changes the most when the cutter cuts objects other than packaging film is utilized to collect the torque value in the torque monitoring area. When the torque value meets the preset conditions, the servo motor 1 is controlled to rotate in the direction opposite to the current running direction by a preset angle or for a preset time to return the cutter to its initial position, thereby achieving the purpose of protecting the cutter.

[0083] Specifically, the step of determining the torque monitoring area includes:

[0084] Obtain the torque value corresponding to each position of the servo motor 1 during the cutter and film cutting operation;

[0085] Determine the starting position of the torque to be monitored according to the torque values ​​corresponding to various positions of the servo motor 1 during the cutter and film cutting operation;

[0086] Determine the monitoring end position of the torque that needs to be monitored according to the torque values ​​corresponding to various positions of the servo motor 1 during the cutter and film cutting operation;

[0087] The torque monitoring area is determined according to the monitoring starting position and the monitoring end position.

[0088] That is, to determine the torque monitoring area, it is necessary to first determine the monitoring start position where the torque needs to be monitored and the monitoring end position where the torque needs to be monitored.

[0089] As can be seen from the above, the monitoring starting position of the torque that needs to be monitored is the position of the servo motor 1 after the servo motor 1 starts, and the monitoring end position of the torque that needs to be monitored is the position of the servo motor 1 before the servo motor 1 enters the stop phase.

[0090] It is understandable that the servo motor 1 control system usually uses pulse counting to track the rotation of the motor shaft. That is, each pulse emitted by the motor encoder represents that the motor has rotated a certain angle. In this way, the rotation angle of the motor shaft can be determined by counting the number of pulses, thereby determining the rotation position of the servo motor 1.

[0091] Therefore, the position information corresponding to the servo motor 1 after the start-up phase of the servo motor 1 and the position information corresponding to the servo motor 1 before the servo motor 1 enters the stop phase can both be determined by the number of received pulses.

[0092] The step of determining the starting position for monitoring the torque according to the torque values ​​corresponding to the various positions of the servo motor 1 during the cutter and film cutting operation includes:

[0093] Determine a first torque interval during the startup phase of the servo motor 1 according to the torque values ​​corresponding to various positions of the servo motor 1 during the cutter and film cutting operation, wherein each torque value in the first torque interval is greater than a preset value;

[0094] The monitoring starting point position is determined according to the corresponding position of the servo motor 1 after the first torque interval ends.

[0095] It should be noted that the torque value of the servo motor 1 during its startup phase is very large, generally greater than a preset value. The preset value is the torque value of the servo motor 1 during normal film cutting (no miscutting). This preset value is also called a standard torque value or empirical torque value. Therefore, the torque value of the servo motor 1 during its startup phase needs to be discarded.

[0096] In this embodiment, the first torque interval of the servo motor 1 during startup is first determined, and each torque value in the first torque interval is greater than a preset value. Then, the monitoring starting position is determined according to the corresponding position of the servo motor 1 after the first torque interval ends.

[0097] Similarly, the step of determining the monitoring end position of the torque to be monitored according to the torque values ​​corresponding to various positions of the servo motor 1 during the cutter and film cutting operation includes:

[0098] Determine a second torque interval during the stop phase of the servo motor 1 according to the torque values ​​corresponding to various positions of the servo motor 1 during the cutter and film cutting operation, wherein each torque value in the second torque interval is less than a preset value;

[0099] The monitoring end position is determined according to the corresponding position of the servo motor 1 before the start of the second torque interval.

[0100] It should be noted that the torque value of the servo motor 1 during the stop phase is very small and generally less than a preset value. The preset value is the torque value of the servo motor 1 during normal film cutting (no miscutting). This preset value is also called a standard torque value or empirical torque value. Therefore, the torque value of the servo motor 1 during the stop phase needs to be discarded.

[0101] In this embodiment, the second torque interval of the servo motor 1 during the startup phase is first determined, and each torque value in the second torque interval is less than a preset value. Then, the monitoring end position is determined according to the corresponding position of the servo motor 1 before the start of the second torque interval.

[0102] For example, among the torque values ​​corresponding to various positions of the servo motor 1 during the film cutting operation, the torque value 10 mm after the servo motor 1 is started and the torque value 10 mm before the servo motor 1 stops are discarded, where 10 mm is the distance converted from the number of encoder pulses.

[0103] In addition, the torque sampling interval should be set according to the actual rotation of the motor. It should not be too large or too small. If the torque sampling interval is too large, the sudden change of torque value will be more difficult to be collected, resulting in insensitive response of false alarm and lower accuracy.

[0104] Of course, the torque sampling interval may be the number of pulses fed back by the motor encoder, that is, the torque data is sampled once every preset number of pulses.

[0105] In some embodiments, the step of obtaining the torque value of the servo motor 1 in the torque monitoring area is specifically as follows:

[0106] Acquire a plurality of torque values ​​that occur in chronological order during the process of the servo motor 1 rotating from the monitoring starting position to the monitoring end position, and obtain a torque value sequence;

[0107] The steps of determining whether the torque value meets the preset conditions include:

[0108] The torque values ​​in the torque value sequence are grouped continuously without overlap into a preset number of groups to obtain a plurality of torque value groups;

[0109] Performing median torque processing on each torque value group to obtain several torque median values;

[0110] Compare several torque median values ​​with preset values;

[0111] If the torque value meets the preset conditions, the steps of controlling the servo motor 1 to rotate in the direction opposite to the current running direction by a preset angle or for a preset time are as follows:

[0112] If at least one of the torque medians is greater than a preset value, the servo motor 1 is controlled to rotate in a direction opposite to the current running direction for a preset angle or for a preset time.

[0113] It should be emphasized that the torque values ​​in the torque value sequence are grouped into a preset number of groups for non-overlapping continuous grouping. This grouping not only ensures the continuity of the torque value sequence, but also ensures that each group is independent and there are no common torque values ​​between torque value groups.

[0114] The preferred preset number is three, as this method provides the highest accuracy in the median algorithm. It's understandable that taking the middle value out of every three numbers only eliminates two pieces of data, while taking the median out of every five numbers eliminates four pieces of data. This makes it easier to filter out problematic data, resulting in lower sampling accuracy. Therefore, choosing the median of three torque values ​​can improve computational accuracy to a certain extent.

[0115] In some embodiments, if at least one of the torque medians is greater than a preset value, controlling the servo motor 1 to rotate in a direction opposite to the current running direction for a preset angle or a preset time may be:

[0116] If at least two of the torque medians within the preset time period are greater than a preset value, the servo motor 1 is controlled to rotate in a direction opposite to the current running direction for a preset angle or a preset time; or

[0117] If any of the torque medians is greater than at least twice the preset value, the servo motor 1 is controlled to rotate in a direction opposite to the current running direction for a preset angle or for a preset time.

[0118] That is to say, in the sampled torque data, three torque values ​​are grouped as a group for non-overlapping continuous grouping to obtain several torque value groups, and the median torque value of each torque value group is processed, and then the obtained torque median value is compared with the calibrated preset value. If the comparison between the torque median value and the preset value meets the relevant conditions, the cutter protection measure is triggered. If the comparison between the torque median value and the preset value does not meet the relevant conditions, the judgment of the next film cutting cycle is entered.

[0119] Based on this, the comparison between the median torque and the preset value can be processed in two modes, such as:

[0120] Within 20 milliseconds, if at least two arbitrary torque medians among the torque medians are greater than the preset value at the same time, the cutter protection step will be automatically executed, that is, the servo motor 1 will be controlled to reverse by a preset angle or a preset time until the cutter leaves the current miscut position or directly returns to the initial position.

[0121] If any of the torque medians is greater than at least twice the preset value (standard torque value), the cutter protection step will be automatically executed, that is, the servo motor 1 will be controlled to reverse by a preset angle or a preset time until the cutter leaves the current miscutting position or directly returns to the initial position.

[0122] It should be noted that the above preset values ​​are derived based on the situation where no miscutting occurs. If one of the two conditions is met: "if at least two arbitrary torque medians among the torque medians are greater than the preset value within 20 milliseconds" and "if any torque median among the torque medians is greater than at least twice the preset value", it can be said that the cutter has miscut.

[0123] Of course, according to actual applications, there may be other judgment conditions, provided that at least one of the torque medians is greater than a preset value.

[0124] In this embodiment, when the cutter is protected from accidental cutting, when the servo motor 1 rotates forward, the cam 7 drives the two cutters to close and perform the film cutting operation, and when the servo motor 1 rotates reversely, the cam 7 drives the two cutters to open. Therefore, in order to make the cutter return to its position in time, the servo motor 1 is controlled to rotate (reverse) in the direction opposite to the current operating direction for a preset angle or a preset time until the cutter returns to its initial position, thereby protecting the cutter.

[0125] Of course, the preset angle or preset time for the reversal of the servo motor 1 can be adjusted according to actual needs, and this embodiment does not impose any specific restrictions on this, provided that the cutter can escape from the film and accidentally cut objects or directly return to the initial position.

[0126] In summary, the cutter control method of a packaging film edge sealing machine provided in the present application is mainly to protect the cutter. Since the cutter is likely to trigger a servo alarm when cutting objects other than the packaging film, the cutter will always be pressed on the object being cut, increasing the degree of damage to the object. At the same time, the temperature of the cutter is generally very high, and it is easy to cause a fire if not handled in time. Therefore, the present application takes into account that when the cutter cuts objects other than the film, the torque change is the largest, and uses this feature to protect the cutter and increase the service life of the cutter. Specifically, the bus communication of the servo driver can be used to monitor the torque value change of the servo motor 1, and accurate cutter protection can be achieved by processing the torque value data.

[0127] Please also refer to Figure 3 The present application provides a cutting blade control system for a packaging film edge sealing machine, which adopts the cutting blade control method for the packaging film edge sealing machine described in the above specific embodiment, including:

[0128] An acquisition unit 100 is used to acquire a torque value of the servo motor 1 within a torque monitoring area;

[0129] The judging unit 200 is used to judge whether the torque value meets the preset conditions;

[0130] The control unit 300 is used to control the servo motor 1 to rotate in a direction opposite to the current running direction for a preset angle or for a preset time when the torque value meets the preset condition, so as to move the cutter away from the current position.

[0131] The present application provides a cutting knife control device for a packaging film edge sealing machine, comprising:

[0132] memory for storing computer programs;

[0133] The processor is configured to implement the steps of the cutter control method for the packaging film edge sealing machine as described in the above specific embodiment when executing the computer program.

[0134] The present application provides a packaging film edge sealing machine, which includes the cutter control device of the packaging film edge sealing machine described in the above specific embodiment; other parts of the packaging film edge sealing machine can refer to relevant technologies and will not be elaborated in this article.

[0135] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0136] The above describes in detail the cutter control method, cutter control system, cutter control device, and packaging film edge sealing machine provided by this application. This document uses specific examples to illustrate the principles and implementation methods of this application. The above examples are intended only to facilitate understanding of the solution and core concepts of this application. It should be noted that those skilled in the art may make various improvements and modifications to this application without departing from the principles of this application, and such improvements and modifications also fall within the scope of protection of this application.

Claims

1. A cutting knife control method for a packaging film edge sealing machine, characterized in that: The packaging film edge sealing machine comprises a servo motor and a cutter, wherein the servo motor is connected to the cutter to control the cutter to perform film cutting operation; The cutter control method comprises: During the film cutting operation of the cutter, obtaining the torque value of the servo motor in the torque monitoring area; It is determined whether the torque value meets a preset condition. If the torque value meets the preset condition, the servo motor is controlled to rotate in a direction opposite to the current running direction for a preset angle or a preset time to make the cutter leave the current position.

2. The cutting knife control method of the packaging film edge sealing machine according to claim 1, characterized in that: The step of obtaining the torque value of the servo motor in the torque monitoring area includes: determining the torque monitoring area; Set the torque sampling interval; The torque value is collected in the torque monitoring area according to the torque sampling interval.

3. The cutting knife control method of the packaging film edge sealing machine according to claim 2, characterized in that: The step of determining the torque monitoring area comprises: Obtaining torque values ​​corresponding to various positions of the servo motor during the film cutting operation of the cutter; Determine the starting point position of the torque to be monitored according to the torque values ​​corresponding to various positions of the servo motor during the film cutting operation of the cutter; Determine the monitoring end position of the torque that needs to be monitored according to the torque value corresponding to each position of the servo motor during the cutting knife and film cutting operation; The torque monitoring area is determined according to the monitoring starting position and the monitoring ending position.

4. The cutting knife control method of the packaging film edge sealing machine according to claim 3, characterized in that: The step of obtaining the torque value of the servo motor in the torque monitoring area is specifically as follows: Acquire a plurality of torque values ​​that occur in sequence in time order during the process of the servo motor rotating from the monitoring starting position to the monitoring end position, to obtain a torque value sequence; The step of judging whether the torque value meets the preset condition comprises: The torque values ​​in the torque value sequence are grouped continuously without overlap into a preset number of groups to obtain a plurality of torque value groups; Performing median torque value processing on each of the torque value groups to obtain a number of torque median values; comparing a plurality of said torque median values ​​with a preset value; If the torque value meets the preset condition, the step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time is specifically: If at least one of the torque median values ​​is greater than the preset value, the servo motor is controlled to rotate in a direction opposite to the current running direction for a preset angle or a preset time.

5. The cutting knife control method of the packaging film edge sealing machine according to claim 3, characterized in that: The step of determining the monitoring starting point position of the torque that needs to be monitored according to the torque values ​​corresponding to various positions of the servo motor during the cutting knife and film cutting operation includes: Determine a first torque interval of the servo motor startup phase according to the torque values ​​corresponding to each position of the servo motor during the cutter and film cutting operation, wherein each torque value in the first torque interval is greater than a preset value; The monitoring starting point position is determined according to the position corresponding to the servo motor after the first torque interval ends.

6. The cutting knife control method of the packaging film edge sealing machine according to claim 3, characterized in that: The step of determining the monitoring end position of the torque that needs to be monitored according to the torque values ​​corresponding to various positions of the servo motor during the cutting knife and film cutting operation includes: Determine a second torque interval of the servo motor at the stop stage according to the torque values ​​corresponding to each position of the servo motor during the cutting knife and film cutting operation, wherein each torque value in the second torque interval is less than a preset value; The monitoring end position is determined according to the position corresponding to the servo motor before the start of the second torque interval.

7. The cutter control method of the packaging film edge sealing machine according to any one of claims 1 to 6, characterized in that: The step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so that the cutter leaves the current position is specifically: Control the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time, so that the cutter returns to an initial position; After the step of controlling the servo motor to rotate in a direction opposite to the current running direction by a preset angle or for a preset time so that the cutter returns to the initial position, the method further includes: Obtaining position information of the cutter; Determining whether the cutter has returned to the initial position according to the position information; If yes, control the servo motor to stop rotating; If not, the servo motor is continuously controlled to rotate in a direction opposite to the current running direction until the cutter returns to the initial position.

8. A cutting knife control system for a packaging film edge sealing machine, using the cutting knife control method for a packaging film edge sealing machine as claimed in any one of claims 1 to 7, characterized in that: include: An acquisition unit, used for acquiring a torque value of the servo motor in a torque monitoring area; A judging unit, used to judge whether the torque value meets a preset condition; The control unit is used to control the servo motor to rotate in a direction opposite to the current running direction for a preset angle or a preset time when the torque value meets the preset condition, so that the cutter leaves the current position.

9. A cutting knife control device for a packaging film edge sealing machine, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the cutter control method for the packaging film edge sealing machine as described in any one of claims 1 to 7 when executing the computer program.

10. A packaging film edge sealing machine, characterized in that: The invention comprises the cutter control device of the packaging film edge sealing machine as claimed in claim 9.

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